diff --git a/README.md b/README.md index 8ce8e5bc5c914d9853afa69e199d90c7a2964c67..539c9e48700c728dbab9b185b7d2382241ac52c1 100644 --- a/README.md +++ b/README.md @@ -69,11 +69,9 @@ The gallery identifies 90 assets with enabled authored moving joints and 923 wit ## Verification and research use -The 2026-10-08 release fixes the reported metadata issues in 154 assets and applies 64 exact-ID name revisions from the supplied Drive handoff (207 distinct assets in total). For repaired metadata, `verified` and high confidence apply to consistency with the delivered USD. Native simulation has not been revalidated by this audit. See [release notes](RELEASE_NOTES.md), [verification policy](VERIFICATION.md), [metadata evidence](reports/metadata-repair-20261008.json) and [name revisions](reports/name-repair-20261008.json). The matched Drive entries are name-only changes; none requests a cover replacement for an asset in this repository. +The 2026-10-13 release uses NVIDIA Robotics-Prop 4.0.0 with separate single-body, multi-body and articulated checks in Isaac Sim 6.1.0.0 (PhysX). Current acceptance: **1,013 static profile passes, 185 native passes and 158 completed SimReady packages out of 1,013 assets.** The [release manifest](reports/current-release.json) binds the catalog, physics metadata and per-asset evidence. Native passes require complete planned test coverage, unchanged USD bytes, an independently checked black-background thumbnail and, for moving joints, independent joint-constraint checks. -Verification in this release is documented through per-asset physics metadata, collision previews, and simulation recordings. These records describe the available checks and observed behavior; review them when selecting assets for a research task. - -Collision previews show the authored collision geometry, with colors distinguishing collision pieces. Simulation videos record observed test behavior, including tipping where it occurs. They do not establish universal physical stability, calibrated friction or mass, or completion of every possible mechanism test. Preserve per-asset validation fields when assessing suitability for a task. +Authored geometry dimensions, mass and collision data are checked against the USD. These properties are not independently calibrated from physical measurements. Existing simulation recordings remain available; the current release's native verdicts come from the new hash-bound test evidence. See [release notes](RELEASE_NOTES.md) and [verification policy](VERIFICATION.md). ## License and attribution @@ -83,11 +81,18 @@ Attribution: **Palatial Platforms — Palatial NV Asset Library**. Link to this ## Provenance -Published from [PalatialSim/palatial-nv-asset-library at `cfe694d57b21`](https://github.com/PalatialSim/palatial-nv-asset-library/tree/cfe694d57b216520cf5d44db72db6c4409219fc1). The 2026-10-08 commit is titled **release ready**. Repaired physics metadata, per-asset evidence, names and gallery fields match this source revision. D00350 Cocktail Shaker has one orphan fixed joint removed; its other authored properties were preserved. Textures and existing recordings retain their delivered bytes. The [release notes](RELEASE_NOTES.md) describe the changes and verification scope. +The current release is derived from the original GitHub revision `a8c65abbf0304a0e58b99157c80d59bd504c8484` and Hugging Face revision `154e2d76f519421b55c0a0f4f22e7b4a37b2cc90`. Original source assets were preserved during repair. The [release manifest](reports/current-release.json) records the exact metadata artifacts, source hashes, repaired USD hashes, native coverage and immutable package URLs. Textures and existing recordings retain their delivered bytes. -The gallery branding and resource footer were refreshed from [source commit `79328e20619e`](https://github.com/PalatialSim/palatial-nv-asset-library/commit/79328e20619eb24ae0df8219ed58d7f3684e0fd5). Asset catalog provenance remains tied to the metadata release above; the presentation update does not change asset packages or catalog values. +Each completed package appears in a logical asset folder such as `D00006/`. Preserve the complete folder when downloading; its USD, textures, thumbnail, validation and benchmark sidecars, package definition and bill of materials belong together. The original `batch*/` paths remain available for existing consumers. -Finder metadata and GitHub deployment configuration are omitted from the dataset. The searchable catalog and dataset card are Hugging Face additions. The file manifest records the current source Git blob hashes and byte sizes. +```python +snapshot_download( + repo_id="PalatialSim/palatial-nv-asset-library", + repo_type="dataset", + allow_patterns=["D00006/**", "LICENSE*", "LICENSING.md"], + local_dir="palatial-simready-assets", +) +``` ## Asset name update register diff --git a/RELEASE_NOTES.md b/RELEASE_NOTES.md index cadeb6515f47c6e54e958be50b6ee7f2b8fbfea5..bfa581d1a880006de8f64fafa8b791f87ea5a59d 100644 --- a/RELEASE_NOTES.md +++ b/RELEASE_NOTES.md @@ -1,3 +1,13 @@ + +# 2026-10-13 SimReady completion + +The 2026-10-13 release uses NVIDIA Robotics-Prop 4.0.0 with separate single-body, multi-body and articulated checks in Isaac Sim 6.1.0.0 (PhysX). Current acceptance: **1,013 static profile passes, 185 native passes and 158 completed SimReady packages out of 1,013 assets.** The [release manifest](reports/current-release.json) binds the catalog, physics metadata and per-asset evidence. Native passes require complete planned test coverage, unchanged USD bytes, an independently checked black-background thumbnail and, for moving joints, independent joint-constraint checks. + +The release repairs default prims, portable material connections and texture paths, semantics, invalid hulls and extents, reversed normals, unit metadata and joint limits. The basket uses speculative CCD after a failing slope-drop control. The steamer has an explicit articulation root and sufficient solver iterations, with all 15 moving joints independently checked. Source visual geometry and authored mass were preserved for those native repairs. + +The original batch layout remains available. Completed logical asset folders add official WRAPP packages and immutable manifest URLs. All catalog and gallery status fields come from actual per-asset evidence. Earlier name and metadata release history follows below. + + # Metadata release — 2026-10-08 Repaired and standardized metadata for 154 assets across the library. This includes every reported asset and three additional assets with the same legacy floating-joint classification issue. diff --git a/VERIFICATION.md b/VERIFICATION.md index 5528e96ee800f96d66c81110478d4cad7967f2c3..0355bcbfc140cbaa2a556b9cfd2edb6e5ee4ed9c 100644 --- a/VERIFICATION.md +++ b/VERIFICATION.md @@ -1,18 +1,21 @@ -# Metadata verification +# Asset verification -`verified` with `scope: authored_usd_*` means the metadata was checked against the delivered USD. It is separate from runtime simulation acceptance and real-world calibration. This release does not upgrade recorded videos into proof of stability or complete mechanism coverage. +The 2026-10-13 release uses NVIDIA Robotics-Prop 4.0.0 with separate single-body, multi-body and articulated checks in Isaac Sim 6.1.0.0 (PhysX). Current acceptance: **1,013 static profile passes, 185 native passes and 158 completed SimReady packages out of 1,013 assets.** The [release manifest](reports/current-release.json) binds the catalog, physics metadata and per-asset evidence. Native passes require complete planned test coverage, unchanged USD bytes, an independently checked black-background thumbnail and, for moving joints, independent joint-constraint checks. -For the 154 repaired assets, the evidence checks stage units and up axis, transformed visible-mesh bounds, positive authored rigid-body masses and part sums, joint existence and targets (including valid static frames), enabled state and ordered limits, collision API counts and finite mesh coordinates. No geometry, mass, friction or joint limits were inferred from object names. Only the orphan Cocktail Shaker joint was removed from a USD; other USD binaries were retained. +The metadata audit verifies stage units and up axis, visible-mesh bounds, positive authored masses and part sums, collision APIs, enabled states, finite mesh coordinates, joint references and ordered limits. These checks establish agreement with the authored USD. They do not measure physical mass, friction or real-world dimensions. -Each repaired JSON records `validation.scope`, a scope for each individual check, `validation.runtime.status`, and the delivered USD SHA-256. `asset.bounds` and `parts[].bounds` use the stage's world axes, metres and default authored pose. The two legacy unnumbered assets use their existing folder names for `asset_id`. Unlimited USD force/limit sentinels in raw attribute dictionaries use quoted Infinity strings for strict JSON interoperability. +Native acceptance uses the unmodified NVIDIA benchmark suite and two explicitly identified Palatial tests. Every planned result must exist exactly once for the same USD SHA-256 in Isaac Sim 6.1.0.0. Failed results, invalid PhysX transforms, incomplete joint coverage, missing native thumbnails and failed independent joint constraints prevent release readiness. Tests skipped by NVIDIA for inapplicable features are recorded separately from passes. Full raw results, logs and media are retained in immutable Hugging Face evidence archives; release metadata links each asset to its qualification. -Run the fast completeness and consistency audit from the repository root: +Packaging uses the official WRAPP packager with required pre-validation, bill-of-materials validation and post-validation. Published package manifests use full immutable Hugging Face commit hashes. Catalog, gallery, physics metadata and release report must agree on the repaired USD hash and acceptance status before publication. + +Run the metadata and current-release checks from the repository root: ```sh python3 tools/audit_metadata.py . +python3 tools/release_manifest.py . --require-ready ``` -For the full repaired-assets USD and gallery parity check, install the OpenUSD dependencies in a virtual environment, retain complete asset folders, and run: +To reopen all delivered USDs and recompute authored geometry and physics metadata: ```sh python3 -m venv .venv @@ -20,4 +23,8 @@ python3 -m venv .venv .venv/bin/python tools/verify_metadata_usd.py . ``` -The full check reopens each repaired USD, recomputes bounds and authored physics metadata, checks JSON/gallery agreement and verifies report SHA-256 hashes. It does not run Isaac Sim, cook collision hulls, execute joint drives or measure real-world properties. The [repair report](reports/metadata-repair-20261008.json) records the exact inputs and results. +## Recorded limitations + +NVIDIA's installed joint-movement test computes a relative transform in an order that can turn common world translation into a large relative-translation metric. The unmodified results are retained. The release therefore also checks actual joint-local anchor closure, finite poses, ordered limits and measurable joint movement. The independent checks do not replace failed official test verdicts. The reproduction and per-joint observations are included in the release evidence. + +D00241's passive hinge mechanisms are validated. Its original nonlinear magnetic-latch behavior script is not part of the portable SimReady package or its certified behavior. Existing legacy simulation recordings retain their original provenance and are not new native acceptance evidence. diff --git a/batch1/D00002 Banana/IsaacSim_assets_69f1ea3e59057a93105854a6/physics_69f1ea3e59057a93105854a6.json b/batch1/D00002 Banana/IsaacSim_assets_69f1ea3e59057a93105854a6/physics_69f1ea3e59057a93105854a6.json index 1d2e93518e1b441da1004e7784bdad7462392a38..93068c394501d6ec5510da6d395a5a36aa27020f 100644 --- a/batch1/D00002 Banana/IsaacSim_assets_69f1ea3e59057a93105854a6/physics_69f1ea3e59057a93105854a6.json +++ b/batch1/D00002 Banana/IsaacSim_assets_69f1ea3e59057a93105854a6/physics_69f1ea3e59057a93105854a6.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "3ff3eec10daba88c7822c9059f026aa69d6438dfb173ed9c4c86fd9f794f497b" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f47eb6a156c90e248346ff96ffda27d30fae8706c95f6330d21e370247c017d6" }, "usd_path": "batch1/D00002 Banana/IsaacSim_assets_69f1ea3e59057a93105854a6/IsaacSim_asset_69f1ea3e59057a93105854a6.usd", - "usd_sha256": "50c7e68dc59bdfbdcf172c85d801482fa8b621af8d731b395346ab76a7d70f52", + "usd_sha256": "61307343666c9bee8717555f032a6a601477a3391e5737a3920cde742b4430f1", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.03447899967432022, 0.09268599724236992 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "50c7e68dc59bdfbdcf172c85d801482fa8b621af8d731b395346ab76a7d70f52", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "61307343666c9bee8717555f032a6a601477a3391e5737a3920cde742b4430f1", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.12999999523162842, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "50c7e68dc59bdfbdcf172c85d801482fa8b621af8d731b395346ab76a7d70f52", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "61307343666c9bee8717555f032a6a601477a3391e5737a3920cde742b4430f1", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.12999999523162842, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "50c7e68dc59bdfbdcf172c85d801482fa8b621af8d731b395346ab76a7d70f52", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "61307343666c9bee8717555f032a6a601477a3391e5737a3920cde742b4430f1", "scope": "authored_usd_collision_schema", "enabled_shape_count": 56, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "50c7e68dc59bdfbdcf172c85d801482fa8b621af8d731b395346ab76a7d70f52", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "61307343666c9bee8717555f032a6a601477a3391e5737a3920cde742b4430f1", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "61307343666c9bee8717555f032a6a601477a3391e5737a3920cde742b4430f1", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:41.043671+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "e6100c7d4fdeec34904065bc000aec9cdf7b47f02efa73e8d7292c1d645dccb9", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00020 Bell/IsaacSim_assets_69f1f00c59057a931058ad0f/physics_69f1f00c59057a931058ad0f.json b/batch1/D00020 Bell/IsaacSim_assets_69f1f00c59057a931058ad0f/physics_69f1f00c59057a931058ad0f.json index fa40ad2958e77d2615294a858f9882538219ba31..7cefd42f1ac4421a8d339a68a011d8f84a7517f5 100644 --- a/batch1/D00020 Bell/IsaacSim_assets_69f1f00c59057a931058ad0f/physics_69f1f00c59057a931058ad0f.json +++ b/batch1/D00020 Bell/IsaacSim_assets_69f1f00c59057a931058ad0f/physics_69f1f00c59057a931058ad0f.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "72b41a790e7dcdb5f192045fe2b7e314bac5edadb3e971fe898095f835268f78" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7dd7eba92fd7ffb3d10b9edeb15a9477861110af059ea0d00db15c2b7418da8a" }, "usd_path": "batch1/D00020 Bell/IsaacSim_assets_69f1f00c59057a931058ad0f/IsaacSim_asset_69f1f00c59057a931058ad0f.usd", - "usd_sha256": "2148bf84e38c9a76ff2173c71823f53662e78b8bc13a005c0d1ce6ea72d36a71", + "usd_sha256": "8389120403032b56aacffdee8b83cab826c1fdaa6e8e24a10fdbb3881e89d58d", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.09674099832773209, 0.19574200265788022 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2148bf84e38c9a76ff2173c71823f53662e78b8bc13a005c0d1ce6ea72d36a71", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8389120403032b56aacffdee8b83cab826c1fdaa6e8e24a10fdbb3881e89d58d", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.8500000238418579, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2148bf84e38c9a76ff2173c71823f53662e78b8bc13a005c0d1ce6ea72d36a71", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8389120403032b56aacffdee8b83cab826c1fdaa6e8e24a10fdbb3881e89d58d", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.8500000238418579, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2148bf84e38c9a76ff2173c71823f53662e78b8bc13a005c0d1ce6ea72d36a71", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8389120403032b56aacffdee8b83cab826c1fdaa6e8e24a10fdbb3881e89d58d", "scope": "authored_usd_collision_schema", "enabled_shape_count": 56, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2148bf84e38c9a76ff2173c71823f53662e78b8bc13a005c0d1ce6ea72d36a71", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8389120403032b56aacffdee8b83cab826c1fdaa6e8e24a10fdbb3881e89d58d", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "8389120403032b56aacffdee8b83cab826c1fdaa6e8e24a10fdbb3881e89d58d", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:10.912567+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "a7705a8758d0e2ed352a1b73890294ee0f1226880d863d87140c2438c9ab4ecf", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00023 Berry Apple/IsaacSim_assets_69f1f0a059057a931058ba6a/physics_69f1f0a059057a931058ba6a.json b/batch1/D00023 Berry Apple/IsaacSim_assets_69f1f0a059057a931058ba6a/physics_69f1f0a059057a931058ba6a.json index 78147457bba8cea97debafb8766445a869f251b4..a77888dddc0f39f4f74134df2db3bde8465f7c86 100644 --- a/batch1/D00023 Berry Apple/IsaacSim_assets_69f1f0a059057a931058ba6a/physics_69f1f0a059057a931058ba6a.json +++ b/batch1/D00023 Berry Apple/IsaacSim_assets_69f1f0a059057a931058ba6a/physics_69f1f0a059057a931058ba6a.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "980647cc6b6af63268ba017073016e6b77db1187b724cef6dd1010718526a5e2" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e646e14f85d1769735f727d4e9c03ebebfbe001e8ee4728ca4f8aff48c6be71d" }, "usd_path": "batch1/D00023 Berry Apple/IsaacSim_assets_69f1f0a059057a931058ba6a/IsaacSim_asset_69f1f0a059057a931058ba6a.usd", - "usd_sha256": "6a99c43a6f7d08ca5d29da68c84452999048add7ef7e3e7871a1c69154beec23", + "usd_sha256": "5aba4a477143a6ffdef9e0898ef498cbef0a63ae6f6a63b3beb957f5f41d1698", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.07322399690747261, 0.08856399838259676 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6a99c43a6f7d08ca5d29da68c84452999048add7ef7e3e7871a1c69154beec23", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5aba4a477143a6ffdef9e0898ef498cbef0a63ae6f6a63b3beb957f5f41d1698", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.18000000715255737, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6a99c43a6f7d08ca5d29da68c84452999048add7ef7e3e7871a1c69154beec23", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5aba4a477143a6ffdef9e0898ef498cbef0a63ae6f6a63b3beb957f5f41d1698", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.18000000715255737, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6a99c43a6f7d08ca5d29da68c84452999048add7ef7e3e7871a1c69154beec23", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5aba4a477143a6ffdef9e0898ef498cbef0a63ae6f6a63b3beb957f5f41d1698", "scope": "authored_usd_collision_schema", "enabled_shape_count": 103, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,38 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6a99c43a6f7d08ca5d29da68c84452999048add7ef7e3e7871a1c69154beec23", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5aba4a477143a6ffdef9e0898ef498cbef0a63ae6f6a63b3beb957f5f41d1698", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "5aba4a477143a6ffdef9e0898ef498cbef0a63ae6f6a63b3beb957f5f41d1698", + "supplemental_accepted": false, + "planned_test_count": 12, + "result_count": 12, + "passed": 10, + "skipped": 1, + "failed": 1, + "issues": [ + "preview_surface_renders:fail" + ], + "warnings": [], + "completed_at": "2026-10-13T20:33:41.234067+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "2c6bb053d831c4e82f90921e45ed2b150c4d405f1ec131d1fe0df10c338df7b0", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00037 Blueberry/IsaacSim_assets_69f1f21059057a931058da79/physics_69f1f21059057a931058da79.json b/batch1/D00037 Blueberry/IsaacSim_assets_69f1f21059057a931058da79/physics_69f1f21059057a931058da79.json index acdba1c36a52f06506459bce1d7b089bb2c2e6a4..7330451092aa771dccc0487f022500267e072848 100644 --- a/batch1/D00037 Blueberry/IsaacSim_assets_69f1f21059057a931058da79/physics_69f1f21059057a931058da79.json +++ b/batch1/D00037 Blueberry/IsaacSim_assets_69f1f21059057a931058da79/physics_69f1f21059057a931058da79.json @@ -109,13 +109,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "34ee57c0dc924228324d12ae436e7f780421abe76ebc25d97c604a6864913126" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6febef0b6128267ed7943d3c94754fbde3a2120fcce1e4be2e020599b69cb7e3" }, "usd_path": "batch1/D00037 Blueberry/IsaacSim_assets_69f1f21059057a931058da79/IsaacSim_asset_69f1f21059057a931058da79.usd", - "usd_sha256": "110d4193789bbe6c7464890ac7194db86b63cdbf177219f793a7880189691e39", + "usd_sha256": "d5621278ff11690d12b17b18fe57e0ba29b9fc3bf7689249bfda86d9aeae902e", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -133,9 +133,9 @@ 0.012382999993860722, 0.010599999986879993 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "110d4193789bbe6c7464890ac7194db86b63cdbf177219f793a7880189691e39", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d5621278ff11690d12b17b18fe57e0ba29b9fc3bf7689249bfda86d9aeae902e", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -144,9 +144,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.0020000000949949026, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "110d4193789bbe6c7464890ac7194db86b63cdbf177219f793a7880189691e39", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d5621278ff11690d12b17b18fe57e0ba29b9fc3bf7689249bfda86d9aeae902e", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.0020000000949949026, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -158,9 +158,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "110d4193789bbe6c7464890ac7194db86b63cdbf177219f793a7880189691e39", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d5621278ff11690d12b17b18fe57e0ba29b9fc3bf7689249bfda86d9aeae902e", "scope": "authored_usd_collision_schema", "enabled_shape_count": 118, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -169,18 +169,42 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "110d4193789bbe6c7464890ac7194db86b63cdbf177219f793a7880189691e39", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d5621278ff11690d12b17b18fe57e0ba29b9fc3bf7689249bfda86d9aeae902e", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "d5621278ff11690d12b17b18fe57e0ba29b9fc3bf7689249bfda86d9aeae902e", + "supplemental_accepted": false, + "planned_test_count": 11, + "result_count": 11, + "passed": 7, + "skipped": 0, + "failed": 4, + "issues": [ + "palatial_black_thumbnail:fail", + "presence:fail", + "preview_surface_renders:fail", + "semantic_labels_seg_labelled:fail", + "verified_native_thumbnail_missing" + ], + "warnings": [], + "completed_at": "2026-10-13T21:01:22.584738+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": null, + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00038 Board/IsaacSim_assets_69f1f21359057a931058db1d/physics_69f1f21359057a931058db1d.json b/batch1/D00038 Board/IsaacSim_assets_69f1f21359057a931058db1d/physics_69f1f21359057a931058db1d.json index 75371b242d70b754d6d89f44441a2d10533fc416..cd60242f86defee722ef08509780a1bde0232e5f 100644 --- a/batch1/D00038 Board/IsaacSim_assets_69f1f21359057a931058db1d/physics_69f1f21359057a931058db1d.json +++ b/batch1/D00038 Board/IsaacSim_assets_69f1f21359057a931058db1d/physics_69f1f21359057a931058db1d.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "adefe9a29d5841e15bce6a215074a07d5b81a5b9ee737a0a6933a443c48b5b50" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "68fe52cd4bcb72c0f2233c182d23a8ca1927314ccb34d1b7183fbd91b2356c47" }, "usd_path": "batch1/D00038 Board/IsaacSim_assets_69f1f21359057a931058db1d/IsaacSim_asset_69f1f21359057a931058db1d.usd", - "usd_sha256": "26bb49353f0d46ff7ad4d6484b4016dfa1537cf5cb390743613f18f488c2ce64", + "usd_sha256": "5e9d1cd62b96e9659567bbd93bbf7e408c750d1c8246a04095d3ddfd8c6d2ca1", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.25459499657154083, 0.018496000047889538 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "26bb49353f0d46ff7ad4d6484b4016dfa1537cf5cb390743613f18f488c2ce64", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5e9d1cd62b96e9659567bbd93bbf7e408c750d1c8246a04095d3ddfd8c6d2ca1", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.75, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "26bb49353f0d46ff7ad4d6484b4016dfa1537cf5cb390743613f18f488c2ce64", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5e9d1cd62b96e9659567bbd93bbf7e408c750d1c8246a04095d3ddfd8c6d2ca1", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.75, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "26bb49353f0d46ff7ad4d6484b4016dfa1537cf5cb390743613f18f488c2ce64", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5e9d1cd62b96e9659567bbd93bbf7e408c750d1c8246a04095d3ddfd8c6d2ca1", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "26bb49353f0d46ff7ad4d6484b4016dfa1537cf5cb390743613f18f488c2ce64", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5e9d1cd62b96e9659567bbd93bbf7e408c750d1c8246a04095d3ddfd8c6d2ca1", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "5e9d1cd62b96e9659567bbd93bbf7e408c750d1c8246a04095d3ddfd8c6d2ca1", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:43.063221+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "779917637703f23dc1514891dacfb1b7a137638fe69cd095dc70297baee7caab", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00048 Bottle Container/IsaacSim_assets_69f1f4a659057a9310591d14/physics_69f1f4a659057a9310591d14.json b/batch1/D00048 Bottle Container/IsaacSim_assets_69f1f4a659057a9310591d14/physics_69f1f4a659057a9310591d14.json index 366b6bc2590deda9d8f3e45e47c2de1987b95b53..92d2c3305332526f3b2da5ad11c68a4a804fbe05 100644 --- a/batch1/D00048 Bottle Container/IsaacSim_assets_69f1f4a659057a9310591d14/physics_69f1f4a659057a9310591d14.json +++ b/batch1/D00048 Bottle Container/IsaacSim_assets_69f1f4a659057a9310591d14/physics_69f1f4a659057a9310591d14.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "cc744ccb9ea045c06796f7db3441e97245ba9fc5443dfa53a3356b7e4a2d83f6" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bef4264bf86375306c90b0334a7db0e6944aa31071fb01cb21648d90db60cb19" }, "usd_path": "batch1/D00048 Bottle Container/IsaacSim_assets_69f1f4a659057a9310591d14/IsaacSim_asset_69f1f4a659057a9310591d14.usd", - "usd_sha256": "cfcd6d4eb69694c8dee7debeb4a38b4e43fe31340044f3360e03bbec9b2b3e09", + "usd_sha256": "1ab981b614313800abae0da7db45959daaded0b531087997835f2d705938668b", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.0694580003619194, 0.19819800080585992 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cfcd6d4eb69694c8dee7debeb4a38b4e43fe31340044f3360e03bbec9b2b3e09", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1ab981b614313800abae0da7db45959daaded0b531087997835f2d705938668b", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 2.4000000953674316, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cfcd6d4eb69694c8dee7debeb4a38b4e43fe31340044f3360e03bbec9b2b3e09", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1ab981b614313800abae0da7db45959daaded0b531087997835f2d705938668b", "scope": "authored_usd_mass_consistency", "part_sum_kg": 2.4000000953674316, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cfcd6d4eb69694c8dee7debeb4a38b4e43fe31340044f3360e03bbec9b2b3e09", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1ab981b614313800abae0da7db45959daaded0b531087997835f2d705938668b", "scope": "authored_usd_collision_schema", "enabled_shape_count": 59, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cfcd6d4eb69694c8dee7debeb4a38b4e43fe31340044f3360e03bbec9b2b3e09", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1ab981b614313800abae0da7db45959daaded0b531087997835f2d705938668b", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "1ab981b614313800abae0da7db45959daaded0b531087997835f2d705938668b", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:42.419594+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "0e626efae92cbba9048e22a2d4ea9fb84ff9bd83bf1f7a240f03df68deee6f6f", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00054 Bowl/IsaacSim_assets_69f1f58959057a9310593240/physics_69f1f58959057a9310593240.json b/batch1/D00054 Bowl/IsaacSim_assets_69f1f58959057a9310593240/physics_69f1f58959057a9310593240.json index a6e5a18a00f4851b2429984e5a1ee988d0887818..8c972d990b4bdf81bce1094f38b79d46fd8bcfae 100644 --- a/batch1/D00054 Bowl/IsaacSim_assets_69f1f58959057a9310593240/physics_69f1f58959057a9310593240.json +++ b/batch1/D00054 Bowl/IsaacSim_assets_69f1f58959057a9310593240/physics_69f1f58959057a9310593240.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "c10d719d857a013ab2f9c219859cb0279342d65eafdee0de1964d30c61bfea24" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fe473c19597182a3dc82c841257e05638517ea2198f9bb23939b9aa16a689b37" }, "usd_path": "batch1/D00054 Bowl/IsaacSim_assets_69f1f58959057a9310593240/IsaacSim_asset_69f1f58959057a9310593240.usd", - "usd_sha256": "c0333732e486e3673640880f34751f038c46bec6c601d4d6d1fba405839d22a6", + "usd_sha256": "4465032f5d5026ae6fcd0eb5622f985921ab080414f105c5e3409b2fd6eae332", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.11279100179672241, 0.053671000765803 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c0333732e486e3673640880f34751f038c46bec6c601d4d6d1fba405839d22a6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4465032f5d5026ae6fcd0eb5622f985921ab080414f105c5e3409b2fd6eae332", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.41999998688697815, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c0333732e486e3673640880f34751f038c46bec6c601d4d6d1fba405839d22a6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4465032f5d5026ae6fcd0eb5622f985921ab080414f105c5e3409b2fd6eae332", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.41999998688697815, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c0333732e486e3673640880f34751f038c46bec6c601d4d6d1fba405839d22a6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4465032f5d5026ae6fcd0eb5622f985921ab080414f105c5e3409b2fd6eae332", "scope": "authored_usd_collision_schema", "enabled_shape_count": 59, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c0333732e486e3673640880f34751f038c46bec6c601d4d6d1fba405839d22a6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4465032f5d5026ae6fcd0eb5622f985921ab080414f105c5e3409b2fd6eae332", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "4465032f5d5026ae6fcd0eb5622f985921ab080414f105c5e3409b2fd6eae332", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:43.665745+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "f1815ea9a16f6e2b9c62d38e8056995de00b40be149e22398e1e5708a0893c48", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00055 Bowl Basket/IsaacSim_assets_69f1f5b059057a9310593679/physics_69f1f5b059057a9310593679.json b/batch1/D00055 Bowl Basket/IsaacSim_assets_69f1f5b059057a9310593679/physics_69f1f5b059057a9310593679.json index 901f8fe305f4f5f704dfd8f1094dd1933a4f73fa..a4186d05a0c376e42c87a426a3dcaf23a5fe14c0 100644 --- a/batch1/D00055 Bowl Basket/IsaacSim_assets_69f1f5b059057a9310593679/physics_69f1f5b059057a9310593679.json +++ b/batch1/D00055 Bowl Basket/IsaacSim_assets_69f1f5b059057a9310593679/physics_69f1f5b059057a9310593679.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "df579565fb2267cde83f366b1ffd295825ab1ec40e9dcc4180eb630102bf55c9" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1822044be2eae04c202dfc41ec4e3993a1b4246b53514a85b641031b64b711e2" }, "usd_path": "batch1/D00055 Bowl Basket/IsaacSim_assets_69f1f5b059057a9310593679/IsaacSim_asset_69f1f5b059057a9310593679.usd", - "usd_sha256": "2d4328f7e8195b4e0885899c699fec92a6a0e4af2de68148393753609c96c562", + "usd_sha256": "c4f42ebd67a0a70934fa259e0258bbce0c87261fedd5ee3b0e45787a744e6d06", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.27079400420188904, 0.20886998623609543 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2d4328f7e8195b4e0885899c699fec92a6a0e4af2de68148393753609c96c562", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c4f42ebd67a0a70934fa259e0258bbce0c87261fedd5ee3b0e45787a744e6d06", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 1.600000023841858, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2d4328f7e8195b4e0885899c699fec92a6a0e4af2de68148393753609c96c562", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c4f42ebd67a0a70934fa259e0258bbce0c87261fedd5ee3b0e45787a744e6d06", "scope": "authored_usd_mass_consistency", "part_sum_kg": 1.600000023841858, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2d4328f7e8195b4e0885899c699fec92a6a0e4af2de68148393753609c96c562", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c4f42ebd67a0a70934fa259e0258bbce0c87261fedd5ee3b0e45787a744e6d06", "scope": "authored_usd_collision_schema", "enabled_shape_count": 117, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2d4328f7e8195b4e0885899c699fec92a6a0e4af2de68148393753609c96c562", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c4f42ebd67a0a70934fa259e0258bbce0c87261fedd5ee3b0e45787a744e6d06", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "c4f42ebd67a0a70934fa259e0258bbce0c87261fedd5ee3b0e45787a744e6d06", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:42.656419+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "ffeb31605bfb084d1df8f7e39072cc5b224095e5b206421911b4cc6b34718eda", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00056 Bowl Container/IsaacSim_assets_69fef61cf3726e6ad053857a/physics_69fef61cf3726e6ad053857a.json b/batch1/D00056 Bowl Container/IsaacSim_assets_69fef61cf3726e6ad053857a/physics_69fef61cf3726e6ad053857a.json index 328cf4eb443ffa79529fef946d9c4d6db27299a2..97822b5f07ff209ab7803fad53c88c104445608a 100644 --- a/batch1/D00056 Bowl Container/IsaacSim_assets_69fef61cf3726e6ad053857a/physics_69fef61cf3726e6ad053857a.json +++ b/batch1/D00056 Bowl Container/IsaacSim_assets_69fef61cf3726e6ad053857a/physics_69fef61cf3726e6ad053857a.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "cfbf69e2ce3797ee665b3d1385ad8a033d74fab245be10f6f236f87914d0d29a" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c498157b0dc1494dd9188fb30798f4974001e110494c6432f3d7e1fd88959d15" }, "usd_path": "batch1/D00056 Bowl Container/IsaacSim_assets_69fef61cf3726e6ad053857a/IsaacSim_asset_69fef61cf3726e6ad053857a.usd", - "usd_sha256": "54c62f34d359186d43ae5b1e4b9b3b4cda00405f65d5eabdeb66e3519675df52", + "usd_sha256": "e0dd856eaa4947d3d8756b80a7e3f6b99a3be8eb7ed628cccc0f9186a66d10af", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.15584100037813187, 0.06898700283670678 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "54c62f34d359186d43ae5b1e4b9b3b4cda00405f65d5eabdeb66e3519675df52", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0dd856eaa4947d3d8756b80a7e3f6b99a3be8eb7ed628cccc0f9186a66d10af", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.46000000834465027, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "54c62f34d359186d43ae5b1e4b9b3b4cda00405f65d5eabdeb66e3519675df52", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0dd856eaa4947d3d8756b80a7e3f6b99a3be8eb7ed628cccc0f9186a66d10af", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.46000000834465027, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "54c62f34d359186d43ae5b1e4b9b3b4cda00405f65d5eabdeb66e3519675df52", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0dd856eaa4947d3d8756b80a7e3f6b99a3be8eb7ed628cccc0f9186a66d10af", "scope": "authored_usd_collision_schema", "enabled_shape_count": 59, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "54c62f34d359186d43ae5b1e4b9b3b4cda00405f65d5eabdeb66e3519675df52", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0dd856eaa4947d3d8756b80a7e3f6b99a3be8eb7ed628cccc0f9186a66d10af", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "e0dd856eaa4947d3d8756b80a7e3f6b99a3be8eb7ed628cccc0f9186a66d10af", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:12.687058+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "c229f43199442536b90cfe292200a77b951a378c37f9e479f43c9cb120c5adb8", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00063 Bowl Lemon/IsaacSim_assets_69f1f7d559057a9310596a42/physics_69f1f7d559057a9310596a42.json b/batch1/D00063 Bowl Lemon/IsaacSim_assets_69f1f7d559057a9310596a42/physics_69f1f7d559057a9310596a42.json index 9f647993e9f5de232b7513a34fb6a2f7da7ec4ea..de1c223ae82f52ac8871772d32641a6263cb423e 100644 --- a/batch1/D00063 Bowl Lemon/IsaacSim_assets_69f1f7d559057a9310596a42/physics_69f1f7d559057a9310596a42.json +++ b/batch1/D00063 Bowl Lemon/IsaacSim_assets_69f1f7d559057a9310596a42/physics_69f1f7d559057a9310596a42.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "98cdc6f5cf739af32999ed95e596b5b3882d1ed6443d553a97df768c34179166" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fc63968926633f5b66015d6c7349f94dc14fa9d455353c7109c4de845866d2a9" }, "usd_path": "batch1/D00063 Bowl Lemon/IsaacSim_assets_69f1f7d559057a9310596a42/IsaacSim_asset_69f1f7d559057a9310596a42.usd", - "usd_sha256": "190a8108901df66d9512d4e126fda7b59a24ffc564f8b2490277dd184123103f", + "usd_sha256": "09d2cbc0a8cd1809c77b161145c24143d6a0871cd79ad2f6ef694955d502ab01", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.09121400117874146, 0.062414998188614845 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "190a8108901df66d9512d4e126fda7b59a24ffc564f8b2490277dd184123103f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "09d2cbc0a8cd1809c77b161145c24143d6a0871cd79ad2f6ef694955d502ab01", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.2800000011920929, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "190a8108901df66d9512d4e126fda7b59a24ffc564f8b2490277dd184123103f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "09d2cbc0a8cd1809c77b161145c24143d6a0871cd79ad2f6ef694955d502ab01", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.2800000011920929, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "190a8108901df66d9512d4e126fda7b59a24ffc564f8b2490277dd184123103f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "09d2cbc0a8cd1809c77b161145c24143d6a0871cd79ad2f6ef694955d502ab01", "scope": "authored_usd_collision_schema", "enabled_shape_count": 59, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "190a8108901df66d9512d4e126fda7b59a24ffc564f8b2490277dd184123103f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "09d2cbc0a8cd1809c77b161145c24143d6a0871cd79ad2f6ef694955d502ab01", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "09d2cbc0a8cd1809c77b161145c24143d6a0871cd79ad2f6ef694955d502ab01", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:44.119748+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "2218f649baf912d1cc58860b23b446157496944ec4ece4d8fd0d31aef0c851cb", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00064 Bowl Mortar/IsaacSim_assets_69f1f7d759057a9310596a88/physics_69f1f7d759057a9310596a88.json b/batch1/D00064 Bowl Mortar/IsaacSim_assets_69f1f7d759057a9310596a88/physics_69f1f7d759057a9310596a88.json index c5348ba778322d7d64a11aec52971b1432075b99..729287e1b1c5e79fc2f524635948945c65dc0a9e 100644 --- a/batch1/D00064 Bowl Mortar/IsaacSim_assets_69f1f7d759057a9310596a88/physics_69f1f7d759057a9310596a88.json +++ b/batch1/D00064 Bowl Mortar/IsaacSim_assets_69f1f7d759057a9310596a88/physics_69f1f7d759057a9310596a88.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "22cd6aa8ba7b2e280008e0a94e9ee94690ba9603646611183772a1b5ccfb00d0" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c0c2cf41213d94e9218caadd0515147876f562b0c7adc293579b4ece0e917422" }, "usd_path": "batch1/D00064 Bowl Mortar/IsaacSim_assets_69f1f7d759057a9310596a88/IsaacSim_asset_69f1f7d759057a9310596a88.usd", - "usd_sha256": "9a17a479a1c36d01b865508d99d9e01435d3a6f7048bbaf41c8f0ba30a6fd1b5", + "usd_sha256": "268467ecc21e859c219d729a2604f0417640db7386908001f769faf0481eb505", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.18054600059986115, 0.10046000003512745 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9a17a479a1c36d01b865508d99d9e01435d3a6f7048bbaf41c8f0ba30a6fd1b5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "268467ecc21e859c219d729a2604f0417640db7386908001f769faf0481eb505", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.44999998807907104, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9a17a479a1c36d01b865508d99d9e01435d3a6f7048bbaf41c8f0ba30a6fd1b5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "268467ecc21e859c219d729a2604f0417640db7386908001f769faf0481eb505", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.44999998807907104, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9a17a479a1c36d01b865508d99d9e01435d3a6f7048bbaf41c8f0ba30a6fd1b5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "268467ecc21e859c219d729a2604f0417640db7386908001f769faf0481eb505", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9a17a479a1c36d01b865508d99d9e01435d3a6f7048bbaf41c8f0ba30a6fd1b5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "268467ecc21e859c219d729a2604f0417640db7386908001f769faf0481eb505", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "268467ecc21e859c219d729a2604f0417640db7386908001f769faf0481eb505", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:43.084525+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "0b8cf106a0372e753ccc01c822d22024a4a2a7e4f8eaddbb45b11553f1af8d79", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00068 Bowl Pot/IsaacSim_assets_69f1f89159057a9310597aa3/physics_69f1f89159057a9310597aa3.json b/batch1/D00068 Bowl Pot/IsaacSim_assets_69f1f89159057a9310597aa3/physics_69f1f89159057a9310597aa3.json index 58a96b6453a88c8a6a4808788fca7154209dba96..71164ac4488c6f4494d65f9b7d6cbdd1854b5fe6 100644 --- a/batch1/D00068 Bowl Pot/IsaacSim_assets_69f1f89159057a9310597aa3/physics_69f1f89159057a9310597aa3.json +++ b/batch1/D00068 Bowl Pot/IsaacSim_assets_69f1f89159057a9310597aa3/physics_69f1f89159057a9310597aa3.json @@ -258,13 +258,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "4b8a66236683369bcc5a66dd034479e5ea54771678f991754292f37d0088efd2" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "71b04a53b28e5f8d8a68f6199d339add9c3abe9634c6171621bd9f27601d6a24" }, "usd_path": "batch1/D00068 Bowl Pot/IsaacSim_assets_69f1f89159057a9310597aa3/IsaacSim_asset_69f1f89159057a9310597aa3.usd", - "usd_sha256": "3b5aed8b55bc36dbda096f075738ced58a66f2f7ef36485fcdcc0d826c3e1021", + "usd_sha256": "5a8aff655a1dcd7d63d6364479e96a6185c96ea3ddc0242d27cd9d3cd97f14c8", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -282,9 +282,9 @@ 0.2007800042629242, 0.15231099826633 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3b5aed8b55bc36dbda096f075738ced58a66f2f7ef36485fcdcc0d826c3e1021", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5a8aff655a1dcd7d63d6364479e96a6185c96ea3ddc0242d27cd9d3cd97f14c8", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -293,9 +293,9 @@ "status": "verified", "confidence": "high", "value_kg": 3.5599999986588955, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3b5aed8b55bc36dbda096f075738ced58a66f2f7ef36485fcdcc0d826c3e1021", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5a8aff655a1dcd7d63d6364479e96a6185c96ea3ddc0242d27cd9d3cd97f14c8", "scope": "authored_usd_mass_consistency", "part_sum_kg": 3.5599999986588955, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -307,9 +307,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3b5aed8b55bc36dbda096f075738ced58a66f2f7ef36485fcdcc0d826c3e1021", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5a8aff655a1dcd7d63d6364479e96a6185c96ea3ddc0242d27cd9d3cd97f14c8", "scope": "authored_usd_collision_schema", "enabled_shape_count": 58, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -318,18 +318,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3b5aed8b55bc36dbda096f075738ced58a66f2f7ef36485fcdcc0d826c3e1021", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5a8aff655a1dcd7d63d6364479e96a6185c96ea3ddc0242d27cd9d3cd97f14c8", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "5a8aff655a1dcd7d63d6364479e96a6185c96ea3ddc0242d27cd9d3cd97f14c8", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:43.349517+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "dcc386cdaa0419adf979e8a54ea6358ca0e2e355d4fc8611b361f45a15d8cf68", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00077 Box Container/IsaacSim_assets_69f1fa5859057a931059a574/physics_69f1fa5859057a931059a574.json b/batch1/D00077 Box Container/IsaacSim_assets_69f1fa5859057a931059a574/physics_69f1fa5859057a931059a574.json index 3e3eacdc2744d870c400527cf29ecfbbc16d65ef..9fc0b2dfb9cb62075f929635a97a9bc5dde8a0ae 100644 --- a/batch1/D00077 Box Container/IsaacSim_assets_69f1fa5859057a931059a574/physics_69f1fa5859057a931059a574.json +++ b/batch1/D00077 Box Container/IsaacSim_assets_69f1fa5859057a931059a574/physics_69f1fa5859057a931059a574.json @@ -109,13 +109,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "ba844a56ad37af897459ba393d8228b038899e5204c3977884c20acb019b2cda" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6c5b74623fc35d6bab0c74c5b003b359f718a81f7499a544bda669c3eb7fe12c" }, "usd_path": "batch1/D00077 Box Container/IsaacSim_assets_69f1fa5859057a931059a574/IsaacSim_asset_69f1fa5859057a931059a574.usd", - "usd_sha256": "31e2b09edaddd4fba05ddce3d09dca60835602a8ed434408d5e06655f072e305", + "usd_sha256": "93ae2aa3b8c08529d1dda52dd0c70bd7198aa606ed16f2273f8bef77c58bd8cf", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -133,9 +133,9 @@ 0.1581829935312271, 0.19431400633766316 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "31e2b09edaddd4fba05ddce3d09dca60835602a8ed434408d5e06655f072e305", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "93ae2aa3b8c08529d1dda52dd0c70bd7198aa606ed16f2273f8bef77c58bd8cf", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -144,9 +144,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.800000011920929, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "31e2b09edaddd4fba05ddce3d09dca60835602a8ed434408d5e06655f072e305", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "93ae2aa3b8c08529d1dda52dd0c70bd7198aa606ed16f2273f8bef77c58bd8cf", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.800000011920929, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -158,9 +158,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "31e2b09edaddd4fba05ddce3d09dca60835602a8ed434408d5e06655f072e305", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "93ae2aa3b8c08529d1dda52dd0c70bd7198aa606ed16f2273f8bef77c58bd8cf", "scope": "authored_usd_collision_schema", "enabled_shape_count": 59, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -169,18 +169,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "31e2b09edaddd4fba05ddce3d09dca60835602a8ed434408d5e06655f072e305", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "93ae2aa3b8c08529d1dda52dd0c70bd7198aa606ed16f2273f8bef77c58bd8cf", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "93ae2aa3b8c08529d1dda52dd0c70bd7198aa606ed16f2273f8bef77c58bd8cf", + "supplemental_accepted": true, + "planned_test_count": 11, + "result_count": 11, + "passed": 11, + "skipped": 0, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:43.786745+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "9749a4527cf7f4930ac240b15b6e8a91eed2ff2bf6e9ca975cf861a28b388b9e", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00081 Bread Basket/IsaacSim_assets_69f1fbe359057a931059c916/physics_69f1fbe359057a931059c916.json b/batch1/D00081 Bread Basket/IsaacSim_assets_69f1fbe359057a931059c916/physics_69f1fbe359057a931059c916.json index 443f7f7ee0765aaa0d6b6fcefeb18778e2a519b2..408c404d76ff27fd0a62325434c31b4d1554ec36 100644 --- a/batch1/D00081 Bread Basket/IsaacSim_assets_69f1fbe359057a931059c916/physics_69f1fbe359057a931059c916.json +++ b/batch1/D00081 Bread Basket/IsaacSim_assets_69f1fbe359057a931059c916/physics_69f1fbe359057a931059c916.json @@ -331,13 +331,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "2d915dbb4884aaaa255a16e165bf5961a63fa5b5966be570e8842152f258391a" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "cbd04e6e3173e35dfac438fa4cb47e7c039aedbeff36dea6e04f871a6191eafa" }, "usd_path": "batch1/D00081 Bread Basket/IsaacSim_assets_69f1fbe359057a931059c916/IsaacSim_asset_69f1fbe359057a931059c916.usd", - "usd_sha256": "27d3089181480d7d30bdaf4b29a4168eb39faa7914d4b4798bd328e9724c12ea", + "usd_sha256": "113bb9111b4b2ae41f1127287e5d011e27a46ab09f43c9e5060ce9dd3c79ab21", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -355,9 +355,9 @@ 0.3345090001821518, 0.1921300019021146 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "27d3089181480d7d30bdaf4b29a4168eb39faa7914d4b4798bd328e9724c12ea", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "113bb9111b4b2ae41f1127287e5d011e27a46ab09f43c9e5060ce9dd3c79ab21", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -366,9 +366,9 @@ "status": "verified", "confidence": "high", "value_kg": 1.400000050663948, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "27d3089181480d7d30bdaf4b29a4168eb39faa7914d4b4798bd328e9724c12ea", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "113bb9111b4b2ae41f1127287e5d011e27a46ab09f43c9e5060ce9dd3c79ab21", "scope": "authored_usd_mass_consistency", "part_sum_kg": 1.400000050663948, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -380,9 +380,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "27d3089181480d7d30bdaf4b29a4168eb39faa7914d4b4798bd328e9724c12ea", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "113bb9111b4b2ae41f1127287e5d011e27a46ab09f43c9e5060ce9dd3c79ab21", "scope": "authored_usd_collision_schema", "enabled_shape_count": 39, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -391,18 +391,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "27d3089181480d7d30bdaf4b29a4168eb39faa7914d4b4798bd328e9724c12ea", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "113bb9111b4b2ae41f1127287e5d011e27a46ab09f43c9e5060ce9dd3c79ab21", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "113bb9111b4b2ae41f1127287e5d011e27a46ab09f43c9e5060ce9dd3c79ab21", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:44.044081+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "db5095aa7d19cdd8654db6400ff99f049b55ea017c2f98fc1abf6c972fecd2f5", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00084 Bread Roll/IsaacSim_assets_69f1fc7959057a931059d616/physics_69f1fc7959057a931059d616.json b/batch1/D00084 Bread Roll/IsaacSim_assets_69f1fc7959057a931059d616/physics_69f1fc7959057a931059d616.json index 36f7dcc0ddbbc6974e3eb6a2770d384239d69165..e712c5dc0e4db880ea807990c3e929f0b4892f94 100644 --- a/batch1/D00084 Bread Roll/IsaacSim_assets_69f1fc7959057a931059d616/physics_69f1fc7959057a931059d616.json +++ b/batch1/D00084 Bread Roll/IsaacSim_assets_69f1fc7959057a931059d616/physics_69f1fc7959057a931059d616.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "310b2b8c83d35283798723a822d76b463dd95770996f242be0313a86a3d09f2b" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b9c6bb25aaeb38c582d5a6355663f97ab555c544b973a2444dff9fbf9b6df8d7" }, "usd_path": "batch1/D00084 Bread Roll/IsaacSim_assets_69f1fc7959057a931059d616/IsaacSim_asset_69f1fc7959057a931059d616.usd", - "usd_sha256": "a84fb41bc2b4ecdc5e43990c4911be2e9b6933aa7a130e7d1dbf101f83a70a79", + "usd_sha256": "79d6746db8331aca2003e114cacb559b4cf2dca25d3ce1d823cbad3efca89d6b", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.14118200540542603, 0.061702001839876175 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a84fb41bc2b4ecdc5e43990c4911be2e9b6933aa7a130e7d1dbf101f83a70a79", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "79d6746db8331aca2003e114cacb559b4cf2dca25d3ce1d823cbad3efca89d6b", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.05999999865889549, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a84fb41bc2b4ecdc5e43990c4911be2e9b6933aa7a130e7d1dbf101f83a70a79", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "79d6746db8331aca2003e114cacb559b4cf2dca25d3ce1d823cbad3efca89d6b", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.05999999865889549, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a84fb41bc2b4ecdc5e43990c4911be2e9b6933aa7a130e7d1dbf101f83a70a79", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "79d6746db8331aca2003e114cacb559b4cf2dca25d3ce1d823cbad3efca89d6b", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a84fb41bc2b4ecdc5e43990c4911be2e9b6933aa7a130e7d1dbf101f83a70a79", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "79d6746db8331aca2003e114cacb559b4cf2dca25d3ce1d823cbad3efca89d6b", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "79d6746db8331aca2003e114cacb559b4cf2dca25d3ce1d823cbad3efca89d6b", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 10, + "skipped": 2, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:23.775788+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "633db331ed77bdb69b5a7e10dde34ffdd0e0a38b2300e31b3c678b5c966452de", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00089 Burger/IsaacSim_assets_69f1fd5d59057a931059eb3f/physics_69f1fd5d59057a931059eb3f.json b/batch1/D00089 Burger/IsaacSim_assets_69f1fd5d59057a931059eb3f/physics_69f1fd5d59057a931059eb3f.json index 9db67257331857ea5c393bc1a8729ef90f1d21f4..ac6903d3db523b2892bae19ca5077703572bf23f 100644 --- a/batch1/D00089 Burger/IsaacSim_assets_69f1fd5d59057a931059eb3f/physics_69f1fd5d59057a931059eb3f.json +++ b/batch1/D00089 Burger/IsaacSim_assets_69f1fd5d59057a931059eb3f/physics_69f1fd5d59057a931059eb3f.json @@ -109,13 +109,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "41f5ee0d9b48583598b87b2a195ed696ddd88e1f2ba8377902619adc6172f306" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "dfbb41f0d07beb51f5a0c91e893f44c09c1882411f5fa8ee0637a30f6c33a7be" }, "usd_path": "batch1/D00089 Burger/IsaacSim_assets_69f1fd5d59057a931059eb3f/IsaacSim_asset_69f1fd5d59057a931059eb3f.usd", - "usd_sha256": "3530a0e1609d77ac4df6e6dc16a9fa9f008e4982f33e5311d867b82d3a8812d4", + "usd_sha256": "22ca5c9e867278542f19916ac87eb89fd238de15be5404de5a62d09de670c780", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -133,9 +133,9 @@ 0.07974499836564064, 0.05569500151682405 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3530a0e1609d77ac4df6e6dc16a9fa9f008e4982f33e5311d867b82d3a8812d4", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22ca5c9e867278542f19916ac87eb89fd238de15be5404de5a62d09de670c780", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -144,9 +144,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.30000001192092896, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3530a0e1609d77ac4df6e6dc16a9fa9f008e4982f33e5311d867b82d3a8812d4", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22ca5c9e867278542f19916ac87eb89fd238de15be5404de5a62d09de670c780", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.30000001192092896, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -158,9 +158,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3530a0e1609d77ac4df6e6dc16a9fa9f008e4982f33e5311d867b82d3a8812d4", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22ca5c9e867278542f19916ac87eb89fd238de15be5404de5a62d09de670c780", "scope": "authored_usd_collision_schema", "enabled_shape_count": 59, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -169,18 +169,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3530a0e1609d77ac4df6e6dc16a9fa9f008e4982f33e5311d867b82d3a8812d4", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22ca5c9e867278542f19916ac87eb89fd238de15be5404de5a62d09de670c780", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "22ca5c9e867278542f19916ac87eb89fd238de15be5404de5a62d09de670c780", + "supplemental_accepted": true, + "planned_test_count": 11, + "result_count": 11, + "passed": 11, + "skipped": 0, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:44.289857+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "015a747d5dc02738c8b84164c7038422a54854978208d87eb1a94818e0b3512e", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00090 Butter/IsaacSim_assets_69f1fdc859057a931059f2ec/physics_69f1fdc859057a931059f2ec.json b/batch1/D00090 Butter/IsaacSim_assets_69f1fdc859057a931059f2ec/physics_69f1fdc859057a931059f2ec.json index a1187bd175b3c48c6a20b9853ae798979567f0f1..881a85b70e01bb836128c1032629ac64b8ac0565 100644 --- a/batch1/D00090 Butter/IsaacSim_assets_69f1fdc859057a931059f2ec/physics_69f1fdc859057a931059f2ec.json +++ b/batch1/D00090 Butter/IsaacSim_assets_69f1fdc859057a931059f2ec/physics_69f1fdc859057a931059f2ec.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "9ebcba174d18c12a834b628597ea8ec725106e9116f0957c850e272fa9bae78c" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f1e38b5d582e05a29411d2ea2ee045e91e3c5e91d7e4f5a7a6a10df64f8efc6f" }, "usd_path": "batch1/D00090 Butter/IsaacSim_assets_69f1fdc859057a931059f2ec/IsaacSim_asset_69f1fdc859057a931059f2ec.usd", - "usd_sha256": "73e7c094e2ca5e1989ec44524fd2262588c6a19cb297869fd2ecc8e080ac43e8", + "usd_sha256": "4bde9fd75b0aa6b38f68491e023db9b35bd212565cfa99729e2157d17b243d8e", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.03514900058507919, 0.03498200062313117 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "73e7c094e2ca5e1989ec44524fd2262588c6a19cb297869fd2ecc8e080ac43e8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4bde9fd75b0aa6b38f68491e023db9b35bd212565cfa99729e2157d17b243d8e", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.11299999803304672, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "73e7c094e2ca5e1989ec44524fd2262588c6a19cb297869fd2ecc8e080ac43e8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4bde9fd75b0aa6b38f68491e023db9b35bd212565cfa99729e2157d17b243d8e", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.11299999803304672, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "73e7c094e2ca5e1989ec44524fd2262588c6a19cb297869fd2ecc8e080ac43e8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4bde9fd75b0aa6b38f68491e023db9b35bd212565cfa99729e2157d17b243d8e", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "73e7c094e2ca5e1989ec44524fd2262588c6a19cb297869fd2ecc8e080ac43e8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4bde9fd75b0aa6b38f68491e023db9b35bd212565cfa99729e2157d17b243d8e", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "4bde9fd75b0aa6b38f68491e023db9b35bd212565cfa99729e2157d17b243d8e", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:15:58.340387+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "24117f3b63c86200759b62eda572b7b97032d8123d09e7f67c914bc77e916178", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00093 Cake/IsaacSim_assets_69f1fe3959057a931059fdb4/physics_69f1fe3959057a931059fdb4.json b/batch1/D00093 Cake/IsaacSim_assets_69f1fe3959057a931059fdb4/physics_69f1fe3959057a931059fdb4.json index 57b9010e5d6f9a17715e858c63b582360df148a1..0f28a035d50a7c2ba9f73eec56ed3983ea19ae23 100644 --- a/batch1/D00093 Cake/IsaacSim_assets_69f1fe3959057a931059fdb4/physics_69f1fe3959057a931059fdb4.json +++ b/batch1/D00093 Cake/IsaacSim_assets_69f1fe3959057a931059fdb4/physics_69f1fe3959057a931059fdb4.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "b644d23975538da4693e8cad611cad2269de2a27269ea4ac9f21831fdce2df33" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f90f10c76dc62a4f4d0174f3a8e0f150aa8de3662ce3e80a611094c69d2a4300" }, "usd_path": "batch1/D00093 Cake/IsaacSim_assets_69f1fe3959057a931059fdb4/IsaacSim_asset_69f1fe3959057a931059fdb4.usd", - "usd_sha256": "a59b78b8be36f3d2a38996e78d355c81825556dcb29f76fbe301798f8893bc53", + "usd_sha256": "e04592dc206afbe1cc27f9bbfb13035dbfcd8b2547c9bac73387764753fb4801", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.05517999827861786, 0.10817200173732999 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a59b78b8be36f3d2a38996e78d355c81825556dcb29f76fbe301798f8893bc53", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e04592dc206afbe1cc27f9bbfb13035dbfcd8b2547c9bac73387764753fb4801", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.11999999731779099, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a59b78b8be36f3d2a38996e78d355c81825556dcb29f76fbe301798f8893bc53", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e04592dc206afbe1cc27f9bbfb13035dbfcd8b2547c9bac73387764753fb4801", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.11999999731779099, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a59b78b8be36f3d2a38996e78d355c81825556dcb29f76fbe301798f8893bc53", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e04592dc206afbe1cc27f9bbfb13035dbfcd8b2547c9bac73387764753fb4801", "scope": "authored_usd_collision_schema", "enabled_shape_count": 59, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a59b78b8be36f3d2a38996e78d355c81825556dcb29f76fbe301798f8893bc53", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e04592dc206afbe1cc27f9bbfb13035dbfcd8b2547c9bac73387764753fb4801", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "e04592dc206afbe1cc27f9bbfb13035dbfcd8b2547c9bac73387764753fb4801", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:44.447646+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "2699c65d49199308ffa22863fab13515cbc0d40a71ebfa7c4943cd31e1b91116", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00094 Cake Stand/IsaacSim_assets_69f1fe5f59057a93105a0077/physics_69f1fe5f59057a93105a0077.json b/batch1/D00094 Cake Stand/IsaacSim_assets_69f1fe5f59057a93105a0077/physics_69f1fe5f59057a93105a0077.json index 685008851120b366c2640431f460c37cb43cfe7a..80f52b8c5b8e086ffde33a32558537aedcbd7f31 100644 --- a/batch1/D00094 Cake Stand/IsaacSim_assets_69f1fe5f59057a93105a0077/physics_69f1fe5f59057a93105a0077.json +++ b/batch1/D00094 Cake Stand/IsaacSim_assets_69f1fe5f59057a93105a0077/physics_69f1fe5f59057a93105a0077.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "adea31563951a816f5279f927c2b6f9098ec93e87e072f9c3d53462dbff23a81" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "82cd1b6bb9375a93070133856ed35c3bdb2047367af6a9947545f91176e0efdb" }, "usd_path": "batch1/D00094 Cake Stand/IsaacSim_assets_69f1fe5f59057a93105a0077/IsaacSim_asset_69f1fe5f59057a93105a0077.usd", - "usd_sha256": "9bfa90dec749c7e567880b8cdd69cb9020836ffae6091e5db3819b2531423aba", + "usd_sha256": "1acf7bf3cef4a4eebd2fb21808d83aba3f1e142a1844992715706dec4017d406", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.29550400376319885, 0.14833899623317848 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9bfa90dec749c7e567880b8cdd69cb9020836ffae6091e5db3819b2531423aba", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1acf7bf3cef4a4eebd2fb21808d83aba3f1e142a1844992715706dec4017d406", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 2.200000047683716, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9bfa90dec749c7e567880b8cdd69cb9020836ffae6091e5db3819b2531423aba", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1acf7bf3cef4a4eebd2fb21808d83aba3f1e142a1844992715706dec4017d406", "scope": "authored_usd_mass_consistency", "part_sum_kg": 2.200000047683716, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9bfa90dec749c7e567880b8cdd69cb9020836ffae6091e5db3819b2531423aba", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1acf7bf3cef4a4eebd2fb21808d83aba3f1e142a1844992715706dec4017d406", "scope": "authored_usd_collision_schema", "enabled_shape_count": 38, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,38 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9bfa90dec749c7e567880b8cdd69cb9020836ffae6091e5db3819b2531423aba", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1acf7bf3cef4a4eebd2fb21808d83aba3f1e142a1844992715706dec4017d406", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "1acf7bf3cef4a4eebd2fb21808d83aba3f1e142a1844992715706dec4017d406", + "supplemental_accepted": false, + "planned_test_count": 12, + "result_count": 12, + "passed": 10, + "skipped": 1, + "failed": 1, + "issues": [ + "slope_drop:fail" + ], + "warnings": [], + "completed_at": "2026-10-13T21:15:58.717295+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "bdb1841ed965db6b225d7f1cb26fcfc5899ec20c744a01fd2db5eb7240901ee0", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00095 Can/IsaacSim_assets_69f815d7d09344200f0b1a44/physics_69f815d7d09344200f0b1a44.json b/batch1/D00095 Can/IsaacSim_assets_69f815d7d09344200f0b1a44/physics_69f815d7d09344200f0b1a44.json index 40d94d3cd5c92e14d9313bbb4becdca1c8397785..8654916aebba6b595e00ce2da2332ea5980c7a00 100644 --- a/batch1/D00095 Can/IsaacSim_assets_69f815d7d09344200f0b1a44/physics_69f815d7d09344200f0b1a44.json +++ b/batch1/D00095 Can/IsaacSim_assets_69f815d7d09344200f0b1a44/physics_69f815d7d09344200f0b1a44.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "1ce0e33b603d3a147844d29503c75d933132c4c7f667067ad350bfecb0816c00" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "98bc78327b0972932fda52b272dbb905a8af2574d863c8a2ed630004a8bc89cd" }, "usd_path": "batch1/D00095 Can/IsaacSim_assets_69f815d7d09344200f0b1a44/IsaacSim_asset_69f815d7d09344200f0b1a44.usd", - "usd_sha256": "a3c8f8518700f26134852c738e67aafa692f483f132eec737e7caebae9938be3", + "usd_sha256": "42518d3491175540f7e27c9593277a7ab39fcb42fc7b62fd858b957c670a9855", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.0958079993724823, 0.08324900365687427 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a3c8f8518700f26134852c738e67aafa692f483f132eec737e7caebae9938be3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "42518d3491175540f7e27c9593277a7ab39fcb42fc7b62fd858b957c670a9855", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.07000000029802322, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a3c8f8518700f26134852c738e67aafa692f483f132eec737e7caebae9938be3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "42518d3491175540f7e27c9593277a7ab39fcb42fc7b62fd858b957c670a9855", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.07000000029802322, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a3c8f8518700f26134852c738e67aafa692f483f132eec737e7caebae9938be3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "42518d3491175540f7e27c9593277a7ab39fcb42fc7b62fd858b957c670a9855", "scope": "authored_usd_collision_schema", "enabled_shape_count": 59, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a3c8f8518700f26134852c738e67aafa692f483f132eec737e7caebae9938be3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "42518d3491175540f7e27c9593277a7ab39fcb42fc7b62fd858b957c670a9855", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "42518d3491175540f7e27c9593277a7ab39fcb42fc7b62fd858b957c670a9855", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:10:58.465166+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "451119417bef4884a3af8aeadb9dd8172d03cc73f96562c13cf3d7c816591c56", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00097 Candle/IsaacSim_assets_69f1ff3859057a93105a1314/physics_69f1ff3859057a93105a1314.json b/batch1/D00097 Candle/IsaacSim_assets_69f1ff3859057a93105a1314/physics_69f1ff3859057a93105a1314.json index abfbf8ca077f34563f7dac9545dc92f636d88893..c55afa0ebf591f1db80b1a42dc3c8f8a8690bed9 100644 --- a/batch1/D00097 Candle/IsaacSim_assets_69f1ff3859057a93105a1314/physics_69f1ff3859057a93105a1314.json +++ b/batch1/D00097 Candle/IsaacSim_assets_69f1ff3859057a93105a1314/physics_69f1ff3859057a93105a1314.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "250d328f0e04b69fbe78eae87ff364270a5cb2c6dbbf577f75f7bd2df729bde6" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a3355948ae595655855437f998564caf001d95e76cbd3ca10f5a36448eaa6c0a" }, "usd_path": "batch1/D00097 Candle/IsaacSim_assets_69f1ff3859057a93105a1314/IsaacSim_asset_69f1ff3859057a93105a1314.usd", - "usd_sha256": "1327c17577afe489478e4d81d4db158ae1c4ec445b11275cbae7bbb376659a7f", + "usd_sha256": "6a7a1f569785a1d4168132c3bab4d11b49d112ab7703569060b4f3d07ab36a09", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.07899000123143196, 0.08514700024716149 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "1327c17577afe489478e4d81d4db158ae1c4ec445b11275cbae7bbb376659a7f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6a7a1f569785a1d4168132c3bab4d11b49d112ab7703569060b4f3d07ab36a09", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.8199999928474426, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "1327c17577afe489478e4d81d4db158ae1c4ec445b11275cbae7bbb376659a7f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6a7a1f569785a1d4168132c3bab4d11b49d112ab7703569060b4f3d07ab36a09", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.8199999928474426, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "1327c17577afe489478e4d81d4db158ae1c4ec445b11275cbae7bbb376659a7f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6a7a1f569785a1d4168132c3bab4d11b49d112ab7703569060b4f3d07ab36a09", "scope": "authored_usd_collision_schema", "enabled_shape_count": 59, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "1327c17577afe489478e4d81d4db158ae1c4ec445b11275cbae7bbb376659a7f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6a7a1f569785a1d4168132c3bab4d11b49d112ab7703569060b4f3d07ab36a09", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "6a7a1f569785a1d4168132c3bab4d11b49d112ab7703569060b4f3d07ab36a09", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:44.545664+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "f71daa33944f42d1229889461bfb04fcee527606178ba70cdaf03e79550ede4c", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00261 Decorative Lamp/IsaacSim_assets_69f234a459057a93105e985d/physics_69f234a459057a93105e985d.json b/batch1/D00261 Decorative Lamp/IsaacSim_assets_69f234a459057a93105e985d/physics_69f234a459057a93105e985d.json index 5294ee96fe2d298c180ee78c92b6aa92d6c26f2a..908b71129c035472b12138cfee9014692a3c10a4 100644 --- a/batch1/D00261 Decorative Lamp/IsaacSim_assets_69f234a459057a93105e985d/physics_69f234a459057a93105e985d.json +++ b/batch1/D00261 Decorative Lamp/IsaacSim_assets_69f234a459057a93105e985d/physics_69f234a459057a93105e985d.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "6ac278f597485b9b70db3d98cd058da59da9c585c26c89dcbc9698f31f9a964d" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ad8f64dfed95d5a315d3f8e9963a339fe489b584be0717543fb5ca8a5e62ed6e" }, "usd_path": "batch1/D00261 Decorative Lamp/IsaacSim_assets_69f234a459057a93105e985d/IsaacSim_asset_69f234a459057a93105e985d.usd", - "usd_sha256": "83db3889aa3373c7628ee318b953a1ca3a1c672b0281542e355f45a95113e493", + "usd_sha256": "ffad3594fc824a1b312e15db6037036744c94f509c00fc63fd1d39b9b2e4f2dc", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.42558300495147705, 0.6305130057735369 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "83db3889aa3373c7628ee318b953a1ca3a1c672b0281542e355f45a95113e493", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ffad3594fc824a1b312e15db6037036744c94f509c00fc63fd1d39b9b2e4f2dc", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 4.199999809265137, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "83db3889aa3373c7628ee318b953a1ca3a1c672b0281542e355f45a95113e493", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ffad3594fc824a1b312e15db6037036744c94f509c00fc63fd1d39b9b2e4f2dc", "scope": "authored_usd_mass_consistency", "part_sum_kg": 4.199999809265137, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "83db3889aa3373c7628ee318b953a1ca3a1c672b0281542e355f45a95113e493", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ffad3594fc824a1b312e15db6037036744c94f509c00fc63fd1d39b9b2e4f2dc", "scope": "authored_usd_collision_schema", "enabled_shape_count": 59, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "83db3889aa3373c7628ee318b953a1ca3a1c672b0281542e355f45a95113e493", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ffad3594fc824a1b312e15db6037036744c94f509c00fc63fd1d39b9b2e4f2dc", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00339 Glass/IsaacSim_assets_69f5b838431507ff7ced387f/physics_69f5b838431507ff7ced387f.json b/batch1/D00339 Glass/IsaacSim_assets_69f5b838431507ff7ced387f/physics_69f5b838431507ff7ced387f.json index f9534d837fb7a2dfa15f50d138c6ee330f1400b1..05cdc3443e77fc6db08cfdf0e6812e30e2725005 100644 --- a/batch1/D00339 Glass/IsaacSim_assets_69f5b838431507ff7ced387f/physics_69f5b838431507ff7ced387f.json +++ b/batch1/D00339 Glass/IsaacSim_assets_69f5b838431507ff7ced387f/physics_69f5b838431507ff7ced387f.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "8359749dfabfd1d5f18eb3eae1bba8cd91c27aa262d0fa7a11bdeb21f1e49f9e" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5d01af982652454c86f182edb91765ae6a786482ae8e5060c8d54a5bdad3ba36" }, "usd_path": "batch1/D00339 Glass/IsaacSim_assets_69f5b838431507ff7ced387f/IsaacSim_asset_69f5b838431507ff7ced387f.usd", - "usd_sha256": "3787896b3e1fe8358e4d600139fd08deb130a10358d0c94d9b5e622326efbb9e", + "usd_sha256": "334e2bf18231f2028d210c21a938441eeee05182583809020199ad6782e2cca5", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.07055999711155891, 0.0808660015463829 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3787896b3e1fe8358e4d600139fd08deb130a10358d0c94d9b5e622326efbb9e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "334e2bf18231f2028d210c21a938441eeee05182583809020199ad6782e2cca5", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.3799999952316284, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3787896b3e1fe8358e4d600139fd08deb130a10358d0c94d9b5e622326efbb9e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "334e2bf18231f2028d210c21a938441eeee05182583809020199ad6782e2cca5", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.3799999952316284, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3787896b3e1fe8358e4d600139fd08deb130a10358d0c94d9b5e622326efbb9e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "334e2bf18231f2028d210c21a938441eeee05182583809020199ad6782e2cca5", "scope": "authored_usd_collision_schema", "enabled_shape_count": 59, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3787896b3e1fe8358e4d600139fd08deb130a10358d0c94d9b5e622326efbb9e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "334e2bf18231f2028d210c21a938441eeee05182583809020199ad6782e2cca5", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00378 Herb Pot/IsaacSim_assets_69f5c28b431507ff7cf0d27c/physics_69f5c28b431507ff7cf0d27c.json b/batch1/D00378 Herb Pot/IsaacSim_assets_69f5c28b431507ff7cf0d27c/physics_69f5c28b431507ff7cf0d27c.json index 3d204b3ea0975b7567be8b73c26b4a93cffa2117..a3ddb011b7f10f9e9787d8313ed1ef81befe01e4 100644 --- a/batch1/D00378 Herb Pot/IsaacSim_assets_69f5c28b431507ff7cf0d27c/physics_69f5c28b431507ff7cf0d27c.json +++ b/batch1/D00378 Herb Pot/IsaacSim_assets_69f5c28b431507ff7cf0d27c/physics_69f5c28b431507ff7cf0d27c.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "116b0f5c99f01622627b43c1910698f92114663ba3c2a7dfbba82b18ee87645d" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "54873a40296219791ff04b3d38204f46b2a42ebfbf089249d3d9251e774f3e8a" }, "usd_path": "batch1/D00378 Herb Pot/IsaacSim_assets_69f5c28b431507ff7cf0d27c/IsaacSim_asset_69f5c28b431507ff7cf0d27c.usd", - "usd_sha256": "815c09893b8163d5ded2e9988ebd6e0fe5bc3be4da8310008923a3e561f5b9d5", + "usd_sha256": "7c17faf4688e6db2fc61891f934197cd9e6041dd43bf48427cf4b629a852e8ec", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.22143100202083588, 0.2735519902780652 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "815c09893b8163d5ded2e9988ebd6e0fe5bc3be4da8310008923a3e561f5b9d5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7c17faf4688e6db2fc61891f934197cd9e6041dd43bf48427cf4b629a852e8ec", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 2.799999952316284, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "815c09893b8163d5ded2e9988ebd6e0fe5bc3be4da8310008923a3e561f5b9d5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7c17faf4688e6db2fc61891f934197cd9e6041dd43bf48427cf4b629a852e8ec", "scope": "authored_usd_mass_consistency", "part_sum_kg": 2.799999952316284, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "815c09893b8163d5ded2e9988ebd6e0fe5bc3be4da8310008923a3e561f5b9d5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7c17faf4688e6db2fc61891f934197cd9e6041dd43bf48427cf4b629a852e8ec", "scope": "authored_usd_collision_schema", "enabled_shape_count": 59, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "815c09893b8163d5ded2e9988ebd6e0fe5bc3be4da8310008923a3e561f5b9d5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7c17faf4688e6db2fc61891f934197cd9e6041dd43bf48427cf4b629a852e8ec", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch1/D00739 Snack/IsaacSim_assets_69fddfcd8102b48e9a293f6c/physics_69fddfcd8102b48e9a293f6c.json b/batch1/D00739 Snack/IsaacSim_assets_69fddfcd8102b48e9a293f6c/physics_69fddfcd8102b48e9a293f6c.json index cfb36a26a6f062710f13431b3d49cb3518df2d55..125d845a2c95170a119456c41a4426ef673cd711 100644 --- a/batch1/D00739 Snack/IsaacSim_assets_69fddfcd8102b48e9a293f6c/physics_69fddfcd8102b48e9a293f6c.json +++ b/batch1/D00739 Snack/IsaacSim_assets_69fddfcd8102b48e9a293f6c/physics_69fddfcd8102b48e9a293f6c.json @@ -113,13 +113,13 @@ "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "collision_source": "USD PhysicsCollisionAPI geometry", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "46973d336c24098022ba05e2d4b2fe2156521101882ba1a411f52261ccc1b7a6" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "aebb4475e402826a413fb2e12059a605ce865405311da1c69d5285b4b8133e9a" }, "usd_path": "batch1/D00739 Snack/IsaacSim_assets_69fddfcd8102b48e9a293f6c/IsaacSim_asset_69fddfcd8102b48e9a293f6c.usd", - "usd_sha256": "042b0bb63ec7e21df3d912045cdaf57e7121d0257d23af4e79df7a015c30bd60", + "usd_sha256": "d3f7ca5006bdee17f3a533110cd2f6fcdadad22d82c45e1a4b3a3039ffd951e8", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, @@ -137,9 +137,9 @@ 0.04710699990391731, 0.017134999314293964 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "042b0bb63ec7e21df3d912045cdaf57e7121d0257d23af4e79df7a015c30bd60", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d3f7ca5006bdee17f3a533110cd2f6fcdadad22d82c45e1a4b3a3039ffd951e8", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -148,9 +148,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.020999999716877937, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "042b0bb63ec7e21df3d912045cdaf57e7121d0257d23af4e79df7a015c30bd60", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d3f7ca5006bdee17f3a533110cd2f6fcdadad22d82c45e1a4b3a3039ffd951e8", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.020999999716877937, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -162,9 +162,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "042b0bb63ec7e21df3d912045cdaf57e7121d0257d23af4e79df7a015c30bd60", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d3f7ca5006bdee17f3a533110cd2f6fcdadad22d82c45e1a4b3a3039ffd951e8", "scope": "authored_usd_collision_schema", "enabled_shape_count": 58, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -173,18 +173,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "042b0bb63ec7e21df3d912045cdaf57e7121d0257d23af4e79df7a015c30bd60", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d3f7ca5006bdee17f3a533110cd2f6fcdadad22d82c45e1a4b3a3039ffd951e8", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00006 Bamboo Basket/IsaacSim_assets_69f80eaed09344200f05945b/physics_69f80eaed09344200f05945b.json b/batch10/D00006 Bamboo Basket/IsaacSim_assets_69f80eaed09344200f05945b/physics_69f80eaed09344200f05945b.json index baf1a067394bc9352250cfcc576ec81ba7ad754e..a3bc5fa89fb4c6942a4c10956123e94db9ae9603 100644 --- a/batch10/D00006 Bamboo Basket/IsaacSim_assets_69f80eaed09344200f05945b/physics_69f80eaed09344200f05945b.json +++ b/batch10/D00006 Bamboo Basket/IsaacSim_assets_69f80eaed09344200f05945b/physics_69f80eaed09344200f05945b.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "8266f767e602ba99690ab145f64c5445fbf98bad778fcfbf3c7f8c50327d31de" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7645c62a9ba949c51847ba2533b8c208069a734264dfd93c5b95eae7f34b4473" }, "usd_path": "batch10/D00006 Bamboo Basket/IsaacSim_assets_69f80eaed09344200f05945b/IsaacSim_asset_69f80eaed09344200f05945b.usd", - "usd_sha256": "d50baf4488134eeaa6ed4000b308bd5118be4a35518428bed218858c3775071a", + "usd_sha256": "567fd760d77110f17678c2d691981045c40ceb88bb1fd5a8ad7c0ab1eeab12fc", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d50baf4488134eeaa6ed4000b308bd5118be4a35518428bed218858c3775071a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "567fd760d77110f17678c2d691981045c40ceb88bb1fd5a8ad7c0ab1eeab12fc", "scope": "authored_usd_dimensions", "bounds_m": [ 0.2837980091571808, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.800000011920929, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d50baf4488134eeaa6ed4000b308bd5118be4a35518428bed218858c3775071a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "567fd760d77110f17678c2d691981045c40ceb88bb1fd5a8ad7c0ab1eeab12fc", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.800000011920929, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 220, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d50baf4488134eeaa6ed4000b308bd5118be4a35518428bed218858c3775071a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "567fd760d77110f17678c2d691981045c40ceb88bb1fd5a8ad7c0ab1eeab12fc", "scope": "authored_usd_collision_schema", "enabled_shape_count": 220, "approximations": [ @@ -151,18 +151,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d50baf4488134eeaa6ed4000b308bd5118be4a35518428bed218858c3775071a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "567fd760d77110f17678c2d691981045c40ceb88bb1fd5a8ad7c0ab1eeab12fc", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "567fd760d77110f17678c2d691981045c40ceb88bb1fd5a8ad7c0ab1eeab12fc", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:41.280835+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "f565fa427c43210a6a80801d2bddc1c4f75e2053bbbba075225bcd207ebbc0ca", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00015 Banana/IsaacSim_assets_69f1eea459057a9310588ca4/physics_69f1eea459057a9310588ca4.json b/batch10/D00015 Banana/IsaacSim_assets_69f1eea459057a9310588ca4/physics_69f1eea459057a9310588ca4.json index 612b5ee40f1af962c4dc868bbc99b62df869c8dd..f56f9c3606bd847260aa5a304dc522b140de9447 100644 --- a/batch10/D00015 Banana/IsaacSim_assets_69f1eea459057a9310588ca4/physics_69f1eea459057a9310588ca4.json +++ b/batch10/D00015 Banana/IsaacSim_assets_69f1eea459057a9310588ca4/physics_69f1eea459057a9310588ca4.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "6cf9f953243baf9b00c2379706cf34de8fa21665c1a91989cb23c7a1dd251396" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bbd195c30f08946a7df1a55c2eae0af25d1d0351d0ea5db5d890227bc8019ef5" }, "usd_path": "batch10/D00015 Banana/IsaacSim_assets_69f1eea459057a9310588ca4/IsaacSim_asset_69f1eea459057a9310588ca4.usd", - "usd_sha256": "e526be80882b3a7604fb5f8e2e0bb22c06a854d46f30f66da7f5c8712bacf2ac", + "usd_sha256": "fcf36397e02fcb0177459033873cddceec7db2340f5238973b7cea334cee14d9", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e526be80882b3a7604fb5f8e2e0bb22c06a854d46f30f66da7f5c8712bacf2ac", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcf36397e02fcb0177459033873cddceec7db2340f5238973b7cea334cee14d9", "scope": "authored_usd_dimensions", "bounds_m": [ 0.14098799973726273, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.11999999731779099, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e526be80882b3a7604fb5f8e2e0bb22c06a854d46f30f66da7f5c8712bacf2ac", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcf36397e02fcb0177459033873cddceec7db2340f5238973b7cea334cee14d9", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.11999999731779099, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 7, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e526be80882b3a7604fb5f8e2e0bb22c06a854d46f30f66da7f5c8712bacf2ac", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcf36397e02fcb0177459033873cddceec7db2340f5238973b7cea334cee14d9", "scope": "authored_usd_collision_schema", "enabled_shape_count": 7, "approximations": [ @@ -151,18 +151,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e526be80882b3a7604fb5f8e2e0bb22c06a854d46f30f66da7f5c8712bacf2ac", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcf36397e02fcb0177459033873cddceec7db2340f5238973b7cea334cee14d9", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "fcf36397e02fcb0177459033873cddceec7db2340f5238973b7cea334cee14d9", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:40.793431+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "1d5a9da75e9f6a192c288dc1882b3da483ff5932b8ec5a8dc3cebb339225b5e6", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00304 Flour Tray/IsaacSim_assets_69f2422b59057a93106021c6/physics_69f2422b59057a93106021c6.json b/batch10/D00304 Flour Tray/IsaacSim_assets_69f2422b59057a93106021c6/physics_69f2422b59057a93106021c6.json index f70b17fb4bf219df725dfb2c478bb31a39388c1c..e6722d429188929daa16fe67d6cc2d265d350a88 100644 --- a/batch10/D00304 Flour Tray/IsaacSim_assets_69f2422b59057a93106021c6/physics_69f2422b59057a93106021c6.json +++ b/batch10/D00304 Flour Tray/IsaacSim_assets_69f2422b59057a93106021c6/physics_69f2422b59057a93106021c6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09003300219774246, - 0.11843500286340714, - 0.043466001749038696 - ], "min": [ - -0.09176100045442581, - -0.11872900277376175, - -0.00016399999731220305 + -0.11328200250864029, + -0.11263299733400345, + -1.2000000424450263e-05 + ], + "max": [ + 0.11262299865484238, + 0.11327999830245972, + 0.04105300083756447 ], "size": [ - 0.18179400265216827, - 0.23716400563716888, - 0.0436300017463509 - ] + 0.22590500116348267, + 0.22591299563646317, + 0.04106500083798892 + ], + "units": "m" }, "description": "A white, rectangular ceramic baking dish with a glossy finish and a thick, rounded rim.", "name": "D00304 White Ceramic Baking Dish", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00304", "parts": [ { "bounds": { - "center": [ - -0.0008436244324265042, - -0.00015191448082766955, - 0.01592877006431463 + "min": [ + -0.11328200250864029, + -0.11263299733400345, + -1.2000000424450263e-05 ], "max": [ - 0.09003300219774246, - 0.11843500286340714, - 0.043466001749038696 + 0.11262299865484238, + 0.11327999830245972, + 0.04105300083756447 ], - "min": [ - -0.09176100045442581, - -0.11872900277376175, - -0.00016399999731220305 - ] + "size": [ + 0.22590500116348267, + 0.22591299563646317, + 0.04106500083798892 + ], + "units": "m" }, "center_of_mass": [ -0.00013494394137182112, @@ -67,10 +73,27 @@ "object_name": "D00304 Flour Tray", "part_name": "D00304 Flour Tray" }, - "volume": 0.0010685033138440015 + "volume": 0.0010685033138440015, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "390023a4b5d5e5ca05ef61716e284e65821d33c86d230643180b23573686415f" + }, + "usd_path": "batch10/D00304 Flour Tray/IsaacSim_assets_69f2422b59057a93106021c6/IsaacSim_asset_69f2422b59057a93106021c6.usd", + "usd_sha256": "38f970bc0a5bd5c750f572d60826c256442c714b4e6e08dbb15329ba4c84cbdc", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.18179400265216827, - 0.23716400563716888, - 0.0436300017463509 - ] + 0.22590500116348267, + 0.22591299563646317, + 0.04106500083798892 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "38f970bc0a5bd5c750f572d60826c256442c714b4e6e08dbb15329ba4c84cbdc", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "38f970bc0a5bd5c750f572d60826c256442c714b4e6e08dbb15329ba4c84cbdc", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 19, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "38f970bc0a5bd5c750f572d60826c256442c714b4e6e08dbb15329ba4c84cbdc", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 19, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "38f970bc0a5bd5c750f572d60826c256442c714b4e6e08dbb15329ba4c84cbdc", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00595 Pastry Dough/IsaacSim_assets_69f60bad431507ff7c0656d0/physics_69f60bad431507ff7c0656d0.json b/batch10/D00595 Pastry Dough/IsaacSim_assets_69f60bad431507ff7c0656d0/physics_69f60bad431507ff7c0656d0.json index e2091176408c3945154832105dd534cb021914c6..be127d76f218aeca89adf8e5357ddcd636f7296c 100644 --- a/batch10/D00595 Pastry Dough/IsaacSim_assets_69f60bad431507ff7c0656d0/physics_69f60bad431507ff7c0656d0.json +++ b/batch10/D00595 Pastry Dough/IsaacSim_assets_69f60bad431507ff7c0656d0/physics_69f60bad431507ff7c0656d0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17260125279426575, - 0.17241549491882324, - 0.17540806531906128 - ], "min": [ - -0.2134450227022171, - -0.1045369952917099, - 9.686733392300084e-05 + -0.21344499289989471, + -0.1045370027422905, + 9.600000339560211e-05 + ], + "max": [ + 0.1725980043411255, + 0.17241600155830383, + 0.1754080057144165 ], "size": [ - 0.38604627549648285, - 0.27695249021053314, - 0.17531119798513828 - ] + 0.3860429972410202, + 0.27695300430059433, + 0.1753120057110209 + ], + "units": "m" }, "description": "A rectangular block of layered raw pastry dough with a flour-dusted top surface and visibly defined strata on its sides.", "name": "D00595 Pastry Dough", "object_type": "rigid_bodies", - "total_mass": 0.55 + "total_mass": 0.550000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00595", "parts": [ { "bounds": { - "center": [ - -0.015430475441728809, - 0.02262678956319963, - 0.07972413980889154 + "min": [ + -0.21344499289989471, + -0.1045370027422905, + 9.600000339560211e-05 ], "max": [ - 0.17260125279426575, - 0.17241549491882324, - 0.17540806531906128 + 0.1725980043411255, + 0.17241600155830383, + 0.1754080057144165 ], - "min": [ - -0.2134450227022171, - -0.1045369952917099, - 9.686733392300084e-05 - ] + "size": [ + 0.3860429972410202, + 0.27695300430059433, + 0.1753120057110209 + ], + "units": "m" }, "center_of_mass": [ -0.018392309311951353, @@ -59,7 +65,7 @@ 0.006829521734469164, 0.00895572226191512 ], - "mass": 0.55, + "mass": 0.550000011920929, "material": "dough_flour_water_mixture", "name": "D00595 Pastry Dough", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00595 Pastry Dough", "part_name": "D00595 Pastry Dough" }, - "volume": 0.015036300361152534 + "volume": 0.015036300361152534, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6966a9c1936e1b7ba5963011873e5f64861c990a5c79770290f95d667ba69936" + }, + "usd_path": "batch10/D00595 Pastry Dough/IsaacSim_assets_69f60bad431507ff7c0656d0/IsaacSim_asset_69f60bad431507ff7c0656d0.usd", + "usd_sha256": "ef750c107748a8dc4b920dea2ddb4c0e83dc4bed3d641d243e0887af1e598551", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.38604627549648285, - 0.27695249021053314, - 0.17531119798513828 - ] + 0.3860429972410202, + 0.27695300430059433, + 0.1753120057110209 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef750c107748a8dc4b920dea2ddb4c0e83dc4bed3d641d243e0887af1e598551", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.55 + "value_kg": 0.550000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef750c107748a8dc4b920dea2ddb4c0e83dc4bed3d641d243e0887af1e598551", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.550000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef750c107748a8dc4b920dea2ddb4c0e83dc4bed3d641d243e0887af1e598551", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef750c107748a8dc4b920dea2ddb4c0e83dc4bed3d641d243e0887af1e598551", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00691 Sandwich/IsaacSim_assets_6a577cbac736368e416d7d46/physics_6a577cbac736368e416d7d46.json b/batch10/D00691 Sandwich/IsaacSim_assets_6a577cbac736368e416d7d46/physics_6a577cbac736368e416d7d46.json index f9e99f262ed554f783e2cd394b08480b18459883..b342fd39fbb6873a0d4fb0083cfd9297bbd89233 100644 --- a/batch10/D00691 Sandwich/IsaacSim_assets_6a577cbac736368e416d7d46/physics_6a577cbac736368e416d7d46.json +++ b/batch10/D00691 Sandwich/IsaacSim_assets_6a577cbac736368e416d7d46/physics_6a577cbac736368e416d7d46.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "19e16bdb1c30195a4becc3bb5a30706d9b5882a3f50df714526a137399a91aa2" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8593dab113a43488a323eda939cfa073ee77075c21bd4bef2ee27783065d2423" }, "usd_path": "batch10/D00691 Sandwich/IsaacSim_assets_6a577cbac736368e416d7d46/IsaacSim_asset_6a577cbac736368e416d7d46.usd", - "usd_sha256": "b2fc2ac2d2bc05f92e6bd40f070f5882eb05844779ea2f2c213a8c03c086dfe8", + "usd_sha256": "92a6e2390428e49001b952990e868e04193f974632b8be768c8d4029adb85d59", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b2fc2ac2d2bc05f92e6bd40f070f5882eb05844779ea2f2c213a8c03c086dfe8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "92a6e2390428e49001b952990e868e04193f974632b8be768c8d4029adb85d59", "scope": "authored_usd_dimensions", "bounds_m": [ 0.12277499958872795, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.25, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b2fc2ac2d2bc05f92e6bd40f070f5882eb05844779ea2f2c213a8c03c086dfe8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "92a6e2390428e49001b952990e868e04193f974632b8be768c8d4029adb85d59", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.25, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 118, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b2fc2ac2d2bc05f92e6bd40f070f5882eb05844779ea2f2c213a8c03c086dfe8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "92a6e2390428e49001b952990e868e04193f974632b8be768c8d4029adb85d59", "scope": "authored_usd_collision_schema", "enabled_shape_count": 118, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b2fc2ac2d2bc05f92e6bd40f070f5882eb05844779ea2f2c213a8c03c086dfe8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "92a6e2390428e49001b952990e868e04193f974632b8be768c8d4029adb85d59", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00778 Spoon Kitchen/IsaacSim_assets_69f664147f5104dbf27305d0/physics_69f664147f5104dbf27305d0.json b/batch10/D00778 Spoon Kitchen/IsaacSim_assets_69f664147f5104dbf27305d0/physics_69f664147f5104dbf27305d0.json index b504cb40d4ec2ac63c2ead8cdbce3c6c7f36c552..9be0ef26a0af77835223be0c64d645c6f7bec221 100644 --- a/batch10/D00778 Spoon Kitchen/IsaacSim_assets_69f664147f5104dbf27305d0/physics_69f664147f5104dbf27305d0.json +++ b/batch10/D00778 Spoon Kitchen/IsaacSim_assets_69f664147f5104dbf27305d0/physics_69f664147f5104dbf27305d0.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "70af207cc1239661c53ac65743b4a5fa7d4f0eb810af1cdc5e2ba9660632a98e" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c83d721c813e508bb91e407a4d0d9dcf57da494be97e16355a4807431efe0b7d" }, "usd_path": "batch10/D00778 Spoon Kitchen/IsaacSim_assets_69f664147f5104dbf27305d0/IsaacSim_asset_69f664147f5104dbf27305d0.usd", - "usd_sha256": "d6cbe3368b0133a84d32ed1d1220bbf27dccb5c2b0a272f85089c975d39ca204", + "usd_sha256": "e38d78f699f34048267c4133d3558f4765e019f1fe9929a644062634ea5f10a1", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d6cbe3368b0133a84d32ed1d1220bbf27dccb5c2b0a272f85089c975d39ca204", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e38d78f699f34048267c4133d3558f4765e019f1fe9929a644062634ea5f10a1", "scope": "authored_usd_dimensions", "bounds_m": [ 0.26100899279117584, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.38499999046325684, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d6cbe3368b0133a84d32ed1d1220bbf27dccb5c2b0a272f85089c975d39ca204", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e38d78f699f34048267c4133d3558f4765e019f1fe9929a644062634ea5f10a1", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.38499999046325684, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 20, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d6cbe3368b0133a84d32ed1d1220bbf27dccb5c2b0a272f85089c975d39ca204", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e38d78f699f34048267c4133d3558f4765e019f1fe9929a644062634ea5f10a1", "scope": "authored_usd_collision_schema", "enabled_shape_count": 20, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d6cbe3368b0133a84d32ed1d1220bbf27dccb5c2b0a272f85089c975d39ca204", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e38d78f699f34048267c4133d3558f4765e019f1fe9929a644062634ea5f10a1", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00815 Storage Basket Bowl/IsaacSim_assets_69f675587f5104dbf28274d5/physics_69f675587f5104dbf28274d5.json b/batch10/D00815 Storage Basket Bowl/IsaacSim_assets_69f675587f5104dbf28274d5/physics_69f675587f5104dbf28274d5.json index 3cc56ff1b8780d69e0dd0f2f18ee020b144040e1..5c85f26b23b5c7a75b1e3e2f3bf2cb1f7a1dcf02 100644 --- a/batch10/D00815 Storage Basket Bowl/IsaacSim_assets_69f675587f5104dbf28274d5/physics_69f675587f5104dbf28274d5.json +++ b/batch10/D00815 Storage Basket Bowl/IsaacSim_assets_69f675587f5104dbf28274d5/physics_69f675587f5104dbf28274d5.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "50009a3e35960f6902467d86bc4f83527efe6000a9bbd487ac1b46371b09005d" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "52fdfb1e08141cbbbf877d7134accc67972edd6313c77a2e80a048ea8c634197" }, "usd_path": "batch10/D00815 Storage Basket Bowl/IsaacSim_assets_69f675587f5104dbf28274d5/IsaacSim_asset_69f675587f5104dbf28274d5.usd", - "usd_sha256": "d5ab621bc9813a52a4506d530611cb7fc91b9a321228b2468df8bb1927c2deb8", + "usd_sha256": "33a6c2e2d8c9b8b7d827dc9b3764a91c261c75743edbfdcba057cd33115cc95a", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d5ab621bc9813a52a4506d530611cb7fc91b9a321228b2468df8bb1927c2deb8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "33a6c2e2d8c9b8b7d827dc9b3764a91c261c75743edbfdcba057cd33115cc95a", "scope": "authored_usd_dimensions", "bounds_m": [ 0.3386470079421997, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.75, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d5ab621bc9813a52a4506d530611cb7fc91b9a321228b2468df8bb1927c2deb8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "33a6c2e2d8c9b8b7d827dc9b3764a91c261c75743edbfdcba057cd33115cc95a", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.75, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 151, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d5ab621bc9813a52a4506d530611cb7fc91b9a321228b2468df8bb1927c2deb8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "33a6c2e2d8c9b8b7d827dc9b3764a91c261c75743edbfdcba057cd33115cc95a", "scope": "authored_usd_collision_schema", "enabled_shape_count": 151, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d5ab621bc9813a52a4506d530611cb7fc91b9a321228b2468df8bb1927c2deb8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "33a6c2e2d8c9b8b7d827dc9b3764a91c261c75743edbfdcba057cd33115cc95a", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00828 Strain/IsaacSim_assets_6a5777a2c736368e416ceaa9/physics_6a5777a2c736368e416ceaa9.json b/batch10/D00828 Strain/IsaacSim_assets_6a5777a2c736368e416ceaa9/physics_6a5777a2c736368e416ceaa9.json index 1d012b0ecf7a0137863560641b8ac88dd1eb81f0..7dc6a5d9d513827f3a068654625232eaec95f1ef 100644 --- a/batch10/D00828 Strain/IsaacSim_assets_6a5777a2c736368e416ceaa9/physics_6a5777a2c736368e416ceaa9.json +++ b/batch10/D00828 Strain/IsaacSim_assets_6a5777a2c736368e416ceaa9/physics_6a5777a2c736368e416ceaa9.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "0787745dccde280abe7b4437a5b54d348f136b453dcbaa33758f8e5e10abb763" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bc0b4fd1ff288f86c36a737487a6bf8a1203fcb69556474ec4bef2f9e98ecbbf" }, "usd_path": "batch10/D00828 Strain/IsaacSim_assets_6a5777a2c736368e416ceaa9/IsaacSim_asset_6a5777a2c736368e416ceaa9.usd", - "usd_sha256": "385bfa1ce9c2ed333e160ad9caf995c9cb9119afb855068e768ae18f996ac122", + "usd_sha256": "16dabe7d407981db3fe26a6b8253b076aeaea0c7bdb024e6cf31f432bf34adbf", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "385bfa1ce9c2ed333e160ad9caf995c9cb9119afb855068e768ae18f996ac122", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16dabe7d407981db3fe26a6b8253b076aeaea0c7bdb024e6cf31f432bf34adbf", "scope": "authored_usd_dimensions", "bounds_m": [ 0.1897219941020012, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.3499999940395355, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "385bfa1ce9c2ed333e160ad9caf995c9cb9119afb855068e768ae18f996ac122", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16dabe7d407981db3fe26a6b8253b076aeaea0c7bdb024e6cf31f432bf34adbf", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.3499999940395355, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 91, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "385bfa1ce9c2ed333e160ad9caf995c9cb9119afb855068e768ae18f996ac122", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16dabe7d407981db3fe26a6b8253b076aeaea0c7bdb024e6cf31f432bf34adbf", "scope": "authored_usd_collision_schema", "enabled_shape_count": 91, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "385bfa1ce9c2ed333e160ad9caf995c9cb9119afb855068e768ae18f996ac122", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16dabe7d407981db3fe26a6b8253b076aeaea0c7bdb024e6cf31f432bf34adbf", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00854 Tea Pot/IsaacSim_assets_69f69a127f5104dbf2a2a2d6/physics_69f69a127f5104dbf2a2a2d6.json b/batch10/D00854 Tea Pot/IsaacSim_assets_69f69a127f5104dbf2a2a2d6/physics_69f69a127f5104dbf2a2a2d6.json index b83cd0c9f370e836aeeb2930373c32a0dc616a97..e8a319dea28521b894c22265d8119c100a7610ca 100644 --- a/batch10/D00854 Tea Pot/IsaacSim_assets_69f69a127f5104dbf2a2a2d6/physics_69f69a127f5104dbf2a2a2d6.json +++ b/batch10/D00854 Tea Pot/IsaacSim_assets_69f69a127f5104dbf2a2a2d6/physics_69f69a127f5104dbf2a2a2d6.json @@ -417,13 +417,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "cca8cde7de3b11f776f6055b5f43765c0d39c36f877133d048fcff271c7a207b" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7084bf0644563961d3fa3585571887d8e1432db3002c45c6249de0354e801bdf" }, "usd_path": "batch10/D00854 Tea Pot/IsaacSim_assets_69f69a127f5104dbf2a2a2d6/IsaacSim_asset_69f69a127f5104dbf2a2a2d6.usd", - "usd_sha256": "00c54062db942cfeb373df06b2bea4f08f05ff53b7612bb343705ca340614d52", + "usd_sha256": "31a40a7a869c85f9a0026b95add76d6255aa8245a876f3324144c4f6fbbb2fd1", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -447,9 +447,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "00c54062db942cfeb373df06b2bea4f08f05ff53b7612bb343705ca340614d52", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31a40a7a869c85f9a0026b95add76d6255aa8245a876f3324144c4f6fbbb2fd1", "scope": "authored_usd_dimensions", "bounds_m": [ 0.21761399507522583, @@ -463,9 +463,9 @@ "status": "verified", "confidence": "high", "value_kg": 2.200000027194619, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "00c54062db942cfeb373df06b2bea4f08f05ff53b7612bb343705ca340614d52", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31a40a7a869c85f9a0026b95add76d6255aa8245a876f3324144c4f6fbbb2fd1", "scope": "authored_usd_mass_consistency", "part_sum_kg": 2.200000027194619, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -474,9 +474,9 @@ "status": "verified", "confidence": "high", "shape_count": 229, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "00c54062db942cfeb373df06b2bea4f08f05ff53b7612bb343705ca340614d52", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31a40a7a869c85f9a0026b95add76d6255aa8245a876f3324144c4f6fbbb2fd1", "scope": "authored_usd_collision_schema", "enabled_shape_count": 229, "approximations": [ @@ -488,18 +488,19 @@ "status": "verified", "confidence": "high", "moving_joints": 1, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "00c54062db942cfeb373df06b2bea4f08f05ff53b7612bb343705ca340614d52", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31a40a7a869c85f9a0026b95add76d6255aa8245a876f3324144c4f6fbbb2fd1", "scope": "authored_usd_joint_schema", "joint_count": 3, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00860 Teaspoon/IsaacSim_assets_69f6a3b77f5104dbf2ab8c6e/physics_69f6a3b77f5104dbf2ab8c6e.json b/batch10/D00860 Teaspoon/IsaacSim_assets_69f6a3b77f5104dbf2ab8c6e/physics_69f6a3b77f5104dbf2ab8c6e.json index c5693cc051b2d64bd0c1f01f2a6ca8455c0732c4..7805f500b13d91af7bc35b3c096b48acd8ffedfd 100644 --- a/batch10/D00860 Teaspoon/IsaacSim_assets_69f6a3b77f5104dbf2ab8c6e/physics_69f6a3b77f5104dbf2ab8c6e.json +++ b/batch10/D00860 Teaspoon/IsaacSim_assets_69f6a3b77f5104dbf2ab8c6e/physics_69f6a3b77f5104dbf2ab8c6e.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "a56b9f5a9285e9e9f5146edd8f7ad4233ed9f75c7b98d3d94dbbfa8afc50810a" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d1bd8bf90fe586ad9c6f8da4db9520e8592f7a6934e2bd184960b8db73f86b21" }, "usd_path": "batch10/D00860 Teaspoon/IsaacSim_assets_69f6a3b77f5104dbf2ab8c6e/IsaacSim_asset_69f6a3b77f5104dbf2ab8c6e.usd", - "usd_sha256": "f3b7ba42ad23cb08cf59e49726882f985b12d963bb3ae38c3129b13f5b08ccf6", + "usd_sha256": "dbd89939a4f4f29743e9c232279ed588036710e1753719da2b89d0265ec52ea9", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f3b7ba42ad23cb08cf59e49726882f985b12d963bb3ae38c3129b13f5b08ccf6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dbd89939a4f4f29743e9c232279ed588036710e1753719da2b89d0265ec52ea9", "scope": "authored_usd_dimensions", "bounds_m": [ 0.13758500292897224, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.05299999937415123, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f3b7ba42ad23cb08cf59e49726882f985b12d963bb3ae38c3129b13f5b08ccf6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dbd89939a4f4f29743e9c232279ed588036710e1753719da2b89d0265ec52ea9", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.05299999937415123, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 11, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f3b7ba42ad23cb08cf59e49726882f985b12d963bb3ae38c3129b13f5b08ccf6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dbd89939a4f4f29743e9c232279ed588036710e1753719da2b89d0265ec52ea9", "scope": "authored_usd_collision_schema", "enabled_shape_count": 11, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f3b7ba42ad23cb08cf59e49726882f985b12d963bb3ae38c3129b13f5b08ccf6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dbd89939a4f4f29743e9c232279ed588036710e1753719da2b89d0265ec52ea9", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00881 Tray Board/IsaacSim_assets_69f6b4c67f5104dbf2bbd02b/physics_69f6b4c67f5104dbf2bbd02b.json b/batch10/D00881 Tray Board/IsaacSim_assets_69f6b4c67f5104dbf2bbd02b/physics_69f6b4c67f5104dbf2bbd02b.json index 5643c5ebe4c53455eeab6e996069c8fc11c87982..99849a86c69d75dc6c93eed2f6943488d9fd36c7 100644 --- a/batch10/D00881 Tray Board/IsaacSim_assets_69f6b4c67f5104dbf2bbd02b/physics_69f6b4c67f5104dbf2bbd02b.json +++ b/batch10/D00881 Tray Board/IsaacSim_assets_69f6b4c67f5104dbf2bbd02b/physics_69f6b4c67f5104dbf2bbd02b.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "d62fadd426feabedba92922e2edc45a80bc5ccd9007f9a7d6db404ed9174c7c2" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "65b6fbee99adc40bd6195466036e4e739cec6dcb05ea957dc5fc113ee594c553" }, "usd_path": "batch10/D00881 Tray Board/IsaacSim_assets_69f6b4c67f5104dbf2bbd02b/IsaacSim_asset_69f6b4c67f5104dbf2bbd02b.usd", - "usd_sha256": "bf44bc2d2b2418b974aad531376d8021fd99efb1c15a3d9c85eee93af8b92928", + "usd_sha256": "35f1e2b9618e8fb11abdae8063a9e4a75905379ef9f625fbf1037ff8baa3ec0a", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "bf44bc2d2b2418b974aad531376d8021fd99efb1c15a3d9c85eee93af8b92928", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "35f1e2b9618e8fb11abdae8063a9e4a75905379ef9f625fbf1037ff8baa3ec0a", "scope": "authored_usd_dimensions", "bounds_m": [ 0.40348300337791443, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 1.3700000047683716, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "bf44bc2d2b2418b974aad531376d8021fd99efb1c15a3d9c85eee93af8b92928", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "35f1e2b9618e8fb11abdae8063a9e4a75905379ef9f625fbf1037ff8baa3ec0a", "scope": "authored_usd_mass_consistency", "part_sum_kg": 1.3700000047683716, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 19, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "bf44bc2d2b2418b974aad531376d8021fd99efb1c15a3d9c85eee93af8b92928", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "35f1e2b9618e8fb11abdae8063a9e4a75905379ef9f625fbf1037ff8baa3ec0a", "scope": "authored_usd_collision_schema", "enabled_shape_count": 19, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "bf44bc2d2b2418b974aad531376d8021fd99efb1c15a3d9c85eee93af8b92928", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "35f1e2b9618e8fb11abdae8063a9e4a75905379ef9f625fbf1037ff8baa3ec0a", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00882 Tray Bowl/IsaacSim_assets_69f6b9137f5104dbf2c008e5/physics_69f6b9137f5104dbf2c008e5.json b/batch10/D00882 Tray Bowl/IsaacSim_assets_69f6b9137f5104dbf2c008e5/physics_69f6b9137f5104dbf2c008e5.json index 20171a5c0e218ed18dbcc453bf59d55236dd7afe..7cd157917bf2b99938d4c8bbd5baa070a703085f 100644 --- a/batch10/D00882 Tray Bowl/IsaacSim_assets_69f6b9137f5104dbf2c008e5/physics_69f6b9137f5104dbf2c008e5.json +++ b/batch10/D00882 Tray Bowl/IsaacSim_assets_69f6b9137f5104dbf2c008e5/physics_69f6b9137f5104dbf2c008e5.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "120f2ed54fee6b54235c4740a7d2040a589ed970304d007eaeff8a0844fddeba" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a15f039b2f60b253e37c1066ec308d45863489c201d7eb1eba2028918f582954" }, "usd_path": "batch10/D00882 Tray Bowl/IsaacSim_assets_69f6b9137f5104dbf2c008e5/IsaacSim_asset_69f6b9137f5104dbf2c008e5.usd", - "usd_sha256": "54f0e4e37a4126fd1313781875a7800e43b5364a8636ee96083a8954e706c7c0", + "usd_sha256": "74ce96bca68bcfb35fc7fe47896509c54d34fb8c34e2abef769f017ed9b27226", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "54f0e4e37a4126fd1313781875a7800e43b5364a8636ee96083a8954e706c7c0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74ce96bca68bcfb35fc7fe47896509c54d34fb8c34e2abef769f017ed9b27226", "scope": "authored_usd_dimensions", "bounds_m": [ 0.21973299980163574, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.5199999809265137, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "54f0e4e37a4126fd1313781875a7800e43b5364a8636ee96083a8954e706c7c0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74ce96bca68bcfb35fc7fe47896509c54d34fb8c34e2abef769f017ed9b27226", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.5199999809265137, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 174, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "54f0e4e37a4126fd1313781875a7800e43b5364a8636ee96083a8954e706c7c0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74ce96bca68bcfb35fc7fe47896509c54d34fb8c34e2abef769f017ed9b27226", "scope": "authored_usd_collision_schema", "enabled_shape_count": 174, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "54f0e4e37a4126fd1313781875a7800e43b5364a8636ee96083a8954e706c7c0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74ce96bca68bcfb35fc7fe47896509c54d34fb8c34e2abef769f017ed9b27226", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00888 Tweezers/IsaacSim_assets_69f6bf047f5104dbf2c5e72f/physics_69f6bf047f5104dbf2c5e72f.json b/batch10/D00888 Tweezers/IsaacSim_assets_69f6bf047f5104dbf2c5e72f/physics_69f6bf047f5104dbf2c5e72f.json index c3c25633bd32fd8dfedfec990d5cdb20da34f5ff..5648c2c2569df901df3aa57e04729b015fb78d10 100644 --- a/batch10/D00888 Tweezers/IsaacSim_assets_69f6bf047f5104dbf2c5e72f/physics_69f6bf047f5104dbf2c5e72f.json +++ b/batch10/D00888 Tweezers/IsaacSim_assets_69f6bf047f5104dbf2c5e72f/physics_69f6bf047f5104dbf2c5e72f.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "4eb55f039e0cf40d7b820ee033bb28b0df5813a096721b72572a58854f6eb163" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7517d3e177b4f38f30b7b0369e7d8f9bbfc69be830d4198741b3fc5d6067db94" }, "usd_path": "batch10/D00888 Tweezers/IsaacSim_assets_69f6bf047f5104dbf2c5e72f/IsaacSim_asset_69f6bf047f5104dbf2c5e72f.usd", - "usd_sha256": "281b3d0c7df74c7a77a9ff38af6c95ff9da090fefc56942fe19d690c0ffbad58", + "usd_sha256": "fd8dfa6fdb6c2893f5202517adbcbf7b2840dbdd9837253fdef948063537c9f5", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "281b3d0c7df74c7a77a9ff38af6c95ff9da090fefc56942fe19d690c0ffbad58", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fd8dfa6fdb6c2893f5202517adbcbf7b2840dbdd9837253fdef948063537c9f5", "scope": "authored_usd_dimensions", "bounds_m": [ 0.024908000603318214, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.0430000014603138, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "281b3d0c7df74c7a77a9ff38af6c95ff9da090fefc56942fe19d690c0ffbad58", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fd8dfa6fdb6c2893f5202517adbcbf7b2840dbdd9837253fdef948063537c9f5", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.0430000014603138, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 6, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "281b3d0c7df74c7a77a9ff38af6c95ff9da090fefc56942fe19d690c0ffbad58", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fd8dfa6fdb6c2893f5202517adbcbf7b2840dbdd9837253fdef948063537c9f5", "scope": "authored_usd_collision_schema", "enabled_shape_count": 6, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "281b3d0c7df74c7a77a9ff38af6c95ff9da090fefc56942fe19d690c0ffbad58", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fd8dfa6fdb6c2893f5202517adbcbf7b2840dbdd9837253fdef948063537c9f5", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00936 White Cup/IsaacSim_assets_6a577283c736368e416c8f95/physics_6a577283c736368e416c8f95.json b/batch10/D00936 White Cup/IsaacSim_assets_6a577283c736368e416c8f95/physics_6a577283c736368e416c8f95.json index fe0b26dc969968333baa5f74869e86ee6d287a56..7ab9dd35e8dced23b9943d3a21c861dee27bb2f7 100644 --- a/batch10/D00936 White Cup/IsaacSim_assets_6a577283c736368e416c8f95/physics_6a577283c736368e416c8f95.json +++ b/batch10/D00936 White Cup/IsaacSim_assets_6a577283c736368e416c8f95/physics_6a577283c736368e416c8f95.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "50b57e4459f9e5af0ce24d933b46633d004517782029f89b2fb0f1a2eb2ae5d4" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "679379a77e39c412c9198d4bb9db3ca478e5e8e35de1b37ce78b21490ac9a513" }, "usd_path": "batch10/D00936 White Cup/IsaacSim_assets_6a577283c736368e416c8f95/IsaacSim_asset_6a577283c736368e416c8f95.usd", - "usd_sha256": "22d2a8bdcab1157ae1a8eb33744d6439c3cb0ec4782cbe619624d7ed4d7f7428", + "usd_sha256": "f21d76fd8c1726ff557bcb4c0d36976f37547277386bfe80ef38b7aab3d24a20", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "22d2a8bdcab1157ae1a8eb33744d6439c3cb0ec4782cbe619624d7ed4d7f7428", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f21d76fd8c1726ff557bcb4c0d36976f37547277386bfe80ef38b7aab3d24a20", "scope": "authored_usd_dimensions", "bounds_m": [ 0.09798400104045868, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.30000001192092896, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "22d2a8bdcab1157ae1a8eb33744d6439c3cb0ec4782cbe619624d7ed4d7f7428", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f21d76fd8c1726ff557bcb4c0d36976f37547277386bfe80ef38b7aab3d24a20", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.30000001192092896, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 38, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "22d2a8bdcab1157ae1a8eb33744d6439c3cb0ec4782cbe619624d7ed4d7f7428", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f21d76fd8c1726ff557bcb4c0d36976f37547277386bfe80ef38b7aab3d24a20", "scope": "authored_usd_collision_schema", "enabled_shape_count": 38, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "22d2a8bdcab1157ae1a8eb33744d6439c3cb0ec4782cbe619624d7ed4d7f7428", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f21d76fd8c1726ff557bcb4c0d36976f37547277386bfe80ef38b7aab3d24a20", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00937 White Grey Bowl/IsaacSim_assets_69f714a27f5104dbf21ac51b/physics_69f714a27f5104dbf21ac51b.json b/batch10/D00937 White Grey Bowl/IsaacSim_assets_69f714a27f5104dbf21ac51b/physics_69f714a27f5104dbf21ac51b.json index 698599a9dd1f5b266b86e245bfee2e1a015c6886..d3c1bac8cee2fc60b94555c935ebe5178400c28c 100644 --- a/batch10/D00937 White Grey Bowl/IsaacSim_assets_69f714a27f5104dbf21ac51b/physics_69f714a27f5104dbf21ac51b.json +++ b/batch10/D00937 White Grey Bowl/IsaacSim_assets_69f714a27f5104dbf21ac51b/physics_69f714a27f5104dbf21ac51b.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "45bfb96aacf5d77c077f904219a717c20022262ebc1dbd8e89002498f97c11a8" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6bc2a339c52b241d38ed8f6fc472d306878bbbce65284bf2c2b6a0fe59ecf08c" }, "usd_path": "batch10/D00937 White Grey Bowl/IsaacSim_assets_69f714a27f5104dbf21ac51b/IsaacSim_asset_69f714a27f5104dbf21ac51b.usd", - "usd_sha256": "af5152d50e7b7fccc4a9ea12eb05fbcb71ce9275d17c805db1b6871201e89b80", + "usd_sha256": "cf7c697e7c0b13c4d3a55884cb9ed15adfb98993ac33fb4774b75d91dff4ff6e", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "af5152d50e7b7fccc4a9ea12eb05fbcb71ce9275d17c805db1b6871201e89b80", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cf7c697e7c0b13c4d3a55884cb9ed15adfb98993ac33fb4774b75d91dff4ff6e", "scope": "authored_usd_dimensions", "bounds_m": [ 0.15146099776029587, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.3799999952316284, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "af5152d50e7b7fccc4a9ea12eb05fbcb71ce9275d17c805db1b6871201e89b80", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cf7c697e7c0b13c4d3a55884cb9ed15adfb98993ac33fb4774b75d91dff4ff6e", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.3799999952316284, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 66, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "af5152d50e7b7fccc4a9ea12eb05fbcb71ce9275d17c805db1b6871201e89b80", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cf7c697e7c0b13c4d3a55884cb9ed15adfb98993ac33fb4774b75d91dff4ff6e", "scope": "authored_usd_collision_schema", "enabled_shape_count": 66, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "af5152d50e7b7fccc4a9ea12eb05fbcb71ce9275d17c805db1b6871201e89b80", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cf7c697e7c0b13c4d3a55884cb9ed15adfb98993ac33fb4774b75d91dff4ff6e", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00948 Wok Pot/IsaacSim_assets_69f7302a7f5104dbf237438c/physics_69f7302a7f5104dbf237438c.json b/batch10/D00948 Wok Pot/IsaacSim_assets_69f7302a7f5104dbf237438c/physics_69f7302a7f5104dbf237438c.json index 2e16863ebeef76d081fa145ef954bd8f0e676452..2f783e982ce139d671579de652b2d588ee359c5b 100644 --- a/batch10/D00948 Wok Pot/IsaacSim_assets_69f7302a7f5104dbf237438c/physics_69f7302a7f5104dbf237438c.json +++ b/batch10/D00948 Wok Pot/IsaacSim_assets_69f7302a7f5104dbf237438c/physics_69f7302a7f5104dbf237438c.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "f66116e78433f193f5c0f7bce8a37a98c0f6395dabb52caf04b9950ec1b64365" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d203cd5c84469f8f21f35ac7bc31a981a8017dfa31b31332f29abadf3886b70d" }, "usd_path": "batch10/D00948 Wok Pot/IsaacSim_assets_69f7302a7f5104dbf237438c/IsaacSim_asset_69f7302a7f5104dbf237438c.usd", - "usd_sha256": "a28e390f954a38efa8be12c96e0f171d0135185ce034fb04a8b2af8689570fe2", + "usd_sha256": "bcb44081644de74d53e58387a4249e8cca143599414621afad4c3f3107f383f3", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a28e390f954a38efa8be12c96e0f171d0135185ce034fb04a8b2af8689570fe2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bcb44081644de74d53e58387a4249e8cca143599414621afad4c3f3107f383f3", "scope": "authored_usd_dimensions", "bounds_m": [ 0.2680779993534088, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 3.0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a28e390f954a38efa8be12c96e0f171d0135185ce034fb04a8b2af8689570fe2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bcb44081644de74d53e58387a4249e8cca143599414621afad4c3f3107f383f3", "scope": "authored_usd_mass_consistency", "part_sum_kg": 3.0, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 39, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a28e390f954a38efa8be12c96e0f171d0135185ce034fb04a8b2af8689570fe2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bcb44081644de74d53e58387a4249e8cca143599414621afad4c3f3107f383f3", "scope": "authored_usd_collision_schema", "enabled_shape_count": 39, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a28e390f954a38efa8be12c96e0f171d0135185ce034fb04a8b2af8689570fe2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bcb44081644de74d53e58387a4249e8cca143599414621afad4c3f3107f383f3", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00954 Wooden Container/IsaacSim_assets_69f73a6b7f5104dbf2420000/physics_69f73a6b7f5104dbf2420000.json b/batch10/D00954 Wooden Container/IsaacSim_assets_69f73a6b7f5104dbf2420000/physics_69f73a6b7f5104dbf2420000.json index f7784aba1bade1dc97dd47da47634d19978b9edb..d4ab123fedaeed8d3698206d1eeba5142df2de89 100644 --- a/batch10/D00954 Wooden Container/IsaacSim_assets_69f73a6b7f5104dbf2420000/physics_69f73a6b7f5104dbf2420000.json +++ b/batch10/D00954 Wooden Container/IsaacSim_assets_69f73a6b7f5104dbf2420000/physics_69f73a6b7f5104dbf2420000.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "4b0dc10ba13b5a5f9ec4d772ecb7e5ba5bc58c5bf6c0d474aa20110770cd2462" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6f81921d072c78016e0d22bc54bf772dca5e463c1aed953e6f354d4bea8bb80f" }, "usd_path": "batch10/D00954 Wooden Container/IsaacSim_assets_69f73a6b7f5104dbf2420000/IsaacSim_asset_69f73a6b7f5104dbf2420000.usd", - "usd_sha256": "a39adb5545c6f9182fe4a287d0ffb024f9ce7759e2b0743f2a017ec7d8d2ca96", + "usd_sha256": "56ff524738fb7715a5ec82100400ff99ab565a7dd91dcda235f6b89ad07acff0", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a39adb5545c6f9182fe4a287d0ffb024f9ce7759e2b0743f2a017ec7d8d2ca96", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56ff524738fb7715a5ec82100400ff99ab565a7dd91dcda235f6b89ad07acff0", "scope": "authored_usd_dimensions", "bounds_m": [ 0.372529000043869, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.7099999785423279, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a39adb5545c6f9182fe4a287d0ffb024f9ce7759e2b0743f2a017ec7d8d2ca96", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56ff524738fb7715a5ec82100400ff99ab565a7dd91dcda235f6b89ad07acff0", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.7099999785423279, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 13, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a39adb5545c6f9182fe4a287d0ffb024f9ce7759e2b0743f2a017ec7d8d2ca96", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56ff524738fb7715a5ec82100400ff99ab565a7dd91dcda235f6b89ad07acff0", "scope": "authored_usd_collision_schema", "enabled_shape_count": 13, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a39adb5545c6f9182fe4a287d0ffb024f9ce7759e2b0743f2a017ec7d8d2ca96", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56ff524738fb7715a5ec82100400ff99ab565a7dd91dcda235f6b89ad07acff0", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00956 Wooden Cup/IsaacSim_assets_6a4b7498a91d78f0f3f4314c/physics_6a4b7498a91d78f0f3f4314c.json b/batch10/D00956 Wooden Cup/IsaacSim_assets_6a4b7498a91d78f0f3f4314c/physics_6a4b7498a91d78f0f3f4314c.json index d14169210373b3a1d2753a7eb3341f6d54de993d..8d9d9d692943c51bd09099601c43a58154a67da2 100644 --- a/batch10/D00956 Wooden Cup/IsaacSim_assets_6a4b7498a91d78f0f3f4314c/physics_6a4b7498a91d78f0f3f4314c.json +++ b/batch10/D00956 Wooden Cup/IsaacSim_assets_6a4b7498a91d78f0f3f4314c/physics_6a4b7498a91d78f0f3f4314c.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "1945f1613dac921603f2617fa214950700b3e5f3c13152f839bad80ccf9925b8" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ce67a1053aac3454521ad60b198b1b1ed811f2235579a6ba831aa171754677a8" }, "usd_path": "batch10/D00956 Wooden Cup/IsaacSim_assets_6a4b7498a91d78f0f3f4314c/IsaacSim_asset_6a4b7498a91d78f0f3f4314c.usd", - "usd_sha256": "aba45a94a7a6cd48e634fe696b109e862e8158cf5b5c5788e59f88a46d926c3e", + "usd_sha256": "c1f880cb044ed49ef75769c8470520fd94d718cbfee69095f285117eae486280", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "aba45a94a7a6cd48e634fe696b109e862e8158cf5b5c5788e59f88a46d926c3e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1f880cb044ed49ef75769c8470520fd94d718cbfee69095f285117eae486280", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07950999960303307, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.029999999329447746, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "aba45a94a7a6cd48e634fe696b109e862e8158cf5b5c5788e59f88a46d926c3e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1f880cb044ed49ef75769c8470520fd94d718cbfee69095f285117eae486280", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.029999999329447746, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 39, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "aba45a94a7a6cd48e634fe696b109e862e8158cf5b5c5788e59f88a46d926c3e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1f880cb044ed49ef75769c8470520fd94d718cbfee69095f285117eae486280", "scope": "authored_usd_collision_schema", "enabled_shape_count": 39, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "aba45a94a7a6cd48e634fe696b109e862e8158cf5b5c5788e59f88a46d926c3e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1f880cb044ed49ef75769c8470520fd94d718cbfee69095f285117eae486280", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00961 Wooden Ladle/IsaacSim_assets_69f75e4a7f5104dbf2688948/physics_69f75e4a7f5104dbf2688948.json b/batch10/D00961 Wooden Ladle/IsaacSim_assets_69f75e4a7f5104dbf2688948/physics_69f75e4a7f5104dbf2688948.json index 344b0336ac7a571b566ad49552c7f6eb1fc15b41..7a168a1bf588e3e1b86e7e54ddb8dfa60825fb77 100644 --- a/batch10/D00961 Wooden Ladle/IsaacSim_assets_69f75e4a7f5104dbf2688948/physics_69f75e4a7f5104dbf2688948.json +++ b/batch10/D00961 Wooden Ladle/IsaacSim_assets_69f75e4a7f5104dbf2688948/physics_69f75e4a7f5104dbf2688948.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "2da763c120e6cafb99001d2bbcc03352ec6bbdf4503ea65ccd2878d7573323b2" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b6f878fd78df67b3c7bfd8de3fdecf28932bba47c7ada814f616ed2b50506f9c" }, "usd_path": "batch10/D00961 Wooden Ladle/IsaacSim_assets_69f75e4a7f5104dbf2688948/IsaacSim_asset_69f75e4a7f5104dbf2688948.usd", - "usd_sha256": "452647b18698c356fd13c45712ab63d70adeada39782d55095bf18f5b4c80417", + "usd_sha256": "db7874bfda678e0edfcc56842d7ba4f8d5ce15c45e9d8b0e8e30e07685f6573c", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "452647b18698c356fd13c45712ab63d70adeada39782d55095bf18f5b4c80417", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db7874bfda678e0edfcc56842d7ba4f8d5ce15c45e9d8b0e8e30e07685f6573c", "scope": "authored_usd_dimensions", "bounds_m": [ 0.08186500146985054, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.058970000594854355, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "452647b18698c356fd13c45712ab63d70adeada39782d55095bf18f5b4c80417", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db7874bfda678e0edfcc56842d7ba4f8d5ce15c45e9d8b0e8e30e07685f6573c", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.058970000594854355, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 17, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "452647b18698c356fd13c45712ab63d70adeada39782d55095bf18f5b4c80417", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db7874bfda678e0edfcc56842d7ba4f8d5ce15c45e9d8b0e8e30e07685f6573c", "scope": "authored_usd_collision_schema", "enabled_shape_count": 17, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "452647b18698c356fd13c45712ab63d70adeada39782d55095bf18f5b4c80417", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db7874bfda678e0edfcc56842d7ba4f8d5ce15c45e9d8b0e8e30e07685f6573c", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00971 Wooden Spatula/IsaacSim_assets_69f77ef47f5104dbf28c852b/physics_69f77ef47f5104dbf28c852b.json b/batch10/D00971 Wooden Spatula/IsaacSim_assets_69f77ef47f5104dbf28c852b/physics_69f77ef47f5104dbf28c852b.json index 13168d61cb6519f698d7e17d41b8825ec8c15c83..4aa8ef16ed7e2a5699530f6490607f787c1b94e3 100644 --- a/batch10/D00971 Wooden Spatula/IsaacSim_assets_69f77ef47f5104dbf28c852b/physics_69f77ef47f5104dbf28c852b.json +++ b/batch10/D00971 Wooden Spatula/IsaacSim_assets_69f77ef47f5104dbf28c852b/physics_69f77ef47f5104dbf28c852b.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "29d4cface45ac2041b5b616648d237d715a3de016c31c08e50f3ac6d02f7e75d" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8eea9d46b182c9635fed57b15ca161bd1c0e6985511be23ee7c7c411b9e858a7" }, "usd_path": "batch10/D00971 Wooden Spatula/IsaacSim_assets_69f77ef47f5104dbf28c852b/IsaacSim_asset_69f77ef47f5104dbf28c852b.usd", - "usd_sha256": "53cf342c99111004ec76a23b19a692a48855ac94fc0ae548140353304ea82a07", + "usd_sha256": "0fe61a7c99944d218bad232fe00bf05b4fa6ad24c1b34e3fffbc010b7dad2c46", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "53cf342c99111004ec76a23b19a692a48855ac94fc0ae548140353304ea82a07", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fe61a7c99944d218bad232fe00bf05b4fa6ad24c1b34e3fffbc010b7dad2c46", "scope": "authored_usd_dimensions", "bounds_m": [ 0.30459100008010864, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.05000000074505806, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "53cf342c99111004ec76a23b19a692a48855ac94fc0ae548140353304ea82a07", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fe61a7c99944d218bad232fe00bf05b4fa6ad24c1b34e3fffbc010b7dad2c46", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.05000000074505806, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 6, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "53cf342c99111004ec76a23b19a692a48855ac94fc0ae548140353304ea82a07", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fe61a7c99944d218bad232fe00bf05b4fa6ad24c1b34e3fffbc010b7dad2c46", "scope": "authored_usd_collision_schema", "enabled_shape_count": 6, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "53cf342c99111004ec76a23b19a692a48855ac94fc0ae548140353304ea82a07", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fe61a7c99944d218bad232fe00bf05b4fa6ad24c1b34e3fffbc010b7dad2c46", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00974 Wooden Spatula Spoon/IsaacSim_assets_69f790a87f5104dbf2a09791/physics_69f790a87f5104dbf2a09791.json b/batch10/D00974 Wooden Spatula Spoon/IsaacSim_assets_69f790a87f5104dbf2a09791/physics_69f790a87f5104dbf2a09791.json index f5ba3ca761a4a92350856e846731134fb2634d73..cfc6cca2607f5a36f95366c07bdc5080e5410994 100644 --- a/batch10/D00974 Wooden Spatula Spoon/IsaacSim_assets_69f790a87f5104dbf2a09791/physics_69f790a87f5104dbf2a09791.json +++ b/batch10/D00974 Wooden Spatula Spoon/IsaacSim_assets_69f790a87f5104dbf2a09791/physics_69f790a87f5104dbf2a09791.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "dfb4d026f9e939085b0b9792f746d02aa741b5efd2663534e29e763b84fa5a7c" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "674f0564fc54d47432c2c32cbac4f36c10266cb8cb89fa1e7947e5f3fb6dc541" }, "usd_path": "batch10/D00974 Wooden Spatula Spoon/IsaacSim_assets_69f790a87f5104dbf2a09791/IsaacSim_asset_69f790a87f5104dbf2a09791.usd", - "usd_sha256": "e8a549bf378e6f8abaf6b085d09802540cdcd69d6fc87ad1fd36f6ea84619c74", + "usd_sha256": "10258706df24d831494824cc2fa1e7fb5f40e8ca87b7ae4ffbb6aa8472bb24b6", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e8a549bf378e6f8abaf6b085d09802540cdcd69d6fc87ad1fd36f6ea84619c74", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10258706df24d831494824cc2fa1e7fb5f40e8ca87b7ae4ffbb6aa8472bb24b6", "scope": "authored_usd_dimensions", "bounds_m": [ 0.35677699744701385, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.08299999684095383, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e8a549bf378e6f8abaf6b085d09802540cdcd69d6fc87ad1fd36f6ea84619c74", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10258706df24d831494824cc2fa1e7fb5f40e8ca87b7ae4ffbb6aa8472bb24b6", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.08299999684095383, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 9, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e8a549bf378e6f8abaf6b085d09802540cdcd69d6fc87ad1fd36f6ea84619c74", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10258706df24d831494824cc2fa1e7fb5f40e8ca87b7ae4ffbb6aa8472bb24b6", "scope": "authored_usd_collision_schema", "enabled_shape_count": 9, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e8a549bf378e6f8abaf6b085d09802540cdcd69d6fc87ad1fd36f6ea84619c74", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10258706df24d831494824cc2fa1e7fb5f40e8ca87b7ae4ffbb6aa8472bb24b6", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00981 Wooden Spoon Spatula/IsaacSim_assets_6a578fc0c736368e416f35b2/physics_6a578fc0c736368e416f35b2.json b/batch10/D00981 Wooden Spoon Spatula/IsaacSim_assets_6a578fc0c736368e416f35b2/physics_6a578fc0c736368e416f35b2.json index 178e63f672fdcbb1cfdbecfefd0b45ff1d94f768..170d9398ea9434cd3899a4023a1f1b07ded4815c 100644 --- a/batch10/D00981 Wooden Spoon Spatula/IsaacSim_assets_6a578fc0c736368e416f35b2/physics_6a578fc0c736368e416f35b2.json +++ b/batch10/D00981 Wooden Spoon Spatula/IsaacSim_assets_6a578fc0c736368e416f35b2/physics_6a578fc0c736368e416f35b2.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "c2a96079cc40c66991b20d6620b52c047be0ef6132c19327915b56a8d8def7b1" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7c0464ad1c72d2196b3ebcd42ad6b9555a27430bbdde2141e91897ddc2ddf2d3" }, "usd_path": "batch10/D00981 Wooden Spoon Spatula/IsaacSim_assets_6a578fc0c736368e416f35b2/IsaacSim_asset_6a578fc0c736368e416f35b2.usd", - "usd_sha256": "34b32431e76fe3006383d0968d4e621f091284a40ad3d342502835d29250813d", + "usd_sha256": "3342b3640d313a4697aad8ca329a45d67c158f1b3c5c88978e1a116f93821a9c", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "34b32431e76fe3006383d0968d4e621f091284a40ad3d342502835d29250813d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3342b3640d313a4697aad8ca329a45d67c158f1b3c5c88978e1a116f93821a9c", "scope": "authored_usd_dimensions", "bounds_m": [ 0.35102200508117676, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.10199999809265137, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "34b32431e76fe3006383d0968d4e621f091284a40ad3d342502835d29250813d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3342b3640d313a4697aad8ca329a45d67c158f1b3c5c88978e1a116f93821a9c", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.10199999809265137, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 15, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "34b32431e76fe3006383d0968d4e621f091284a40ad3d342502835d29250813d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3342b3640d313a4697aad8ca329a45d67c158f1b3c5c88978e1a116f93821a9c", "scope": "authored_usd_collision_schema", "enabled_shape_count": 15, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "34b32431e76fe3006383d0968d4e621f091284a40ad3d342502835d29250813d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3342b3640d313a4697aad8ca329a45d67c158f1b3c5c88978e1a116f93821a9c", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00989 Wooden Vase/IsaacSim_assets_69f7996ed09344200ff34ee6/physics_69f7996ed09344200ff34ee6.json b/batch10/D00989 Wooden Vase/IsaacSim_assets_69f7996ed09344200ff34ee6/physics_69f7996ed09344200ff34ee6.json index 016f20ec30830b419ff0e1ce9c8b3648878bdf72..a67412fcc2e4026ff0904e892387712a65ccbc93 100644 --- a/batch10/D00989 Wooden Vase/IsaacSim_assets_69f7996ed09344200ff34ee6/physics_69f7996ed09344200ff34ee6.json +++ b/batch10/D00989 Wooden Vase/IsaacSim_assets_69f7996ed09344200ff34ee6/physics_69f7996ed09344200ff34ee6.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "1f4c91b68a116e89bf2ef2b9bd5614d4e747a2e515760a4509ad593379d32c37" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e7bdfd2885698ddf17310728d602088fa9212f51d0b729e02f10c862cb7524e4" }, "usd_path": "batch10/D00989 Wooden Vase/IsaacSim_assets_69f7996ed09344200ff34ee6/IsaacSim_asset_69f7996ed09344200ff34ee6.usd", - "usd_sha256": "cc87b841bfadd1e3d997f84f963e68809ec027b30378ac75f1a9667302fff763", + "usd_sha256": "47844728026cc13e32dc54ba9161b8a4669da22909e1d2bb0bcbcca000ce229f", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cc87b841bfadd1e3d997f84f963e68809ec027b30378ac75f1a9667302fff763", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47844728026cc13e32dc54ba9161b8a4669da22909e1d2bb0bcbcca000ce229f", "scope": "authored_usd_dimensions", "bounds_m": [ 0.16070500016212463, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.3889999985694885, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cc87b841bfadd1e3d997f84f963e68809ec027b30378ac75f1a9667302fff763", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47844728026cc13e32dc54ba9161b8a4669da22909e1d2bb0bcbcca000ce229f", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.3889999985694885, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 200, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cc87b841bfadd1e3d997f84f963e68809ec027b30378ac75f1a9667302fff763", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47844728026cc13e32dc54ba9161b8a4669da22909e1d2bb0bcbcca000ce229f", "scope": "authored_usd_collision_schema", "enabled_shape_count": 200, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cc87b841bfadd1e3d997f84f963e68809ec027b30378ac75f1a9667302fff763", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47844728026cc13e32dc54ba9161b8a4669da22909e1d2bb0bcbcca000ce229f", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00991 Woodenspoon/IsaacSim_assets_6a4ba535a91d78f0f3fbca05/physics_6a4ba535a91d78f0f3fbca05.json b/batch10/D00991 Woodenspoon/IsaacSim_assets_6a4ba535a91d78f0f3fbca05/physics_6a4ba535a91d78f0f3fbca05.json index 820c38ebb009cb54510a4e19da7abee1c87aeacb..e2576be359215bfcc7c3f739456a3d546fb7b4c3 100644 --- a/batch10/D00991 Woodenspoon/IsaacSim_assets_6a4ba535a91d78f0f3fbca05/physics_6a4ba535a91d78f0f3fbca05.json +++ b/batch10/D00991 Woodenspoon/IsaacSim_assets_6a4ba535a91d78f0f3fbca05/physics_6a4ba535a91d78f0f3fbca05.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "1677cf3a29876fc45a21797027faddc439c9a099afa00baae849bfeb4d04720c" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a5ec069695152e68fd6b26d23959992bce01b87e7c299d8a48a2a9a9afb38da8" }, "usd_path": "batch10/D00991 Woodenspoon/IsaacSim_assets_6a4ba535a91d78f0f3fbca05/IsaacSim_asset_6a4ba535a91d78f0f3fbca05.usd", - "usd_sha256": "6d5f6617ca57eda52886eeb95a7f292a3f5b9aa60ab5221b9226c12844cc60aa", + "usd_sha256": "04aa932eacfe4fe9d8aa1c95c360cc86e6698344095cf36635cd45c7354dac41", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6d5f6617ca57eda52886eeb95a7f292a3f5b9aa60ab5221b9226c12844cc60aa", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "04aa932eacfe4fe9d8aa1c95c360cc86e6698344095cf36635cd45c7354dac41", "scope": "authored_usd_dimensions", "bounds_m": [ 0.29471199959516525, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.03539999946951866, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6d5f6617ca57eda52886eeb95a7f292a3f5b9aa60ab5221b9226c12844cc60aa", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "04aa932eacfe4fe9d8aa1c95c360cc86e6698344095cf36635cd45c7354dac41", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.03539999946951866, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 14, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6d5f6617ca57eda52886eeb95a7f292a3f5b9aa60ab5221b9226c12844cc60aa", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "04aa932eacfe4fe9d8aa1c95c360cc86e6698344095cf36635cd45c7354dac41", "scope": "authored_usd_collision_schema", "enabled_shape_count": 14, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6d5f6617ca57eda52886eeb95a7f292a3f5b9aa60ab5221b9226c12844cc60aa", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "04aa932eacfe4fe9d8aa1c95c360cc86e6698344095cf36635cd45c7354dac41", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch10/D00995 Zucchini/IsaacSim_assets_6a56281673216702109627e9/physics_6a56281673216702109627e9.json b/batch10/D00995 Zucchini/IsaacSim_assets_6a56281673216702109627e9/physics_6a56281673216702109627e9.json index b4fdb3aa8ed51fbfd73a918570b6ba655c01054a..6112b414102f0fa5c5bec85aeffba11cff9a0b6b 100644 --- a/batch10/D00995 Zucchini/IsaacSim_assets_6a56281673216702109627e9/physics_6a56281673216702109627e9.json +++ b/batch10/D00995 Zucchini/IsaacSim_assets_6a56281673216702109627e9/physics_6a56281673216702109627e9.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "eae400f34ce6f202b314a4ab6198b2ad1f4bdb370e2ad749090e7eebc3099d44" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d6237d78f44a95af528204dffa2651ec0e5ac030995c3785212c8bc2f108d4b3" }, "usd_path": "batch10/D00995 Zucchini/IsaacSim_assets_6a56281673216702109627e9/IsaacSim_asset_6a56281673216702109627e9.usd", - "usd_sha256": "2b7070ce285c94feb0f817a7371f0c1c71fe83559a40b68417e9d2bc2e305b74", + "usd_sha256": "8a5180cbfbd347aa2e5c595f1e09fc91300419d2cda370c0cdb1175c75c0c838", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2b7070ce285c94feb0f817a7371f0c1c71fe83559a40b68417e9d2bc2e305b74", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8a5180cbfbd347aa2e5c595f1e09fc91300419d2cda370c0cdb1175c75c0c838", "scope": "authored_usd_dimensions", "bounds_m": [ 0.17873799800872803, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.30000001192092896, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2b7070ce285c94feb0f817a7371f0c1c71fe83559a40b68417e9d2bc2e305b74", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8a5180cbfbd347aa2e5c595f1e09fc91300419d2cda370c0cdb1175c75c0c838", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.30000001192092896, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 3, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2b7070ce285c94feb0f817a7371f0c1c71fe83559a40b68417e9d2bc2e305b74", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8a5180cbfbd347aa2e5c595f1e09fc91300419d2cda370c0cdb1175c75c0c838", "scope": "authored_usd_collision_schema", "enabled_shape_count": 3, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2b7070ce285c94feb0f817a7371f0c1c71fe83559a40b68417e9d2bc2e305b74", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8a5180cbfbd347aa2e5c595f1e09fc91300419d2cda370c0cdb1175c75c0c838", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00079_Herb_Stripper/IsaacSim_assets_6a7d8fe1b7a9c4204a7947e6/physics_6a7d8fe1b7a9c4204a7947e6.json b/batch11/D00079_Herb_Stripper/IsaacSim_assets_6a7d8fe1b7a9c4204a7947e6/physics_6a7d8fe1b7a9c4204a7947e6.json index da302a2f244192d33be55c9caed87cf05a34a0d5..2f6fb094b6c90081c28aa79bf338df3750a26ac2 100644 --- a/batch11/D00079_Herb_Stripper/IsaacSim_assets_6a7d8fe1b7a9c4204a7947e6/physics_6a7d8fe1b7a9c4204a7947e6.json +++ b/batch11/D00079_Herb_Stripper/IsaacSim_assets_6a7d8fe1b7a9c4204a7947e6/physics_6a7d8fe1b7a9c4204a7947e6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05835900083184242, - 0.004370260052382946, - 0.027143999934196472 - ], "min": [ -0.06029200181365013, - 0.0005382599774748116, - -0.02646300010383129 + -0.027143999934196472, + 0.0005382599774748116 + ], + "max": [ + 0.05835900083184242, + 0.02646300010383129, + 0.004370260052382946 ], "size": [ 0.11865100264549255, - 0.0038320000749081343, - 0.05360700003802776 - ] + 0.05360700003802776, + 0.0038320000749081343 + ], + "units": "m" }, "description": "D00079 Herb_Stripper", "name": "D00079 Herb_Stripper", "object_type": "rigid_bodies", - "total_mass": 0.072 + "total_mass": 0.07199999690055847, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00079", "parts": [ { "bounds": { - "center": [ - -0.0009665004909038544, - 0.0024542600149288787, - 0.0003404999151825905 + "min": [ + -0.06029200181365013, + -0.027143999934196472, + 0.0005382599774748116 ], "max": [ 0.05835900083184242, - 0.004370260052382946, - 0.027143999934196472 + 0.02646300010383129, + 0.004370260052382946 ], - "min": [ - -0.06029200181365013, - 0.0005382599774748116, - -0.02646300010383129 - ] + "size": [ + 0.11865100264549255, + 0.05360700003802776, + 0.0038320000749081343 + ], + "units": "m" }, "center_of_mass": [ -0.0010361584136262536, @@ -59,7 +65,7 @@ 7.44411809137091e-05, 8.986101602204144e-05 ], - "mass": 0.072, + "mass": 0.07199999690055847, "material": "metal", "name": "D00079 Herb_Stripper", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00079 Herb_Stripper", "part_name": "D00079 Herb_Stripper" }, - "volume": 8.999999612569808e-06 + "volume": 8.999999612569808e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b99f3807cfb96dfc2e768de54f6e5ff8e57ded8c36d6120c673eb0b248b1ce89" + }, + "usd_path": "batch11/D00079_Herb_Stripper/IsaacSim_assets_6a7d8fe1b7a9c4204a7947e6/IsaacSim_asset_6a7d8fe1b7a9c4204a7947e6.usd", + "usd_sha256": "1637cf02f0cdb65c35ee73d3a513584251ff2c1eab3a2622ee3acf355f3c851b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,75 @@ "up_axis": "Z", "bounds_m": [ 0.11865100264549255, - 0.0038320000749081343, - 0.05360700003802776 - ] + 0.05360700003802776, + 0.0038320000749081343 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1637cf02f0cdb65c35ee73d3a513584251ff2c1eab3a2622ee3acf355f3c851b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.072 + "value_kg": 0.07199999690055847, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1637cf02f0cdb65c35ee73d3a513584251ff2c1eab3a2622ee3acf355f3c851b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07199999690055847, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 13, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1637cf02f0cdb65c35ee73d3a513584251ff2c1eab3a2622ee3acf355f3c851b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 13, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1637cf02f0cdb65c35ee73d3a513584251ff2c1eab3a2622ee3acf355f3c851b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "1637cf02f0cdb65c35ee73d3a513584251ff2c1eab3a2622ee3acf355f3c851b", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:23.668289+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "daf84e4529a338fceaa90c5d90cc6d79ea77dc959aaca5fa8d37afb216dbdab4", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00104_Garlic_Peeler/IsaacSim_assets_6a7d57a8b7a9c4204a7306f1/physics_6a7d57a8b7a9c4204a7306f1.json b/batch11/D00104_Garlic_Peeler/IsaacSim_assets_6a7d57a8b7a9c4204a7306f1/physics_6a7d57a8b7a9c4204a7306f1.json index 2d701d8c49ba0870e4bf8f8a661855e195bafd30..bc0d88e33658515c4038521a00880b20b93f3d18 100644 --- a/batch11/D00104_Garlic_Peeler/IsaacSim_assets_6a7d57a8b7a9c4204a7306f1/physics_6a7d57a8b7a9c4204a7306f1.json +++ b/batch11/D00104_Garlic_Peeler/IsaacSim_assets_6a7d57a8b7a9c4204a7306f1/physics_6a7d57a8b7a9c4204a7306f1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02419300004839897, - 0.051264779176563025, - 0.04853900149464607 - ], "min": [ -0.0247189998626709, - 0.00041178008541465326, - -0.04852199926972389 + -0.04853900149464607, + 0.00041178008541465326 + ], + "max": [ + 0.02419300004839897, + 0.04852199926972389, + 0.051264779176563025 ], "size": [ 0.04891199991106987, - 0.05085299909114837, - 0.09706100076436996 - ] + 0.09706100076436996, + 0.05085299909114837 + ], + "units": "m" }, "description": "D00104 Garlic_Peeler", "name": "D00104 Garlic_Peeler", "object_type": "rigid_bodies", - "total_mass": 0.031 + "total_mass": 0.03099999949336052, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00104", "parts": [ { "bounds": { - "center": [ - -0.00026299990713596344, - 0.02583827963098884, - 8.501112461090088e-06 + "min": [ + -0.0247189998626709, + -0.04853900149464607, + 0.00041178008541465326 ], "max": [ 0.02419300004839897, - 0.051264779176563025, - 0.04853900149464607 + 0.04852199926972389, + 0.051264779176563025 ], - "min": [ - -0.0247189998626709, - 0.00041178008541465326, - -0.04852199926972389 - ] + "size": [ + 0.04891199991106987, + 0.09706100076436996, + 0.05085299909114837 + ], + "units": "m" }, "center_of_mass": [ -0.00025471020489931107, @@ -59,7 +65,7 @@ 2.8909787943121046e-05, 2.928441062977072e-05 ], - "mass": 0.031, + "mass": 0.03099999949336052, "material": "plastic", "name": "D00104 Garlic_Peeler", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00104 Garlic_Peeler", "part_name": "D00104 Garlic_Peeler" }, - "volume": 2.5833332911133768e-05 + "volume": 2.5833332911133768e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "69b00248823a286dc336cac72eed62e3ce6243a2b6ab794a6220db7808ae1872" + }, + "usd_path": "batch11/D00104_Garlic_Peeler/IsaacSim_assets_6a7d57a8b7a9c4204a7306f1/IsaacSim_asset_6a7d57a8b7a9c4204a7306f1.usd", + "usd_sha256": "7d837077eacbb44d77fda994b0f84f90cf595e22d8b39e5b0bb563dd82cb02fb", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,75 @@ "up_axis": "Z", "bounds_m": [ 0.04891199991106987, - 0.05085299909114837, - 0.09706100076436996 - ] + 0.09706100076436996, + 0.05085299909114837 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d837077eacbb44d77fda994b0f84f90cf595e22d8b39e5b0bb563dd82cb02fb", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.031 + "value_kg": 0.03099999949336052, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d837077eacbb44d77fda994b0f84f90cf595e22d8b39e5b0bb563dd82cb02fb", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.03099999949336052, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d837077eacbb44d77fda994b0f84f90cf595e22d8b39e5b0bb563dd82cb02fb", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d837077eacbb44d77fda994b0f84f90cf595e22d8b39e5b0bb563dd82cb02fb", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "7d837077eacbb44d77fda994b0f84f90cf595e22d8b39e5b0bb563dd82cb02fb", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:15:59.059561+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "c2ec5bb66b75b4dd44875830eea8cc23f467f91df922c9065ff27b14ff873391", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00105_Egg_Separator/IsaacSim_assets_6a7d704eb7a9c4204a759d2a/physics_6a7d704eb7a9c4204a759d2a.json b/batch11/D00105_Egg_Separator/IsaacSim_assets_6a7d704eb7a9c4204a759d2a/physics_6a7d704eb7a9c4204a759d2a.json index 2b2af0137930372367dfd5d2b5f875065bc9b180..df019ad1d046ca0c71887b8c11d2374138d66883 100644 --- a/batch11/D00105_Egg_Separator/IsaacSim_assets_6a7d704eb7a9c4204a759d2a/physics_6a7d704eb7a9c4204a759d2a.json +++ b/batch11/D00105_Egg_Separator/IsaacSim_assets_6a7d704eb7a9c4204a759d2a/physics_6a7d704eb7a9c4204a759d2a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13089099526405334, - 0.057662700302898884, - 0.05283299833536148 - ], "min": [ -0.0832120031118393, - 0.0011566998437047003, - -0.05272600054740906 + -0.05283299833536148, + 0.0011566998437047003 + ], + "max": [ + 0.13089099526405334, + 0.05272600054740906, + 0.057662700302898884 ], "size": [ 0.21410299837589264, - 0.05650600045919418, - 0.10555899888277054 - ] + 0.10555899888277054, + 0.05650600045919418 + ], + "units": "m" }, "description": "D00105 Egg_Separator", "name": "D00105 Egg_Separator", "object_type": "rigid_bodies", - "total_mass": 0.08 + "total_mass": 0.07999999821186066, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00105", "parts": [ { "bounds": { - "center": [ - 0.023839496076107025, - 0.029409700073301792, - 5.349889397621155e-05 + "min": [ + -0.0832120031118393, + -0.05283299833536148, + 0.0011566998437047003 ], "max": [ 0.13089099526405334, - 0.057662700302898884, - 0.05283299833536148 + 0.05272600054740906, + 0.057662700302898884 ], - "min": [ - -0.0832120031118393, - 0.0011566998437047003, - -0.05272600054740906 - ] + "size": [ + 0.21410299837589264, + 0.10555899888277054, + 0.05650600045919418 + ], + "units": "m" }, "center_of_mass": [ 0.010840297676622868, @@ -59,7 +65,7 @@ 0.00025582738453522325, 0.000286723836325109 ], - "mass": 0.08, + "mass": 0.07999999821186066, "material": "plastic", "name": "D00105 Egg_Separator", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00105 Egg_Separator", "part_name": "D00105 Egg_Separator" }, - "volume": 7.272727110169151e-05 + "volume": 7.272727110169151e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "09a28070fbad070ebaae33ab2d2686fa6789cf408169a000634cb673fae7cbd6" + }, + "usd_path": "batch11/D00105_Egg_Separator/IsaacSim_assets_6a7d704eb7a9c4204a759d2a/IsaacSim_asset_6a7d704eb7a9c4204a759d2a.usd", + "usd_sha256": "6847ec0a060286a1ca49e21a0804963031a27504563a76a11292180000e0d3fa", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,75 @@ "up_axis": "Z", "bounds_m": [ 0.21410299837589264, - 0.05650600045919418, - 0.10555899888277054 - ] + 0.10555899888277054, + 0.05650600045919418 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6847ec0a060286a1ca49e21a0804963031a27504563a76a11292180000e0d3fa", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.08 + "value_kg": 0.07999999821186066, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6847ec0a060286a1ca49e21a0804963031a27504563a76a11292180000e0d3fa", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07999999821186066, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 22, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6847ec0a060286a1ca49e21a0804963031a27504563a76a11292180000e0d3fa", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 22, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6847ec0a060286a1ca49e21a0804963031a27504563a76a11292180000e0d3fa", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "6847ec0a060286a1ca49e21a0804963031a27504563a76a11292180000e0d3fa", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:10:58.917278+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "96e475543ef5cc3b8d860ec8b2a7a05d89593d885b86ef6557addf21a4bde414", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00106_Pastry_Blender/IsaacSim_assets_6a7d7172b7a9c4204a75c4ee/physics_6a7d7172b7a9c4204a75c4ee.json b/batch11/D00106_Pastry_Blender/IsaacSim_assets_6a7d7172b7a9c4204a75c4ee/physics_6a7d7172b7a9c4204a75c4ee.json index d4aa6e480887b1a4e1b7dc2495ebfdc819fbab98..402202581e039454b8109b263bab5c3f15cc12b1 100644 --- a/batch11/D00106_Pastry_Blender/IsaacSim_assets_6a7d7172b7a9c4204a75c4ee/physics_6a7d7172b7a9c4204a75c4ee.json +++ b/batch11/D00106_Pastry_Blender/IsaacSim_assets_6a7d7172b7a9c4204a75c4ee/physics_6a7d7172b7a9c4204a75c4ee.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.021361999213695526, - 0.11055672075599432, - 0.05943699926137924 - ], "min": [ -0.021484000608325005, - 0.0005367197875330021, - -0.059202998876571655 + -0.05943699926137924, + 0.0005367197875330021 + ], + "max": [ + 0.021361999213695526, + 0.059202998876571655, + 0.11055672075599432 ], "size": [ 0.04284599982202053, - 0.11002000096846132, - 0.1186399981379509 - ] + 0.1186399981379509, + 0.11002000096846132 + ], + "units": "m" }, "description": "D00106 Pastry_Blender", "name": "D00106 Pastry_Blender", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00106", "parts": [ { "bounds": { - "center": [ - -6.100069731473923e-05, - 0.05554672027176366, - 0.00011700019240379333 + "min": [ + -0.021484000608325005, + -0.05943699926137924, + 0.0005367197875330021 ], "max": [ 0.021361999213695526, - 0.11055672075599432, - 0.05943699926137924 + 0.059202998876571655, + 0.11055672075599432 ], - "min": [ - -0.021484000608325005, - 0.0005367197875330021, - -0.059202998876571655 - ] + "size": [ + 0.04284599982202053, + 0.1186399981379509, + 0.11002000096846132 + ], + "units": "m" }, "center_of_mass": [ -6.772106280550361e-05, @@ -59,7 +65,7 @@ 0.000166553640156053, 0.00025829020887613297 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "metal", "name": "D00106 Pastry_Blender", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00106 Pastry_Blender", "part_name": "D00106 Pastry_Blender" }, - "volume": 2.4590164911551554e-05 + "volume": 2.4590164911551554e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a1fef238118e07e5206c9fd31771af0c3f316343b8f5b55d843ff65fe8a0fa6c" + }, + "usd_path": "batch11/D00106_Pastry_Blender/IsaacSim_assets_6a7d7172b7a9c4204a75c4ee/IsaacSim_asset_6a7d7172b7a9c4204a75c4ee.usd", + "usd_sha256": "799d53cc5788aa722963bd8e34364f2e3d24763664ea78801bd589518b7b87cc", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,75 @@ "up_axis": "Z", "bounds_m": [ 0.04284599982202053, - 0.11002000096846132, - 0.1186399981379509 - ] + 0.1186399981379509, + 0.11002000096846132 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "799d53cc5788aa722963bd8e34364f2e3d24763664ea78801bd589518b7b87cc", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "799d53cc5788aa722963bd8e34364f2e3d24763664ea78801bd589518b7b87cc", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 14, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "799d53cc5788aa722963bd8e34364f2e3d24763664ea78801bd589518b7b87cc", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 14, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "799d53cc5788aa722963bd8e34364f2e3d24763664ea78801bd589518b7b87cc", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "799d53cc5788aa722963bd8e34364f2e3d24763664ea78801bd589518b7b87cc", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:00.818376+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "90f41171f80b8199d629c46ac0bec1a9e3f962e5fae1ce06728a0a3f7860dbd6", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00131_Potato_Peeler/IsaacSim_assets_6a7bec55b56a872fd7825150/physics_6a7bec55b56a872fd7825150.json b/batch11/D00131_Potato_Peeler/IsaacSim_assets_6a7bec55b56a872fd7825150/physics_6a7bec55b56a872fd7825150.json index 14f639c9b2bf7e806459decb4a1e906dd02b25ce..b23c9af65f6735a342945d74196d9a194188c53b 100644 --- a/batch11/D00131_Potato_Peeler/IsaacSim_assets_6a7bec55b56a872fd7825150/physics_6a7bec55b56a872fd7825150.json +++ b/batch11/D00131_Potato_Peeler/IsaacSim_assets_6a7bec55b56a872fd7825150/physics_6a7bec55b56a872fd7825150.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02963300049304962, - 0.024409119971096516, - 0.0806960016489029 - ], "min": [ -0.02608400024473667, - 0.0006581202691222643, - -0.055727001279592514 + -0.0806960016489029, + 0.0006581202691222643 + ], + "max": [ + 0.02963300049304962, + 0.055727001279592514, + 0.024409119971096516 ], "size": [ 0.05571700073778629, - 0.02375099970197425, - 0.1364230029284954 - ] + 0.1364230029284954, + 0.02375099970197425 + ], + "units": "m" }, "description": "D00131 Potato_Peeler", "name": "D00131 Potato_Peeler", "object_type": "rigid_bodies", - "total_mass": 0.04 + "total_mass": 0.03999999910593033, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00131", "parts": [ { "bounds": { - "center": [ - 0.001774500124156475, - 0.01253362012010939, - 0.01248450018465519 + "min": [ + -0.02608400024473667, + -0.0806960016489029, + 0.0006581202691222643 ], "max": [ 0.02963300049304962, - 0.024409119971096516, - 0.0806960016489029 + 0.055727001279592514, + 0.024409119971096516 ], - "min": [ - -0.02608400024473667, - 0.0006581202691222643, - -0.055727001279592514 - ] + "size": [ + 0.05571700073778629, + 0.1364230029284954, + 0.02375099970197425 + ], + "units": "m" }, "center_of_mass": [ 2.084940206259489e-05, @@ -59,7 +65,7 @@ 4.730988439405337e-05, 5.10113277414348e-05 ], - "mass": 0.04, + "mass": 0.03999999910593033, "material": "glass_or_stone", "name": "D00131 Potato_Peeler", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00131 Potato_Peeler", "part_name": "D00131 Potato_Peeler" }, - "volume": 1.1764705619391274e-05 + "volume": 1.1764705619391274e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3659991bb23b013213bb8b6b25386fe56361cd77325e03815e98259b33cb0c15" + }, + "usd_path": "batch11/D00131_Potato_Peeler/IsaacSim_assets_6a7bec55b56a872fd7825150/IsaacSim_asset_6a7bec55b56a872fd7825150.usd", + "usd_sha256": "eeb46b7ef06009f9523a3748b6591ebbf86a4768275fdc7f337f7371142d779b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,75 @@ "up_axis": "Z", "bounds_m": [ 0.05571700073778629, - 0.02375099970197425, - 0.1364230029284954 - ] + 0.1364230029284954, + 0.02375099970197425 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eeb46b7ef06009f9523a3748b6591ebbf86a4768275fdc7f337f7371142d779b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.04 + "value_kg": 0.03999999910593033, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eeb46b7ef06009f9523a3748b6591ebbf86a4768275fdc7f337f7371142d779b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.03999999910593033, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eeb46b7ef06009f9523a3748b6591ebbf86a4768275fdc7f337f7371142d779b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eeb46b7ef06009f9523a3748b6591ebbf86a4768275fdc7f337f7371142d779b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "eeb46b7ef06009f9523a3748b6591ebbf86a4768275fdc7f337f7371142d779b", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:11:00.272442+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "ba0497e7c159475d9ae7f3e83726430d87607e0c852aa2f88c461a78550af64a", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00162_Measuring_Spoons/IsaacSim_assets_6a7d8f5bb7a9c4204a793a90/physics_6a7d8f5bb7a9c4204a793a90.json b/batch11/D00162_Measuring_Spoons/IsaacSim_assets_6a7d8f5bb7a9c4204a793a90/physics_6a7d8f5bb7a9c4204a793a90.json index 91fea2b184573006f43610a6ef2a6406ba487ecc..8cb50038b330074fe9f78b9d307e489333673c9e 100644 --- a/batch11/D00162_Measuring_Spoons/IsaacSim_assets_6a7d8f5bb7a9c4204a793a90/physics_6a7d8f5bb7a9c4204a793a90.json +++ b/batch11/D00162_Measuring_Spoons/IsaacSim_assets_6a7d8f5bb7a9c4204a793a90/physics_6a7d8f5bb7a9c4204a793a90.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09309300035238266, - 0.03427800163626671, - 0.023180000483989716 - ], "min": [ -0.04003100097179413, - -7.005506991280671e-20, - -0.02309899963438511 + -0.023180000483989716, + -7.005506991280671e-20 + ], + "max": [ + 0.09309300035238266, + 0.02309899963438511, + 0.03427800163626671 ], "size": [ 0.1331240013241768, - 0.03427800163626671, - 0.046279000118374825 - ] + 0.046279000118374825, + 0.03427800163626671 + ], + "units": "m" }, "description": "D00162 Measuring_Spoons", "name": "D00162 Measuring_Spoons", "object_type": "rigid_bodies", - "total_mass": 0.088 + "total_mass": 0.08799999952316284, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00162", "parts": [ { "bounds": { - "center": [ - 0.026530999690294266, - 0.017139000818133354, - 4.0500424802303314e-05 + "min": [ + -0.04003100097179413, + -0.023180000483989716, + -7.005506991280671e-20 ], "max": [ 0.09309300035238266, - 0.03427800163626671, - 0.023180000483989716 + 0.02309899963438511, + 0.03427800163626671 ], - "min": [ - -0.04003100097179413, - -7.005506991280671e-20, - -0.02309899963438511 - ] + "size": [ + 0.1331240013241768, + 0.046279000118374825, + 0.03427800163626671 + ], + "units": "m" }, "center_of_mass": [ 0.006539815105497837, @@ -59,7 +65,7 @@ 8.195752161554992e-05, 8.767061808612198e-05 ], - "mass": 0.088, + "mass": 0.08799999952316284, "material": "metal", "name": "D00162 Measuring_Spoons", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00162 Measuring_Spoons", "part_name": "D00162 Measuring_Spoons" }, - "volume": 1.113924044596998e-05 + "volume": 1.113924044596998e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c65781507f0fc5285c602706e2fadbaf4bde710649f5e062941db40cd6433b71" + }, + "usd_path": "batch11/D00162_Measuring_Spoons/IsaacSim_assets_6a7d8f5bb7a9c4204a793a90/IsaacSim_asset_6a7d8f5bb7a9c4204a793a90.usd", + "usd_sha256": "d495603b9a49d82e2d711d8461d93db761c6c1fa63678d33be0586afd5aeb987", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,75 @@ "up_axis": "Z", "bounds_m": [ 0.1331240013241768, - 0.03427800163626671, - 0.046279000118374825 - ] + 0.046279000118374825, + 0.03427800163626671 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d495603b9a49d82e2d711d8461d93db761c6c1fa63678d33be0586afd5aeb987", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.088 + "value_kg": 0.08799999952316284, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d495603b9a49d82e2d711d8461d93db761c6c1fa63678d33be0586afd5aeb987", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.08799999952316284, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d495603b9a49d82e2d711d8461d93db761c6c1fa63678d33be0586afd5aeb987", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d495603b9a49d82e2d711d8461d93db761c6c1fa63678d33be0586afd5aeb987", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "d495603b9a49d82e2d711d8461d93db761c6c1fa63678d33be0586afd5aeb987", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:04.265018+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "aee302abd611816b43d20a5b9c547d1432422086ca97bbeb325232717c6a15f2", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00163_Mandoline_Slicer/IsaacSim_assets_6a7d75bab7a9c4204a76600b/physics_6a7d75bab7a9c4204a76600b.json b/batch11/D00163_Mandoline_Slicer/IsaacSim_assets_6a7d75bab7a9c4204a76600b/physics_6a7d75bab7a9c4204a76600b.json index 2391004bef8a46fec29b987596551d4fc7fbd651..1c462cc5cdec2bd2d8b32774eb43251a2ca94009 100644 --- a/batch11/D00163_Mandoline_Slicer/IsaacSim_assets_6a7d75bab7a9c4204a76600b/physics_6a7d75bab7a9c4204a76600b.json +++ b/batch11/D00163_Mandoline_Slicer/IsaacSim_assets_6a7d75bab7a9c4204a76600b/physics_6a7d75bab7a9c4204a76600b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16594399511814117, - 0.02583490964025259, - 0.05159899964928627 - ], "min": [ -0.1341720074415207, - 0.0016109103098642663, - -0.05112000182271004 + -0.05159899964928627, + 0.0016109103098642663 + ], + "max": [ + 0.16594399511814117, + 0.05112000182271004, + 0.02583490964025259 ], "size": [ 0.30011600255966187, - 0.024223999330388324, - 0.10271900147199631 - ] + 0.10271900147199631, + 0.024223999330388324 + ], + "units": "m" }, "description": "D00163 Mandoline_Slicer", "name": "D00163 Mandoline_Slicer", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00163", "parts": [ { "bounds": { - "center": [ - 0.01588599383831024, - 0.013722909975058428, - 0.00023949891328811646 + "min": [ + -0.1341720074415207, + -0.05159899964928627, + 0.0016109103098642663 ], "max": [ 0.16594399511814117, - 0.02583490964025259, - 0.05159899964928627 + 0.05112000182271004, + 0.02583490964025259 ], - "min": [ - -0.1341720074415207, - 0.0016109103098642663, - -0.05112000182271004 - ] + "size": [ + 0.30011600255966187, + 0.10271900147199631, + 0.024223999330388324 + ], + "units": "m" }, "center_of_mass": [ -0.006209434941411018, @@ -59,7 +65,7 @@ 0.0008397294441238046, 0.0009379031253047287 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "plastic", "name": "D00163 Mandoline_Slicer", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00163 Mandoline_Slicer", "part_name": "D00163 Mandoline_Slicer" }, - "volume": 0.00013636364178224044 + "volume": 0.00013636364178224044, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d33ecc1e93dc52c8982b8fbb9d79bb9281870b10d161048fa3fc91a06842dac8" + }, + "usd_path": "batch11/D00163_Mandoline_Slicer/IsaacSim_assets_6a7d75bab7a9c4204a76600b/IsaacSim_asset_6a7d75bab7a9c4204a76600b.usd", + "usd_sha256": "074b8a2f6dfaa58356b68355d53b2715f11a9597e5dafefcf2dea3e55b2e6aa0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,75 @@ "up_axis": "Z", "bounds_m": [ 0.30011600255966187, - 0.024223999330388324, - 0.10271900147199631 - ] + 0.10271900147199631, + 0.024223999330388324 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "074b8a2f6dfaa58356b68355d53b2715f11a9597e5dafefcf2dea3e55b2e6aa0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "074b8a2f6dfaa58356b68355d53b2715f11a9597e5dafefcf2dea3e55b2e6aa0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "074b8a2f6dfaa58356b68355d53b2715f11a9597e5dafefcf2dea3e55b2e6aa0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "074b8a2f6dfaa58356b68355d53b2715f11a9597e5dafefcf2dea3e55b2e6aa0", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "074b8a2f6dfaa58356b68355d53b2715f11a9597e5dafefcf2dea3e55b2e6aa0", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:45.996547+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "1406ca758407cb95caad0b6a3a645b1b0e9715781c8cb1226e8cdc90f5930692", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00174_Container/IsaacSim_assets_6a7c14ceb56a872fd7863f96/physics_6a7c14ceb56a872fd7863f96.json b/batch11/D00174_Container/IsaacSim_assets_6a7c14ceb56a872fd7863f96/physics_6a7c14ceb56a872fd7863f96.json index b1a02f0c9254675c5c96ef089178a74a44a8c1e4..c56cf1f9ffc35ee0a5fd15435caee19eec1c2f22 100644 --- a/batch11/D00174_Container/IsaacSim_assets_6a7c14ceb56a872fd7863f96/physics_6a7c14ceb56a872fd7863f96.json +++ b/batch11/D00174_Container/IsaacSim_assets_6a7c14ceb56a872fd7863f96/physics_6a7c14ceb56a872fd7863f96.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13401399552822113, - 0.1481104977428913, - 0.13350999355316162 - ], "min": [ -0.1339389979839325, - 0.0012665000422202866, - -0.13479000329971313 + -0.13350999355316162, + 0.0012665000422202866 + ], + "max": [ + 0.13401399552822113, + 0.13479000329971313, + 0.1481104977428913 ], "size": [ 0.2679529935121536, - 0.14684399770067103, - 0.26829999685287476 - ] + 0.26829999685287476, + 0.14684399770067103 + ], + "units": "m" }, "description": "D00174 Container", "name": "D00174 Container", "object_type": "rigid_bodies", - "total_mass": 1.28 + "total_mass": 1.2799999713897705, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00174", "parts": [ { "bounds": { - "center": [ - 3.749877214431763e-05, - 0.0746884988925558, - -0.0006400048732757568 + "min": [ + -0.1339389979839325, + -0.13350999355316162, + 0.0012665000422202866 ], "max": [ 0.13401399552822113, - 0.1481104977428913, - 0.13350999355316162 + 0.13479000329971313, + 0.1481104977428913 ], - "min": [ - -0.1339389979839325, - 0.0012665000422202866, - -0.13479000329971313 - ] + "size": [ + 0.2679529935121536, + 0.26829999685287476, + 0.14684399770067103 + ], + "units": "m" }, "center_of_mass": [ 0.00043391063809394836, @@ -59,7 +65,7 @@ 0.010678078047931194, 0.016292456537485123 ], - "mass": 1.28, + "mass": 1.2799999713897705, "material": "ceramic_or_glass", "name": "D00174 Container", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00174 Container", "part_name": "D00174 Container" }, - "volume": 0.0006399999856948852 + "volume": 0.0006399999856948852, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5ce9a54bed68aab3c0e70599bf560ce26dc9097227b393f4699592b058b50d3a" + }, + "usd_path": "batch11/D00174_Container/IsaacSim_assets_6a7c14ceb56a872fd7863f96/IsaacSim_asset_6a7c14ceb56a872fd7863f96.usd", + "usd_sha256": "4f2eb4e3daffe1c7552ffd9371beb4bd46584ce9abec8f25c42fb6a31bfd2051", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,75 @@ "up_axis": "Z", "bounds_m": [ 0.2679529935121536, - 0.14684399770067103, - 0.26829999685287476 - ] + 0.26829999685287476, + 0.14684399770067103 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4f2eb4e3daffe1c7552ffd9371beb4bd46584ce9abec8f25c42fb6a31bfd2051", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.28 + "value_kg": 1.2799999713897705, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4f2eb4e3daffe1c7552ffd9371beb4bd46584ce9abec8f25c42fb6a31bfd2051", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2799999713897705, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 37, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4f2eb4e3daffe1c7552ffd9371beb4bd46584ce9abec8f25c42fb6a31bfd2051", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 37, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4f2eb4e3daffe1c7552ffd9371beb4bd46584ce9abec8f25c42fb6a31bfd2051", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "4f2eb4e3daffe1c7552ffd9371beb4bd46584ce9abec8f25c42fb6a31bfd2051", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:35:59.726171+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "c6d090ab9b4db47982e3414c4aa29dd527bee0085b996a5b7ee22da1c61be04e", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00186_Cook_Pot/IsaacSim_assets_6a7e98d5b7a9c4204a97e45c/physics_6a7e98d5b7a9c4204a97e45c.json b/batch11/D00186_Cook_Pot/IsaacSim_assets_6a7e98d5b7a9c4204a97e45c/physics_6a7e98d5b7a9c4204a97e45c.json index deab27d3e6f85d030da03581de0d113776062f7d..51e6fcedf42d79bf3d57f6c790dda10d98e610d3 100644 --- a/batch11/D00186_Cook_Pot/IsaacSim_assets_6a7e98d5b7a9c4204a97e45c/physics_6a7e98d5b7a9c4204a97e45c.json +++ b/batch11/D00186_Cook_Pot/IsaacSim_assets_6a7e98d5b7a9c4204a97e45c/physics_6a7e98d5b7a9c4204a97e45c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.18642699718475342, - 0.10625284677371383, - 0.08134900033473969 - ], "min": [ -0.09994299709796906, - 0.0015698499046266137, - -0.0809829980134964 + -0.08134900033473969, + 0.0015698499046266137 + ], + "max": [ + 0.18642699718475342, + 0.0809829980134964, + 0.10625284677371383 ], "size": [ 0.2863699942827225, - 0.10468299686908722, - 0.16233199834823608 - ] + 0.16233199834823608, + 0.10468299686908722 + ], + "units": "m" }, "description": "D00186 Cook_Pot", "name": "D00186 Cook_Pot", "object_type": "rigid_bodies", - "total_mass": 0.7 + "total_mass": 0.699999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00186", "parts": [ { "bounds": { - "center": [ - 0.04324200004339218, - 0.05391134833917022, - 0.00018300116062164307 + "min": [ + -0.09994299709796906, + -0.08134900033473969, + 0.0015698499046266137 ], "max": [ 0.18642699718475342, - 0.10625284677371383, - 0.08134900033473969 + 0.0809829980134964, + 0.10625284677371383 ], - "min": [ - -0.09994299709796906, - 0.0015698499046266137, - -0.0809829980134964 - ] + "size": [ + 0.2863699942827225, + 0.16233199834823608, + 0.10468299686908722 + ], + "units": "m" }, "center_of_mass": [ 0.009347145445644855, @@ -59,7 +65,7 @@ 0.002920755883678794, 0.0035379528999328613 ], - "mass": 0.7, + "mass": 0.699999988079071, "material": "ceramic_or_glass", "name": "D00186 Cook_Pot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00186 Cook_Pot", "part_name": "D00186 Cook_Pot" }, - "volume": 0.0002592592548441004 + "volume": 0.0002592592548441004, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f4420e70c8536c49f38b1d71b3cf0f4e111902480ff340047294088d4e19cd42" + }, + "usd_path": "batch11/D00186_Cook_Pot/IsaacSim_assets_6a7e98d5b7a9c4204a97e45c/IsaacSim_asset_6a7e98d5b7a9c4204a97e45c.usd", + "usd_sha256": "1c50c0bbe859d028e90a28560df90943adee177701f1ed9d09073db067a13d96", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.2863699942827225, - 0.10468299686908722, - 0.16233199834823608 - ] + 0.16233199834823608, + 0.10468299686908722 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c50c0bbe859d028e90a28560df90943adee177701f1ed9d09073db067a13d96", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.7 + "value_kg": 0.699999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c50c0bbe859d028e90a28560df90943adee177701f1ed9d09073db067a13d96", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.699999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c50c0bbe859d028e90a28560df90943adee177701f1ed9d09073db067a13d96", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c50c0bbe859d028e90a28560df90943adee177701f1ed9d09073db067a13d96", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00191_Cookie_Jar/IsaacSim_assets_6a7d68c7b7a9c4204a748f03/physics_6a7d68c7b7a9c4204a748f03.json b/batch11/D00191_Cookie_Jar/IsaacSim_assets_6a7d68c7b7a9c4204a748f03/physics_6a7d68c7b7a9c4204a748f03.json index 369fd179b40a75bdf0e1f1c72a868aca59dc065b..57c661995379f9e923c133da69dbd349c06674d4 100644 --- a/batch11/D00191_Cookie_Jar/IsaacSim_assets_6a7d68c7b7a9c4204a748f03/physics_6a7d68c7b7a9c4204a748f03.json +++ b/batch11/D00191_Cookie_Jar/IsaacSim_assets_6a7d68c7b7a9c4204a748f03/physics_6a7d68c7b7a9c4204a748f03.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a7d68c7b7a9c4204a748f03/part_02", "body1": "/World/textured_mesh_6a7d68c7b7a9c4204a748f03/part_00", "joint_path": "/World/textured_mesh_6a7d68c7b7a9c4204a748f03/Joints/joint_lid__lid_handle", - "type": "fixed" + "type": "fixed", + "id": "joint_lid__lid_handle", + "path": "/World/textured_mesh_6a7d68c7b7a9c4204a748f03/Joints/joint_lid__lid_handle", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7d68c7b7a9c4204a748f03/part_02" + ], + "body1_targets": [ + "/World/textured_mesh_6a7d68c7b7a9c4204a748f03/part_00" + ], + "authored_usd": { + "id": "joint_lid__lid_handle", + "source_prim_path": "/World/textured_mesh_6a7d68c7b7a9c4204a748f03/Joints/joint_lid__lid_handle", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7d68c7b7a9c4204a748f03/part_02" + ], + "body1": [ + "/World/textured_mesh_6a7d68c7b7a9c4204a748f03/part_00" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09962191324302652, - 0.2510230867580101, - 0.10098626804147676 - ], "min": [ - -0.10136862488878076, - 0.0010509398925933056, - -0.10055766203104502 + -0.1011531753362964, + -0.1008420917657263, + 0.0010509398925933056 + ], + "max": [ + 0.09922038978233332, + 0.10037128786066506, + 0.2501238347995338 ], "size": [ - 0.20099053813180728, - 0.2499721468654168, - 0.20154393007252178 - ] + 0.20037356511862972, + 0.20121337962639135, + 0.2490728949069405 + ], + "units": "m" }, "description": "D00191 Cookie_Jar", "name": "D00191 Cookie_Jar", "object_type": "rigid_bodies", - "total_mass": 1.8 + "total_mass": 1.7999999709427357, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00191", "parts": [ { "bounds": { - "center": [ - -0.0007597663401674518, - 0.22958384853971714, - 0.0009889257972485648 + "min": [ + -0.0687974387971145, + -0.017142503644141813, + 0.20868421279976093 ], "max": [ - 0.0674446770898032, - 0.2510230867580101, - 0.01723526620422001 + 0.0670535348407052, + 0.01514046224329153, + 0.2501238347995338 ], - "min": [ - -0.0689642097701381, - 0.20814461032142414, - -0.015257414609722882 - ] + "size": [ + 0.1358509736378197, + 0.032282965887433346, + 0.041439621999772885 + ], + "units": "m" }, "center_of_mass": [ -0.011056864634156227, @@ -66,7 +117,7 @@ 6.906232738401741e-05, 7.27974038454704e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "ceramic_or_glass", "name": "D00191 Cookie_Jar", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00191 Cookie_Jar", "part_name": "D00191 Cookie_Jar" }, - "volume": 2.083333364377419e-05 + "volume": 2.083333364377419e-05, + "source_prim_path": "/World/textured_mesh_6a7d68c7b7a9c4204a748f03/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00031769415363669395, - 0.09998943941536709, - 0.0003451406955718994 + "min": [ + -0.09985119244083762, + -0.0994771420955658, + 0.0010509398925933056 ], "max": [ 0.09921580413356423, - 0.19892793893814087, - 0.0994771420955658 + 0.098786860704422, + 0.19892793893814087 ], - "min": [ - -0.09985119244083762, - 0.0010509398925933056, - -0.098786860704422 - ] + "size": [ + 0.19906699657440186, + 0.1982640027999878, + 0.19787699904554756 + ], + "units": "m" }, "center_of_mass": [ -0.001047651399858296, @@ -107,7 +161,7 @@ 0.008305037394165993, 0.008359361439943314 ], - "mass": 1.4, + "mass": 1.399999976158142, "material": "ceramic_or_glass", "name": "D00191 Cookie_Jar", "physics_type": "rigid", @@ -115,25 +169,28 @@ "object_name": "D00191 Cookie_Jar", "part_name": "D00191 Cookie_Jar" }, - "volume": 0.0005833333233992259 + "volume": 0.0005833333233992259, + "source_prim_path": "/World/textured_mesh_6a7d68c7b7a9c4204a748f03/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0008733558228771199, - 0.21044494410682885, - 0.00021430300521586843 + "min": [ + -0.1011531753362964, + -0.1008420917657263, + 0.1952047248972586 ], "max": [ - 0.09962191324302652, - 0.22679901534466615, - 0.10098626804147676 + 0.09922038978233332, + 0.10037128786066506, + 0.22568485083113113 ], - "min": [ - -0.10136862488878076, - 0.19409087286899157, - -0.10055766203104502 - ] + "size": [ + 0.20037356511862972, + 0.20121337962639135, + 0.03048012593387253 + ], + "units": "m" }, "center_of_mass": [ -0.0005254135467112064, @@ -148,7 +205,7 @@ 0.000768329540733248, 0.0014859057264402509 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "ceramic_or_glass", "name": "D00191 Cookie_Jar", "physics_type": "rigid", @@ -156,10 +213,27 @@ "object_name": "D00191 Cookie_Jar", "part_name": "D00191 Cookie_Jar" }, - "volume": 0.00014583333084980648 + "volume": 0.00014583333084980648, + "source_prim_path": "/World/textured_mesh_6a7d68c7b7a9c4204a748f03/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2e4d440829f89fc573ad2f2ddc01fd2e114bef4227cea766369d45a241298fb6" + }, + "usd_path": "batch11/D00191_Cookie_Jar/IsaacSim_assets_6a7d68c7b7a9c4204a748f03/IsaacSim_asset_6a7d68c7b7a9c4204a748f03.usd", + "usd_sha256": "31dc03e1446fc9e36ee3c4f4f0b7dab0307d4603588287b470f69cafde40448b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -177,25 +251,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.20099053813180728, - 0.2499721468654168, - 0.20154393007252178 - ] + 0.20037356511862972, + 0.20121337962639135, + 0.2490728949069405 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31dc03e1446fc9e36ee3c4f4f0b7dab0307d4603588287b470f69cafde40448b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.8 + "value_kg": 1.7999999709427357, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31dc03e1446fc9e36ee3c4f4f0b7dab0307d4603588287b470f69cafde40448b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.7999999709427357, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 29, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31dc03e1446fc9e36ee3c4f4f0b7dab0307d4603588287b470f69cafde40448b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 29, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31dc03e1446fc9e36ee3c4f4f0b7dab0307d4603588287b470f69cafde40448b", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "31dc03e1446fc9e36ee3c4f4f0b7dab0307d4603588287b470f69cafde40448b", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:00.819390+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "2eb58e88ab4ea346f01156066511302f57a0fa5dd7a75206a1a0d680f4a7dac4", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00206_Cooktop/IsaacSim_assets_6a7d583bb7a9c4204a7316f3/physics_6a7d583bb7a9c4204a7316f3.json b/batch11/D00206_Cooktop/IsaacSim_assets_6a7d583bb7a9c4204a7316f3/physics_6a7d583bb7a9c4204a7316f3.json index 816340b6e2df30f348614796fd93982e28fdaf62..27cab4bc2123cfe89fb9fcca41313ed791f8b564 100644 --- a/batch11/D00206_Cooktop/IsaacSim_assets_6a7d583bb7a9c4204a7316f3/physics_6a7d583bb7a9c4204a7316f3.json +++ b/batch11/D00206_Cooktop/IsaacSim_assets_6a7d583bb7a9c4204a7316f3/physics_6a7d583bb7a9c4204a7316f3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14351299405097961, - 0.07870039716362953, - 0.1545889973640442 - ], "min": [ -0.14531999826431274, - 0.001653399619499396, - -0.15234200656414032 + -0.1545889973640442, + 0.001653399619499396 + ], + "max": [ + 0.14351299405097961, + 0.15234200656414032, + 0.07870039716362953 ], "size": [ 0.28883299231529236, - 0.07704699754413014, - 0.3069310039281845 - ] + 0.3069310039281845, + 0.07704699754413014 + ], + "units": "m" }, "description": "D00206 Cooktop", "name": "D00206 Cooktop", "object_type": "rigid_bodies", - "total_mass": 2.5 + "total_mass": 2.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00206", "parts": [ { "bounds": { - "center": [ - -0.0009035021066665649, - 0.040176898391564464, - 0.0011234953999519348 + "min": [ + -0.14531999826431274, + -0.1545889973640442, + 0.001653399619499396 ], "max": [ 0.14351299405097961, - 0.07870039716362953, - 0.1545889973640442 + 0.15234200656414032, + 0.07870039716362953 ], - "min": [ - -0.14531999826431274, - 0.001653399619499396, - -0.15234200656414032 - ] + "size": [ + 0.28883299231529236, + 0.3069310039281845, + 0.07704699754413014 + ], + "units": "m" }, "center_of_mass": [ -0.0006899011787027121, @@ -67,10 +73,27 @@ "object_name": "D00206 Cooktop", "part_name": "D00206 Cooktop" }, - "volume": 0.006944444444444444 + "volume": 0.006944444444444444, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bf13778fd3d6915cd599bf9f2852cc08b72a25f11b106425c94d279b69d40b76" + }, + "usd_path": "batch11/D00206_Cooktop/IsaacSim_assets_6a7d583bb7a9c4204a7316f3/IsaacSim_asset_6a7d583bb7a9c4204a7316f3.usd", + "usd_sha256": "8e1f0b44b523bdd3a917d5bb9f5eb8d9297da5f33cfbdc0fee8e363e3a58e88f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.28883299231529236, - 0.07704699754413014, - 0.3069310039281845 - ] + 0.3069310039281845, + 0.07704699754413014 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e1f0b44b523bdd3a917d5bb9f5eb8d9297da5f33cfbdc0fee8e363e3a58e88f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.5 + "value_kg": 2.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e1f0b44b523bdd3a917d5bb9f5eb8d9297da5f33cfbdc0fee8e363e3a58e88f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e1f0b44b523bdd3a917d5bb9f5eb8d9297da5f33cfbdc0fee8e363e3a58e88f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e1f0b44b523bdd3a917d5bb9f5eb8d9297da5f33cfbdc0fee8e363e3a58e88f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00326_Fruit_Stand/IsaacSim_assets_6a7efbf5b7a9c4204aa2f3b4/physics_6a7efbf5b7a9c4204aa2f3b4.json b/batch11/D00326_Fruit_Stand/IsaacSim_assets_6a7efbf5b7a9c4204aa2f3b4/physics_6a7efbf5b7a9c4204aa2f3b4.json index 036d5dec7982ebf24d7c5205e46428cdfa7ad85a..16102f25ace2210415d987bbf0140316e3428d1d 100644 --- a/batch11/D00326_Fruit_Stand/IsaacSim_assets_6a7efbf5b7a9c4204aa2f3b4/physics_6a7efbf5b7a9c4204aa2f3b4.json +++ b/batch11/D00326_Fruit_Stand/IsaacSim_assets_6a7efbf5b7a9c4204aa2f3b4/physics_6a7efbf5b7a9c4204aa2f3b4.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.47304001450538635, - 1.643824189901352, - 0.41422000527381897 - ], "min": [ -0.477387011051178, - 0.007318237687286455, - -0.2647710144519806 + -0.41422000527381897, + 0.007318237687286455 + ], + "max": [ + 0.47304001450538635, + 0.2647710144519806, + 1.643824189901352 ], "size": [ 0.9504270255565643, - 1.6365059522140655, - 0.6789910197257996 - ] + 0.6789910197257996, + 1.6365059522140655 + ], + "units": "m" }, "description": "D00326 Fruit_Stand", "name": "D00326 Fruit_Stand", "object_type": "rigid_bodies", - "total_mass": 60.0 + "total_mass": 60.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00326", "parts": [ { "bounds": { - "center": [ - -0.002173498272895813, - 0.8255712137943192, - 0.07472449541091919 + "min": [ + -0.477387011051178, + -0.41422000527381897, + 0.007318237687286455 ], "max": [ 0.47304001450538635, - 1.643824189901352, - 0.41422000527381897 + 0.2647710144519806, + 1.643824189901352 ], - "min": [ - -0.477387011051178, - 0.007318237687286455, - -0.2647710144519806 - ] + "size": [ + 0.9504270255565643, + 0.6789910197257996, + 1.6365059522140655 + ], + "units": "m" }, "center_of_mass": [ -0.002112553920596838, @@ -67,10 +73,27 @@ "object_name": "D00326 Fruit_Stand", "part_name": "D00326 Fruit_Stand" }, - "volume": 0.08571428571428572 + "volume": 0.08571428571428572, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "969c2f0fafeaee0b775bb5fde75cfb8ebf9333eefbe94d1356aab2c12878a4dd" + }, + "usd_path": "batch11/D00326_Fruit_Stand/IsaacSim_assets_6a7efbf5b7a9c4204aa2f3b4/IsaacSim_asset_6a7efbf5b7a9c4204aa2f3b4.usd", + "usd_sha256": "ae1958edb9b4c3a32e884fac62a5ffdcd4524de76a84bf021b94585bf89a0de3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.9504270255565643, - 1.6365059522140655, - 0.6789910197257996 - ] + 0.6789910197257996, + 1.6365059522140655 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae1958edb9b4c3a32e884fac62a5ffdcd4524de76a84bf021b94585bf89a0de3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 60.0 + "value_kg": 60.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae1958edb9b4c3a32e884fac62a5ffdcd4524de76a84bf021b94585bf89a0de3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 60.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 37, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae1958edb9b4c3a32e884fac62a5ffdcd4524de76a84bf021b94585bf89a0de3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 37, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae1958edb9b4c3a32e884fac62a5ffdcd4524de76a84bf021b94585bf89a0de3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00422 Juice Jug/IsaacSim_assets_6a7f0fa8b7a9c4204aa4e73e/physics_6a7f0fa8b7a9c4204aa4e73e.json b/batch11/D00422 Juice Jug/IsaacSim_assets_6a7f0fa8b7a9c4204aa4e73e/physics_6a7f0fa8b7a9c4204aa4e73e.json index 49054cd1ad388460df402661ece6d91504b28b9e..69c3720cc39101d03363899fe4db990ac27a02d3 100644 --- a/batch11/D00422 Juice Jug/IsaacSim_assets_6a7f0fa8b7a9c4204aa4e73e/physics_6a7f0fa8b7a9c4204aa4e73e.json +++ b/batch11/D00422 Juice Jug/IsaacSim_assets_6a7f0fa8b7a9c4204aa4e73e/physics_6a7f0fa8b7a9c4204aa4e73e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08759299665689468, - 0.17644484341144562, - 0.05638600140810013 - ], "min": [ -0.07519499957561493, - 0.0009368497412651777, - -0.05592700093984604 + -0.05638600140810013, + 0.0009368497412651777 + ], + "max": [ + 0.08759299665689468, + 0.05592700093984604, + 0.17644484341144562 ], "size": [ 0.1627879962325096, - 0.17550799367018044, - 0.11231300234794617 - ] + 0.11231300234794617, + 0.17550799367018044 + ], + "units": "m" }, "description": "D00422 Juice Jug", "name": "D00422 Juice Jug", "object_type": "rigid_bodies", - "total_mass": 1.1 + "total_mass": 1.100000023841858, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00422", "parts": [ { "bounds": { - "center": [ - 0.006198998540639877, - 0.0886908465763554, - 0.00022950023412704468 + "min": [ + -0.07519499957561493, + -0.05638600140810013, + 0.0009368497412651777 ], "max": [ 0.08759299665689468, - 0.17644484341144562, - 0.05638600140810013 + 0.05592700093984604, + 0.17644484341144562 ], - "min": [ - -0.07519499957561493, - 0.0009368497412651777, - -0.05592700093984604 - ] + "size": [ + 0.1627879962325096, + 0.11231300234794617, + 0.17550799367018044 + ], + "units": "m" }, "center_of_mass": [ 0.0023097717203199863, @@ -59,7 +65,7 @@ 0.00413325522094965, 0.004718736745417118 ], - "mass": 1.1, + "mass": 1.100000023841858, "material": "ceramic_or_glass", "name": "D00422 Juice Jug", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00422 Juice Jug", "part_name": "D00422 Juice Jug" }, - "volume": 0.00044000000953674316 + "volume": 0.00044000000953674316, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "486038e9bcf10314c3992d9aaaba59d22530a88d191254d4cfea06a3555ce43b" + }, + "usd_path": "batch11/D00422 Juice Jug/IsaacSim_assets_6a7f0fa8b7a9c4204aa4e73e/IsaacSim_asset_6a7f0fa8b7a9c4204aa4e73e.usd", + "usd_sha256": "e589f6e65c7b5e7ea213b1eebdcde6ccebbf173e8800c38432f2d84431b74d70", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.1627879962325096, - 0.17550799367018044, - 0.11231300234794617 - ] + 0.11231300234794617, + 0.17550799367018044 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e589f6e65c7b5e7ea213b1eebdcde6ccebbf173e8800c38432f2d84431b74d70", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.1 + "value_kg": 1.100000023841858, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e589f6e65c7b5e7ea213b1eebdcde6ccebbf173e8800c38432f2d84431b74d70", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.100000023841858, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e589f6e65c7b5e7ea213b1eebdcde6ccebbf173e8800c38432f2d84431b74d70", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e589f6e65c7b5e7ea213b1eebdcde6ccebbf173e8800c38432f2d84431b74d70", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00432 Ice Bucket/IsaacSim_assets_6a7ee2b2b7a9c4204a9ffc48/physics_6a7ee2b2b7a9c4204a9ffc48.json b/batch11/D00432 Ice Bucket/IsaacSim_assets_6a7ee2b2b7a9c4204a9ffc48/physics_6a7ee2b2b7a9c4204a9ffc48.json index a7ea618cff45c0700cc1346b2356ef8d14b36494..31b2a1b733ed0fc17350fd89671e50835ebb0ac0 100644 --- a/batch11/D00432 Ice Bucket/IsaacSim_assets_6a7ee2b2b7a9c4204a9ffc48/physics_6a7ee2b2b7a9c4204a9ffc48.json +++ b/batch11/D00432 Ice Bucket/IsaacSim_assets_6a7ee2b2b7a9c4204a9ffc48/physics_6a7ee2b2b7a9c4204a9ffc48.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.102292999625206, - 0.15417146682739258, - 0.07401199638843536 - ], "min": [ -0.10194200277328491, - 0.0011224602349102497, - -0.07425899803638458 + -0.07401199638843536, + 0.0011224602349102497 + ], + "max": [ + 0.102292999625206, + 0.07425899803638458, + 0.15417146682739258 ], "size": [ 0.2042350023984909, - 0.15304900659248233, - 0.14827099442481995 - ] + 0.14827099442481995, + 0.15304900659248233 + ], + "units": "m" }, "description": "D00432 Ice Bucket", "name": "D00432 Ice Bucket", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00432", "parts": [ { "bounds": { - "center": [ - 0.00017549842596054077, - 0.07764696353115141, - -0.00012350082397460938 + "min": [ + -0.10194200277328491, + -0.07401199638843536, + 0.0011224602349102497 ], "max": [ 0.102292999625206, - 0.15417146682739258, - 0.07401199638843536 + 0.07425899803638458, + 0.15417146682739258 ], - "min": [ - -0.10194200277328491, - 0.0011224602349102497, - -0.07425899803638458 - ] + "size": [ + 0.2042350023984909, + 0.14827099442481995, + 0.15304900659248233 + ], + "units": "m" }, "center_of_mass": [ 0.00014013602049089968, @@ -59,7 +65,7 @@ 0.0038014641031622887, 0.0044940803200006485 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "metal", "name": "D00432 Ice Bucket", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00432 Ice Bucket", "part_name": "D00432 Ice Bucket" }, - "volume": 0.00015000000596046448 + "volume": 0.00015000000596046448, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9d0822241b54c64d371b89cb35a9b0525ab70ba0114e8bc74c6788a56b805308" + }, + "usd_path": "batch11/D00432 Ice Bucket/IsaacSim_assets_6a7ee2b2b7a9c4204a9ffc48/IsaacSim_asset_6a7ee2b2b7a9c4204a9ffc48.usd", + "usd_sha256": "3faa3eeacd372baf4f27a480bb8c154db22efe3ad5878b16f297a1c28e562950", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.2042350023984909, - 0.15304900659248233, - 0.14827099442481995 - ] + 0.14827099442481995, + 0.15304900659248233 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3faa3eeacd372baf4f27a480bb8c154db22efe3ad5878b16f297a1c28e562950", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3faa3eeacd372baf4f27a480bb8c154db22efe3ad5878b16f297a1c28e562950", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3faa3eeacd372baf4f27a480bb8c154db22efe3ad5878b16f297a1c28e562950", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3faa3eeacd372baf4f27a480bb8c154db22efe3ad5878b16f297a1c28e562950", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00435 Keys/IsaacSim_assets_6a7d3732b7a9c4204a6477e5/physics_6a7d3732b7a9c4204a6477e5.json b/batch11/D00435 Keys/IsaacSim_assets_6a7d3732b7a9c4204a6477e5/physics_6a7d3732b7a9c4204a6477e5.json index 6fb9069354249be94747685644fee05c4da18ee4..2a83899bd8df8fe5c902069b32d6d61b74dc87d3 100644 --- a/batch11/D00435 Keys/IsaacSim_assets_6a7d3732b7a9c4204a6477e5/physics_6a7d3732b7a9c4204a6477e5.json +++ b/batch11/D00435 Keys/IsaacSim_assets_6a7d3732b7a9c4204a6477e5/physics_6a7d3732b7a9c4204a6477e5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0228279996663332, - 0.00532132014632225, - 0.00839999970048666 - ], "min": [ -0.027089999988675117, - 0.00017232004029210657, - -0.009949999861419201 + -0.00839999970048666, + 0.00017232004029210657 + ], + "max": [ + 0.0228279996663332, + 0.009949999861419201, + 0.00532132014632225 ], "size": [ 0.049917999655008316, - 0.005149000106030144, - 0.01834999956190586 - ] + 0.01834999956190586, + 0.005149000106030144 + ], + "units": "m" }, "description": "D00435 Keys", "name": "D00435 Keys", "object_type": "rigid_bodies", - "total_mass": 0.0032 + "total_mass": 0.0031999999191612005, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00435", "parts": [ { "bounds": { - "center": [ - -0.0021310001611709595, - 0.0027468200933071785, - -0.0007750000804662704 + "min": [ + -0.027089999988675117, + -0.00839999970048666, + 0.00017232004029210657 ], "max": [ 0.0228279996663332, - 0.00532132014632225, - 0.00839999970048666 + 0.009949999861419201, + 0.00532132014632225 ], - "min": [ - -0.027089999988675117, - 0.00017232004029210657, - -0.009949999861419201 - ] + "size": [ + 0.049917999655008316, + 0.01834999956190586, + 0.005149000106030144 + ], + "units": "m" }, "center_of_mass": [ -0.0012832186184823513, @@ -59,7 +65,7 @@ 4.942794475937262e-07, 5.373928502194758e-07 ], - "mass": 0.0032, + "mass": 0.0031999999191612005, "material": "metal", "name": "D00435 Keys", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00435 Keys", "part_name": "D00435 Keys" }, - "volume": 3.7647057872484714e-07 + "volume": 3.7647057872484714e-07, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a58cbf8648ae5c1a2ebd0f9afe38c6c67ee3dcd6a614d0fb727c8caeba9b291e" + }, + "usd_path": "batch11/D00435 Keys/IsaacSim_assets_6a7d3732b7a9c4204a6477e5/IsaacSim_asset_6a7d3732b7a9c4204a6477e5.usd", + "usd_sha256": "250e8c0a5065a668b502789f2477f70ce1b3dd482b46b8754929a8a196d28086", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.049917999655008316, - 0.005149000106030144, - 0.01834999956190586 - ] + 0.01834999956190586, + 0.005149000106030144 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "250e8c0a5065a668b502789f2477f70ce1b3dd482b46b8754929a8a196d28086", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0032 + "value_kg": 0.0031999999191612005, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "250e8c0a5065a668b502789f2477f70ce1b3dd482b46b8754929a8a196d28086", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0031999999191612005, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 22, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "250e8c0a5065a668b502789f2477f70ce1b3dd482b46b8754929a8a196d28086", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 22, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "250e8c0a5065a668b502789f2477f70ce1b3dd482b46b8754929a8a196d28086", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00438 Garlic Keeper/IsaacSim_assets_6a7e096ab7a9c4204a8abe95/physics_6a7e096ab7a9c4204a8abe95.json b/batch11/D00438 Garlic Keeper/IsaacSim_assets_6a7e096ab7a9c4204a8abe95/physics_6a7e096ab7a9c4204a8abe95.json index 575a8117c8c1b191ff485b8efe5e241bdbf76b8c..8304f0b7daca45724e1124b9fa389951148f4414 100644 --- a/batch11/D00438 Garlic Keeper/IsaacSim_assets_6a7e096ab7a9c4204a8abe95/physics_6a7e096ab7a9c4204a8abe95.json +++ b/batch11/D00438 Garlic Keeper/IsaacSim_assets_6a7e096ab7a9c4204a8abe95/physics_6a7e096ab7a9c4204a8abe95.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06025199964642525, - 0.09905200451612473, - 0.06197499856352806 - ], "min": [ -0.06111200153827667, - 0.0, - -0.05927500128746033 + -0.06197499856352806, + 0.0 + ], + "max": [ + 0.06025199964642525, + 0.05927500128746033, + 0.09905200451612473 ], "size": [ 0.12136400118470192, - 0.09905200451612473, - 0.12124999985098839 - ] + 0.12124999985098839, + 0.09905200451612473 + ], + "units": "m" }, "description": "D00438 Garlic Keeper", "name": "D00438 Garlic Keeper", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00438", "parts": [ { "bounds": { - "center": [ - -0.0004300009459257126, - 0.04952600225806236, - 0.0013499986380338669 + "min": [ + -0.06111200153827667, + -0.06197499856352806, + 0.0 ], "max": [ 0.06025199964642525, - 0.09905200451612473, - 0.06197499856352806 + 0.05927500128746033, + 0.09905200451612473 ], - "min": [ - -0.06111200153827667, - 0.0, - -0.05927500128746033 - ] + "size": [ + 0.12136400118470192, + 0.12124999985098839, + 0.09905200451612473 + ], + "units": "m" }, "center_of_mass": [ -0.00010830828978214413, @@ -67,10 +73,27 @@ "object_name": "D00438 Garlic Keeper", "part_name": "D00438 Garlic Keeper" }, - "volume": 0.00010416666666666667 + "volume": 0.00010416666666666667, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "109093768bb1b2a3be47d4e7f7517277b1611a67b313d01cad61ed9c638a4bdc" + }, + "usd_path": "batch11/D00438 Garlic Keeper/IsaacSim_assets_6a7e096ab7a9c4204a8abe95/IsaacSim_asset_6a7e096ab7a9c4204a8abe95.usd", + "usd_sha256": "d4d57b03aef741763938965ea832d234e15bf0ce9197b8682f75c8505614f345", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.12136400118470192, - 0.09905200451612473, - 0.12124999985098839 - ] + 0.12124999985098839, + 0.09905200451612473 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4d57b03aef741763938965ea832d234e15bf0ce9197b8682f75c8505614f345", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4d57b03aef741763938965ea832d234e15bf0ce9197b8682f75c8505614f345", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4d57b03aef741763938965ea832d234e15bf0ce9197b8682f75c8505614f345", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4d57b03aef741763938965ea832d234e15bf0ce9197b8682f75c8505614f345", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00448 Kitchen Herbs/IsaacSim_assets_6a7de001b7a9c4204a83238a/physics_6a7de001b7a9c4204a83238a.json b/batch11/D00448 Kitchen Herbs/IsaacSim_assets_6a7de001b7a9c4204a83238a/physics_6a7de001b7a9c4204a83238a.json index cbb4693728c0853f54b0fe1219143a4c0121770b..c87dd5e56b669e4e2a830b8cd6989d212652421e 100644 --- a/batch11/D00448 Kitchen Herbs/IsaacSim_assets_6a7de001b7a9c4204a83238a/physics_6a7de001b7a9c4204a83238a.json +++ b/batch11/D00448 Kitchen Herbs/IsaacSim_assets_6a7de001b7a9c4204a83238a/physics_6a7de001b7a9c4204a83238a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11725299805402756, - 0.13338391482830048, - 0.11776000261306763 - ], "min": [ -0.11786600202322006, - 0.0002879193052649498, - -0.118197001516819 + -0.11776000261306763, + 0.0002879193052649498 + ], + "max": [ + 0.11725299805402756, + 0.118197001516819, + 0.13338391482830048 ], "size": [ 0.23511900007724762, - 0.13309599552303553, - 0.23595700412988663 - ] + 0.23595700412988663, + 0.13309599552303553 + ], + "units": "m" }, "description": "D00448 Kitchen Herbs", "name": "D00448 Kitchen Herbs", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00448", "parts": [ { "bounds": { - "center": [ - -0.00030650198459625244, - 0.06683591706678271, - -0.00021849945187568665 + "min": [ + -0.11786600202322006, + -0.11776000261306763, + 0.0002879193052649498 ], "max": [ 0.11725299805402756, - 0.13338391482830048, - 0.11776000261306763 + 0.118197001516819, + 0.13338391482830048 ], - "min": [ - -0.11786600202322006, - 0.0002879193052649498, - -0.118197001516819 - ] + "size": [ + 0.23511900007724762, + 0.23595700412988663, + 0.13309599552303553 + ], + "units": "m" }, "center_of_mass": [ 0.009047736413776875, @@ -59,7 +65,7 @@ 0.00015580446051899344, 0.0002225073694717139 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "foam_or_hollow", "name": "D00448 Kitchen Herbs", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00448 Kitchen Herbs", "part_name": "D00448 Kitchen Herbs" }, - "volume": 0.0003501400537571108 + "volume": 0.0003501400537571108, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "87286e4b9adc0cb2fb20b1c97f2c753082631b3c8b9a37e51558b445be21faf8" + }, + "usd_path": "batch11/D00448 Kitchen Herbs/IsaacSim_assets_6a7de001b7a9c4204a83238a/IsaacSim_asset_6a7de001b7a9c4204a83238a.usd", + "usd_sha256": "b89f0cabded7c7c00d86b8d53f545f4db1b8e48c43b94327a95b3dafd6398c80", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.23511900007724762, - 0.13309599552303553, - 0.23595700412988663 - ] + 0.23595700412988663, + 0.13309599552303553 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b89f0cabded7c7c00d86b8d53f545f4db1b8e48c43b94327a95b3dafd6398c80", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b89f0cabded7c7c00d86b8d53f545f4db1b8e48c43b94327a95b3dafd6398c80", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 128, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b89f0cabded7c7c00d86b8d53f545f4db1b8e48c43b94327a95b3dafd6398c80", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 128, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b89f0cabded7c7c00d86b8d53f545f4db1b8e48c43b94327a95b3dafd6398c80", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00456 Kitchen Plant/IsaacSim_assets_6a7de003b7a9c4204a8323ba/physics_6a7de003b7a9c4204a8323ba.json b/batch11/D00456 Kitchen Plant/IsaacSim_assets_6a7de003b7a9c4204a8323ba/physics_6a7de003b7a9c4204a8323ba.json index 08cc8f2f61e1d11a3f778d67e676fabe729ece31..90894f86aa7ad7bf44efcc4609ed6998cac5c8fb 100644 --- a/batch11/D00456 Kitchen Plant/IsaacSim_assets_6a7de003b7a9c4204a8323ba/physics_6a7de003b7a9c4204a8323ba.json +++ b/batch11/D00456 Kitchen Plant/IsaacSim_assets_6a7de003b7a9c4204a8323ba/physics_6a7de003b7a9c4204a8323ba.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15776200592517853, - 0.49868470430374146, - 0.15196099877357483 - ], "min": [ -0.15735800564289093, - 0.0024517178535461426, - -0.15302899479866028 + -0.15196099877357483, + 0.0024517178535461426 + ], + "max": [ + 0.15776200592517853, + 0.15302899479866028, + 0.49868470430374146 ], "size": [ 0.31512001156806946, - 0.4962329864501953, - 0.3049899935722351 - ] + 0.3049899935722351, + 0.4962329864501953 + ], + "units": "m" }, "description": "D00456 Kitchen Plant", "name": "D00456 Kitchen Plant", "object_type": "rigid_bodies", - "total_mass": 4.4 + "total_mass": 4.400000095367432, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00456", "parts": [ { "bounds": { - "center": [ - 0.00020200014114379883, - 0.2505682110786438, - -0.0005339980125427246 + "min": [ + -0.15735800564289093, + -0.15196099877357483, + 0.0024517178535461426 ], "max": [ 0.15776200592517853, - 0.49868470430374146, - 0.15196099877357483 + 0.15302899479866028, + 0.49868470430374146 ], - "min": [ - -0.15735800564289093, - 0.0024517178535461426, - -0.15302899479866028 - ] + "size": [ + 0.31512001156806946, + 0.3049899935722351, + 0.4962329864501953 + ], + "units": "m" }, "center_of_mass": [ 0.001701628090813756, @@ -59,7 +65,7 @@ 0.07773016393184662, 0.08119373768568039 ], - "mass": 4.4, + "mass": 4.400000095367432, "material": "composite_or_rubber", "name": "D00456 Kitchen Plant", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00456 Kitchen Plant", "part_name": "D00456 Kitchen Plant" }, - "volume": 0.0031428572109767367 + "volume": 0.0031428572109767367, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ee2bdded95696e36593a799f1507125de7b416b5f763b7c3fe89867d284b879a" + }, + "usd_path": "batch11/D00456 Kitchen Plant/IsaacSim_assets_6a7de003b7a9c4204a8323ba/IsaacSim_asset_6a7de003b7a9c4204a8323ba.usd", + "usd_sha256": "c62835cb88c6c56dd5fa49ca7250dab930dd819666c8685ec5cfc6ad33f7b72c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.31512001156806946, - 0.4962329864501953, - 0.3049899935722351 - ] + 0.3049899935722351, + 0.4962329864501953 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c62835cb88c6c56dd5fa49ca7250dab930dd819666c8685ec5cfc6ad33f7b72c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.4 + "value_kg": 4.400000095367432, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c62835cb88c6c56dd5fa49ca7250dab930dd819666c8685ec5cfc6ad33f7b72c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.400000095367432, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 132, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c62835cb88c6c56dd5fa49ca7250dab930dd819666c8685ec5cfc6ad33f7b72c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 132, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c62835cb88c6c56dd5fa49ca7250dab930dd819666c8685ec5cfc6ad33f7b72c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00457 Kitchen Pot/IsaacSim_assets_6a7ddf75b7a9c4204a8318eb/physics_6a7ddf75b7a9c4204a8318eb.json b/batch11/D00457 Kitchen Pot/IsaacSim_assets_6a7ddf75b7a9c4204a8318eb/physics_6a7ddf75b7a9c4204a8318eb.json index 78a821ccac96d6e6f1a93692f6b325b3475b3d1f..c8dba4bca1aaf2ad6ef04cace987fd2c2b90b892 100644 --- a/batch11/D00457 Kitchen Pot/IsaacSim_assets_6a7ddf75b7a9c4204a8318eb/physics_6a7ddf75b7a9c4204a8318eb.json +++ b/batch11/D00457 Kitchen Pot/IsaacSim_assets_6a7ddf75b7a9c4204a8318eb/physics_6a7ddf75b7a9c4204a8318eb.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1566230058670044, - 0.13261309266090393, - 0.11002899706363678 - ], "min": [ -0.15394000709056854, - 0.001383089693263173, - -0.11045999825000763 + -0.11002899706363678, + 0.001383089693263173 + ], + "max": [ + 0.1566230058670044, + 0.11045999825000763, + 0.13261309266090393 ], "size": [ 0.31056301295757294, - 0.13123000296764076, - 0.2204889953136444 - ] + 0.2204889953136444, + 0.13123000296764076 + ], + "units": "m" }, "description": "D00457 Kitchen Pot", "name": "D00457 Kitchen Pot", "object_type": "rigid_bodies", - "total_mass": 4.5 + "total_mass": 4.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00457", "parts": [ { "bounds": { - "center": [ - 0.001341499388217926, - 0.06699809117708355, - -0.0002155005931854248 + "min": [ + -0.15394000709056854, + -0.11002899706363678, + 0.001383089693263173 ], "max": [ 0.1566230058670044, - 0.13261309266090393, - 0.11002899706363678 + 0.11045999825000763, + 0.13261309266090393 ], - "min": [ - -0.15394000709056854, - 0.001383089693263173, - -0.11045999825000763 - ] + "size": [ + 0.31056301295757294, + 0.2204889953136444, + 0.13123000296764076 + ], + "units": "m" }, "center_of_mass": [ 0.00099675334058702, @@ -67,10 +73,27 @@ "object_name": "D00457 Kitchen Pot", "part_name": "D00457 Kitchen Pot" }, - "volume": 0.0005732484076433121 + "volume": 0.0005732484076433121, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ba813ab639a3b541b1e6df8128cdd718197f4ded726f6b998dd15bb58f812ef7" + }, + "usd_path": "batch11/D00457 Kitchen Pot/IsaacSim_assets_6a7ddf75b7a9c4204a8318eb/IsaacSim_asset_6a7ddf75b7a9c4204a8318eb.usd", + "usd_sha256": "3a587480c2c68fde8110f7964159fc9bbea5d70945cc6b44080d02c09a284d4c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.31056301295757294, - 0.13123000296764076, - 0.2204889953136444 - ] + 0.2204889953136444, + 0.13123000296764076 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a587480c2c68fde8110f7964159fc9bbea5d70945cc6b44080d02c09a284d4c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.5 + "value_kg": 4.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a587480c2c68fde8110f7964159fc9bbea5d70945cc6b44080d02c09a284d4c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 32, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a587480c2c68fde8110f7964159fc9bbea5d70945cc6b44080d02c09a284d4c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 32, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a587480c2c68fde8110f7964159fc9bbea5d70945cc6b44080d02c09a284d4c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00472 Kitchen Whisk/IsaacSim_assets_6a7ddf79b7a9c4204a831988/physics_6a7ddf79b7a9c4204a831988.json b/batch11/D00472 Kitchen Whisk/IsaacSim_assets_6a7ddf79b7a9c4204a831988/physics_6a7ddf79b7a9c4204a831988.json index b5199d813a6f46bf86c917919acde874ee511e55..9a8904669697cbccd5b5e6241a71b5ff53d41aaf 100644 --- a/batch11/D00472 Kitchen Whisk/IsaacSim_assets_6a7ddf79b7a9c4204a831988/physics_6a7ddf79b7a9c4204a831988.json +++ b/batch11/D00472 Kitchen Whisk/IsaacSim_assets_6a7ddf79b7a9c4204a831988/physics_6a7ddf79b7a9c4204a831988.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.034644998610019684, - 0.0688820630311966, - 0.09386000037193298 - ], "min": [ -0.034627001732587814, - 0.0009590599802322686, - -0.21357500553131104 + -0.09386000037193298, + 0.0009590599802322686 + ], + "max": [ + 0.034644998610019684, + 0.21357500553131104, + 0.0688820630311966 ], "size": [ 0.0692720003426075, - 0.06792300305096433, - 0.307435005903244 - ] + 0.307435005903244, + 0.06792300305096433 + ], + "units": "m" }, "description": "D00472 Kitchen Whisk", "name": "D00472 Kitchen Whisk", "object_type": "rigid_bodies", - "total_mass": 0.072 + "total_mass": 0.07199999690055847, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00472", "parts": [ { "bounds": { - "center": [ - 8.998438715934753e-06, - 0.03492056150571443, - -0.059857502579689026 + "min": [ + -0.034627001732587814, + -0.09386000037193298, + 0.0009590599802322686 ], "max": [ 0.034644998610019684, - 0.0688820630311966, - 0.09386000037193298 + 0.21357500553131104, + 0.0688820630311966 ], - "min": [ - -0.034627001732587814, - 0.0009590599802322686, - -0.21357500553131104 - ] + "size": [ + 0.0692720003426075, + 0.307435005903244, + 0.06792300305096433 + ], + "units": "m" }, "center_of_mass": [ 1.3122927157382946e-05, @@ -59,7 +65,7 @@ 0.0004527182027231902, 0.0004532095626927912 ], - "mass": 0.072, + "mass": 0.07199999690055847, "material": "wood", "name": "D00472 Kitchen Whisk", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00472 Kitchen Whisk", "part_name": "D00472 Kitchen Whisk" }, - "volume": 0.00011076922600085919 + "volume": 0.00011076922600085919, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9aa11421e7c2b43519a5b31f1b2191e6f6a797329f8cbeaf22bb106f488a2c6e" + }, + "usd_path": "batch11/D00472 Kitchen Whisk/IsaacSim_assets_6a7ddf79b7a9c4204a831988/IsaacSim_asset_6a7ddf79b7a9c4204a831988.usd", + "usd_sha256": "b67b367914185094ea26afbe4dd5b78844035a6ad4f2e96ea86ec6dab8a5762e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.0692720003426075, - 0.06792300305096433, - 0.307435005903244 - ] + 0.307435005903244, + 0.06792300305096433 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b67b367914185094ea26afbe4dd5b78844035a6ad4f2e96ea86ec6dab8a5762e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.072 + "value_kg": 0.07199999690055847, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b67b367914185094ea26afbe4dd5b78844035a6ad4f2e96ea86ec6dab8a5762e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07199999690055847, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b67b367914185094ea26afbe4dd5b78844035a6ad4f2e96ea86ec6dab8a5762e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b67b367914185094ea26afbe4dd5b78844035a6ad4f2e96ea86ec6dab8a5762e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00488 Lemon Bowl/IsaacSim_assets_6a7d6df8b7a9c4204a753baf/physics_6a7d6df8b7a9c4204a753baf.json b/batch11/D00488 Lemon Bowl/IsaacSim_assets_6a7d6df8b7a9c4204a753baf/physics_6a7d6df8b7a9c4204a753baf.json index 78fa0d61ee343c2305019eb13171daa9981699f7..c0f2d3e11082330d56dc8a2a9a6cf39b3e2187c8 100644 --- a/batch11/D00488 Lemon Bowl/IsaacSim_assets_6a7d6df8b7a9c4204a753baf/physics_6a7d6df8b7a9c4204a753baf.json +++ b/batch11/D00488 Lemon Bowl/IsaacSim_assets_6a7d6df8b7a9c4204a753baf/physics_6a7d6df8b7a9c4204a753baf.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08884499967098236, - 0.07746998965740204, - 0.08048100024461746 - ], "min": [ -0.08863700181245804, - 0.0008809904102236032, - -0.08064500242471695 + -0.08048100024461746, + 0.0008809904102236032 + ], + "max": [ + 0.08884499967098236, + 0.08064500242471695, + 0.07746998965740204 ], "size": [ 0.1774820014834404, - 0.07658899924717844, - 0.1611260026693344 - ] + 0.1611260026693344, + 0.07658899924717844 + ], + "units": "m" }, "description": "D00488 Lemon Bowl", "name": "D00488 Lemon Bowl", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.30000001192092896, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00488", "parts": [ { "bounds": { - "center": [ - 0.00010399892926216125, - 0.03917549003381282, - -8.200109004974365e-05 + "min": [ + -0.08863700181245804, + -0.08048100024461746, + 0.0008809904102236032 ], "max": [ 0.08884499967098236, - 0.07746998965740204, - 0.08048100024461746 + 0.08064500242471695, + 0.07746998965740204 ], - "min": [ - -0.08863700181245804, - 0.0008809904102236032, - -0.08064500242471695 - ] + "size": [ + 0.1774820014834404, + 0.1611260026693344, + 0.07658899924717844 + ], + "units": "m" }, "center_of_mass": [ -0.00021514183026738465, @@ -59,7 +65,7 @@ 0.0008122827275656164, 0.0012737202923744917 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "ceramic_or_glass", "name": "D00488 Lemon Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00488 Lemon Bowl", "part_name": "D00488 Lemon Bowl" }, - "volume": 0.00012500000496705373 + "volume": 0.00012500000496705373, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e4e6911e89b68dad00bf50841a5ad43ea7698ad6ade7b28808d6fbe32cd93a34" + }, + "usd_path": "batch11/D00488 Lemon Bowl/IsaacSim_assets_6a7d6df8b7a9c4204a753baf/IsaacSim_asset_6a7d6df8b7a9c4204a753baf.usd", + "usd_sha256": "a7e66e4a704144dcc974be72f06b6a15952430925a6341187e280c91b30bce3d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.1774820014834404, - 0.07658899924717844, - 0.1611260026693344 - ] + 0.1611260026693344, + 0.07658899924717844 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a7e66e4a704144dcc974be72f06b6a15952430925a6341187e280c91b30bce3d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.30000001192092896, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a7e66e4a704144dcc974be72f06b6a15952430925a6341187e280c91b30bce3d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.30000001192092896, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 31, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a7e66e4a704144dcc974be72f06b6a15952430925a6341187e280c91b30bce3d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 31, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a7e66e4a704144dcc974be72f06b6a15952430925a6341187e280c91b30bce3d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00493 Level/IsaacSim_assets_6a7ecdafb7a9c4204a9d94bd/physics_6a7ecdafb7a9c4204a9d94bd.json b/batch11/D00493 Level/IsaacSim_assets_6a7ecdafb7a9c4204a9d94bd/physics_6a7ecdafb7a9c4204a9d94bd.json index 42331153eafa8018ca785893e6bce177d37bbb2d..a0d4cf1a3c367bc853f5ed7bedf93e9306700e81 100644 --- a/batch11/D00493 Level/IsaacSim_assets_6a7ecdafb7a9c4204a9d94bd/physics_6a7ecdafb7a9c4204a9d94bd.json +++ b/batch11/D00493 Level/IsaacSim_assets_6a7ecdafb7a9c4204a9d94bd/physics_6a7ecdafb7a9c4204a9d94bd.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.29813700914382935, - 0.087477907538414, - 0.019655000418424606 - ], "min": [ -0.2980499863624573, - 0.0020869087893515825, - -0.019287999719381332 + -0.019655000418424606, + 0.0020869087893515825 + ], + "max": [ + 0.29813700914382935, + 0.019287999719381332, + 0.087477907538414 ], "size": [ 0.5961869955062866, - 0.08539099874906242, - 0.03894300013780594 - ] + 0.03894300013780594, + 0.08539099874906242 + ], + "units": "m" }, "description": "D00493 Level", "name": "D00493 Level", "object_type": "rigid_bodies", - "total_mass": 0.6 + "total_mass": 0.6000000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00493", "parts": [ { "bounds": { - "center": [ - 4.3511390686035156e-05, - 0.04478240816388279, - 0.00018350034952163696 + "min": [ + -0.2980499863624573, + -0.019655000418424606, + 0.0020869087893515825 ], "max": [ 0.29813700914382935, - 0.087477907538414, - 0.019655000418424606 + 0.019287999719381332, + 0.087477907538414 ], - "min": [ - -0.2980499863624573, - 0.0020869087893515825, - -0.019287999719381332 - ] + "size": [ + 0.5961869955062866, + 0.03894300013780594, + 0.08539099874906242 + ], + "units": "m" }, "center_of_mass": [ 7.982943498063833e-05, @@ -59,7 +65,7 @@ 0.01778736524283886, 0.018073441460728645 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "wood", "name": "D00493 Level", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00493 Level", "part_name": "D00493 Level" }, - "volume": 0.0007058823809904211 + "volume": 0.0007058823809904211, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b27d07828f7a883486d145ea7ffc8296ac9999d3cb33b970e8ab60c35348626a" + }, + "usd_path": "batch11/D00493 Level/IsaacSim_assets_6a7ecdafb7a9c4204a9d94bd/IsaacSim_asset_6a7ecdafb7a9c4204a9d94bd.usd", + "usd_sha256": "080b0a067c254b8849d299a7037150cac645884d695285488ae44bd94fbaac22", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.5961869955062866, - 0.08539099874906242, - 0.03894300013780594 - ] + 0.03894300013780594, + 0.08539099874906242 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "080b0a067c254b8849d299a7037150cac645884d695285488ae44bd94fbaac22", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6 + "value_kg": 0.6000000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "080b0a067c254b8849d299a7037150cac645884d695285488ae44bd94fbaac22", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6000000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 35, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "080b0a067c254b8849d299a7037150cac645884d695285488ae44bd94fbaac22", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 35, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "080b0a067c254b8849d299a7037150cac645884d695285488ae44bd94fbaac22", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00748_Hazelnut/IsaacSim_assets_6a7d5582b7a9c4204a72b3df/physics_6a7d5582b7a9c4204a72b3df.json b/batch11/D00748_Hazelnut/IsaacSim_assets_6a7d5582b7a9c4204a72b3df/physics_6a7d5582b7a9c4204a72b3df.json index 68a6be9ad03e925b66c8f327be558bb81a3da54c..50c950b9a9abd618c1049c662e57c50a855e52e8 100644 --- a/batch11/D00748_Hazelnut/IsaacSim_assets_6a7d5582b7a9c4204a72b3df/physics_6a7d5582b7a9c4204a72b3df.json +++ b/batch11/D00748_Hazelnut/IsaacSim_assets_6a7d5582b7a9c4204a72b3df/physics_6a7d5582b7a9c4204a72b3df.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0086899995803833, - 0.01605900004506111, - 0.008108999580144882 - ], "min": [ -0.008612999692559242, - 7.405187738569223e-20, - -0.009517000056803226 + -0.008108999580144882, + 7.405187738569223e-20 + ], + "max": [ + 0.0086899995803833, + 0.009517000056803226, + 0.01605900004506111 ], "size": [ 0.017302999272942543, - 0.01605900004506111, - 0.01762599963694811 - ] + 0.01762599963694811, + 0.01605900004506111 + ], + "units": "m" }, "description": "D00748 Hazelnut", "name": "D00748 Hazelnut", "object_type": "rigid_bodies", - "total_mass": 0.002 + "total_mass": 0.0020000000949949026, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00748", "parts": [ { "bounds": { - "center": [ - 3.8499943912029266e-05, - 0.008029500022530556, - -0.0007040002383291721 + "min": [ + -0.008612999692559242, + -0.008108999580144882, + 7.405187738569223e-20 ], "max": [ 0.0086899995803833, - 0.01605900004506111, - 0.008108999580144882 + 0.009517000056803226, + 0.01605900004506111 ], - "min": [ - -0.008612999692559242, - 7.405187738569223e-20, - -0.009517000056803226 - ] + "size": [ + 0.017302999272942543, + 0.01762599963694811, + 0.01605900004506111 + ], + "units": "m" }, "center_of_mass": [ 5.757569851994049e-06, @@ -59,7 +65,7 @@ 5.930067814574613e-08, 6.431397281403406e-08 ], - "mass": 0.002, + "mass": 0.0020000000949949026, "material": "wood", "name": "D00748 Hazelnut", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00748 Hazelnut", "part_name": "D00748 Hazelnut" }, - "volume": 3.333333491658171e-06 + "volume": 3.333333491658171e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4a825c0cf74650462ceab02cedfc62d3be5c36a8e433f3fa577e3f79af866110" + }, + "usd_path": "batch11/D00748_Hazelnut/IsaacSim_assets_6a7d5582b7a9c4204a72b3df/IsaacSim_asset_6a7d5582b7a9c4204a72b3df.usd", + "usd_sha256": "a6d3c6afbf1b852a0564a9660ad83b44495efbb567844e7523fd5c7ed2cf32e3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.017302999272942543, - 0.01605900004506111, - 0.01762599963694811 - ] + 0.01762599963694811, + 0.01605900004506111 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a6d3c6afbf1b852a0564a9660ad83b44495efbb567844e7523fd5c7ed2cf32e3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.002 + "value_kg": 0.0020000000949949026, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a6d3c6afbf1b852a0564a9660ad83b44495efbb567844e7523fd5c7ed2cf32e3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0020000000949949026, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a6d3c6afbf1b852a0564a9660ad83b44495efbb567844e7523fd5c7ed2cf32e3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a6d3c6afbf1b852a0564a9660ad83b44495efbb567844e7523fd5c7ed2cf32e3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00759_Spice_Container/IsaacSim_assets_6a7d55e0b7a9c4204a72c27c/physics_6a7d55e0b7a9c4204a72c27c.json b/batch11/D00759_Spice_Container/IsaacSim_assets_6a7d55e0b7a9c4204a72c27c/physics_6a7d55e0b7a9c4204a72c27c.json index 58faafa7e788744ea297d27c978a6c540de6d588..b6f36a4aa7f41599146bccd91517335a499ca075 100644 --- a/batch11/D00759_Spice_Container/IsaacSim_assets_6a7d55e0b7a9c4204a72c27c/physics_6a7d55e0b7a9c4204a72c27c.json +++ b/batch11/D00759_Spice_Container/IsaacSim_assets_6a7d55e0b7a9c4204a72c27c/physics_6a7d55e0b7a9c4204a72c27c.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a7d55e0b7a9c4204a72c27c/part_01", "body1": "/World/textured_mesh_6a7d55e0b7a9c4204a72c27c/part_00", "joint_path": "/World/textured_mesh_6a7d55e0b7a9c4204a72c27c/Joints/joint_jar_body__lid", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_body__lid", + "path": "/World/textured_mesh_6a7d55e0b7a9c4204a72c27c/Joints/joint_jar_body__lid", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7d55e0b7a9c4204a72c27c/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a7d55e0b7a9c4204a72c27c/part_00" + ], + "authored_usd": { + "id": "joint_jar_body__lid", + "source_prim_path": "/World/textured_mesh_6a7d55e0b7a9c4204a72c27c/Joints/joint_jar_body__lid", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7d55e0b7a9c4204a72c27c/part_01" + ], + "body1": [ + "/World/textured_mesh_6a7d55e0b7a9c4204a72c27c/part_00" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04174700006842613, - 0.07237648335285485, - 0.04190199822187424 - ], "min": [ -0.041985999792814255, - 0.0003424799651838839, - -0.04181800037622452 + -0.04190199822187424, + 0.0003424799651838839 + ], + "max": [ + 0.04174700006842613, + 0.04181800037622452, + 0.07237648335285485 ], "size": [ 0.08373299986124039, - 0.07203400338767096, - 0.08371999859809875 - ] + 0.08371999859809875, + 0.07203400338767096 + ], + "units": "m" }, "description": "D00759 Spice_Container", "name": "D00759 Spice_Container", "object_type": "rigid_bodies", - "total_mass": 0.17 + "total_mass": 0.17000000551342964, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00759", "parts": [ { "bounds": { - "center": [ - -0.00013949908316135406, - 0.06352148135192692, - 1.449882984161377e-05 + "min": [ + -0.03451099991798401, + -0.03421099856495857, + 0.054666479350999 ], "max": [ 0.0342320017516613, - 0.07237648335285485, - 0.03421099856495857 + 0.034182000905275345, + 0.07237648335285485 ], - "min": [ - -0.03451099991798401, - 0.054666479350999, - -0.034182000905275345 - ] + "size": [ + 0.06874300166964531, + 0.06839299947023392, + 0.01771000400185585 + ], + "units": "m" }, "center_of_mass": [ -0.008961458690464497, @@ -66,7 +117,7 @@ 1.2588719073391985e-05, 1.470433380745817e-05 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "ceramic_or_glass", "name": "D00759 Spice_Container", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00759 Spice_Container", "part_name": "D00759 Spice_Container" }, - "volume": 7.40740724183895e-06 + "volume": 7.40740724183895e-06, + "source_prim_path": "/World/textured_mesh_6a7d55e0b7a9c4204a72c27c/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00011949986219406128, - 0.02781447969027795, - 4.199892282485962e-05 + "min": [ + -0.041985999792814255, + -0.04190199822187424, + 0.0003424799651838839 ], "max": [ 0.04174700006842613, - 0.055286479415372014, - 0.04190199822187424 + 0.04181800037622452, + 0.055286479415372014 ], - "min": [ - -0.041985999792814255, - 0.0003424799651838839, - -0.04181800037622452 - ] + "size": [ + 0.08373299986124039, + 0.08371999859809875, + 0.05494399945018813 + ], + "units": "m" }, "center_of_mass": [ 0.001970280660316348, @@ -107,7 +161,7 @@ 9.698804933577776e-05, 0.00012037080887239426 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "ceramic_or_glass", "name": "D00759 Spice_Container", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00759 Spice_Container", "part_name": "D00759 Spice_Container" }, - "volume": 6.000000238418579e-05 + "volume": 6.000000238418579e-05, + "source_prim_path": "/World/textured_mesh_6a7d55e0b7a9c4204a72c27c/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9ebc6195641e84413c4b71a5892acc0f0a587c3825e769f3e5d6b142ce837e6e" + }, + "usd_path": "batch11/D00759_Spice_Container/IsaacSim_assets_6a7d55e0b7a9c4204a72c27c/IsaacSim_asset_6a7d55e0b7a9c4204a72c27c.usd", + "usd_sha256": "c1768727d193eca9bcbb3ab4fa7346c8aa0ab22600605c90b1375c913857d3d5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.08373299986124039, - 0.07203400338767096, - 0.08371999859809875 - ] + 0.08371999859809875, + 0.07203400338767096 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1768727d193eca9bcbb3ab4fa7346c8aa0ab22600605c90b1375c913857d3d5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.17 + "value_kg": 0.17000000551342964, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1768727d193eca9bcbb3ab4fa7346c8aa0ab22600605c90b1375c913857d3d5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.17000000551342964, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1768727d193eca9bcbb3ab4fa7346c8aa0ab22600605c90b1375c913857d3d5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1768727d193eca9bcbb3ab4fa7346c8aa0ab22600605c90b1375c913857d3d5", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch11/D00760_White_Peach/IsaacSim_assets_6a7e9778b7a9c4204a97b077/physics_6a7e9778b7a9c4204a97b077.json b/batch11/D00760_White_Peach/IsaacSim_assets_6a7e9778b7a9c4204a97b077/physics_6a7e9778b7a9c4204a97b077.json index 9e0d74429d732762dd65a4665bb477197cf67cf0..9df8adb3a28e633dcdccf1844aed57fa7be592de 100644 --- a/batch11/D00760_White_Peach/IsaacSim_assets_6a7e9778b7a9c4204a97b077/physics_6a7e9778b7a9c4204a97b077.json +++ b/batch11/D00760_White_Peach/IsaacSim_assets_6a7e9778b7a9c4204a97b077/physics_6a7e9778b7a9c4204a97b077.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.028537999838590622, - 0.05688399821519852, - 0.02555900067090988 - ], "min": [ -0.028356999158859253, - -1.9761970389230074e-19, - -0.03109000064432621 + -0.02555900067090988, + -1.9761970389230074e-19 + ], + "max": [ + 0.028537999838590622, + 0.03109000064432621, + 0.05688399821519852 ], "size": [ 0.056894998997449875, - 0.05688399821519852, - 0.05664900131523609 - ] + 0.05664900131523609, + 0.05688399821519852 + ], + "units": "m" }, "description": "D00760 White_Peach", "name": "D00760 White_Peach", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00760", "parts": [ { "bounds": { - "center": [ - 9.050033986568451e-05, - 0.02844199910759926, - -0.002765499986708164 + "min": [ + -0.028356999158859253, + -0.02555900067090988, + -1.9761970389230074e-19 ], "max": [ 0.028537999838590622, - 0.05688399821519852, - 0.02555900067090988 + 0.03109000064432621, + 0.05688399821519852 ], - "min": [ - -0.028356999158859253, - -1.9761970389230074e-19, - -0.03109000064432621 - ] + "size": [ + 0.056894998997449875, + 0.05664900131523609, + 0.05688399821519852 + ], + "units": "m" }, "center_of_mass": [ -1.8990096577908844e-05, @@ -59,7 +65,7 @@ 4.8710575356381014e-05, 4.9909387598745525e-05 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "plastic", "name": "D00760 White_Peach", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00760 White_Peach", "part_name": "D00760 White_Peach" }, - "volume": 0.0001578947431162784 + "volume": 0.0001578947431162784, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "802617298ab30bb26b57d25dd365cfb041c5dfadb17a98056a0d7d9f9f7c6926" + }, + "usd_path": "batch11/D00760_White_Peach/IsaacSim_assets_6a7e9778b7a9c4204a97b077/IsaacSim_asset_6a7e9778b7a9c4204a97b077.usd", + "usd_sha256": "30073e0ad47fe51d807d7dfcff160f52cd0cc910471caa4edabf859a84001ef6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.056894998997449875, - 0.05688399821519852, - 0.05664900131523609 - ] + 0.05664900131523609, + 0.05688399821519852 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30073e0ad47fe51d807d7dfcff160f52cd0cc910471caa4edabf859a84001ef6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30073e0ad47fe51d807d7dfcff160f52cd0cc910471caa4edabf859a84001ef6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 7, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30073e0ad47fe51d807d7dfcff160f52cd0cc910471caa4edabf859a84001ef6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 7, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30073e0ad47fe51d807d7dfcff160f52cd0cc910471caa4edabf859a84001ef6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00019_Beans/IsaacSim_assets_6a583712ed61ec24df3bccba/physics_6a583712ed61ec24df3bccba.json b/batch12/D00019_Beans/IsaacSim_assets_6a583712ed61ec24df3bccba/physics_6a583712ed61ec24df3bccba.json index d432b66b7e21d0ebce76c48dcb27b2d4ccf693ab..d678aa7f00090cecf966822b1ad46022c24e96e5 100644 --- a/batch12/D00019_Beans/IsaacSim_assets_6a583712ed61ec24df3bccba/physics_6a583712ed61ec24df3bccba.json +++ b/batch12/D00019_Beans/IsaacSim_assets_6a583712ed61ec24df3bccba/physics_6a583712ed61ec24df3bccba.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "13fd6b87d6039806ad7f6b0bfa84feb060c55a6fc19f5801ceb5dac8a061c2f1" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "791c5fc3fb9c8c5bd41b06b1f23d246158131e6057dd9a8dd701a6b22a879086" }, "usd_path": "batch12/D00019_Beans/IsaacSim_assets_6a583712ed61ec24df3bccba/IsaacSim_asset_6a583712ed61ec24df3bccba.usd", - "usd_sha256": "7593b3517db878fddb4c4ee4ec1c20514df880d993d6a6363d799ddfa98a0a7c", + "usd_sha256": "4f7d7b9a245937268867af11a5af808ba84bd858bc5f8b948b4263b72bdcabec", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7593b3517db878fddb4c4ee4ec1c20514df880d993d6a6363d799ddfa98a0a7c", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4f7d7b9a245937268867af11a5af808ba84bd858bc5f8b948b4263b72bdcabec", "scope": "authored_usd_dimensions", "bounds_m": [ 0.011694000102579594, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 2.5499999537714757e-05, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7593b3517db878fddb4c4ee4ec1c20514df880d993d6a6363d799ddfa98a0a7c", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4f7d7b9a245937268867af11a5af808ba84bd858bc5f8b948b4263b72bdcabec", "scope": "authored_usd_mass_consistency", "part_sum_kg": 2.5499999537714757e-05, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 3, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7593b3517db878fddb4c4ee4ec1c20514df880d993d6a6363d799ddfa98a0a7c", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4f7d7b9a245937268867af11a5af808ba84bd858bc5f8b948b4263b72bdcabec", "scope": "authored_usd_collision_schema", "enabled_shape_count": 3, "approximations": [ @@ -151,18 +151,42 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7593b3517db878fddb4c4ee4ec1c20514df880d993d6a6363d799ddfa98a0a7c", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4f7d7b9a245937268867af11a5af808ba84bd858bc5f8b948b4263b72bdcabec", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "4f7d7b9a245937268867af11a5af808ba84bd858bc5f8b948b4263b72bdcabec", + "supplemental_accepted": false, + "planned_test_count": 12, + "result_count": 12, + "passed": 7, + "skipped": 1, + "failed": 4, + "issues": [ + "palatial_black_thumbnail:fail", + "presence:fail", + "preview_surface_renders:fail", + "semantic_labels_seg_labelled:fail", + "verified_native_thumbnail_missing" + ], + "warnings": [], + "completed_at": "2026-10-13T20:33:41.011480+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": null, + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00036_Blue_Mug/IsaacSim_assets_6a369bf96284561eada5e47a/physics_6a369bf96284561eada5e47a.json b/batch12/D00036_Blue_Mug/IsaacSim_assets_6a369bf96284561eada5e47a/physics_6a369bf96284561eada5e47a.json index 25cc91fa62069f2869d68762e3ce034d3d554a13..ac222ea00ff4551c89eb1bba68297a734de375d7 100644 --- a/batch12/D00036_Blue_Mug/IsaacSim_assets_6a369bf96284561eada5e47a/physics_6a369bf96284561eada5e47a.json +++ b/batch12/D00036_Blue_Mug/IsaacSim_assets_6a369bf96284561eada5e47a/physics_6a369bf96284561eada5e47a.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "8c3139bcf533a3b641ed77b99786baae7a832f9662ce650d51a832f7625561f8" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "84d683d623af396dd1ad2c0319f83d69212f66a5359dafd17bf7ad111cc42e9e" }, "usd_path": "batch12/D00036_Blue_Mug/IsaacSim_assets_6a369bf96284561eada5e47a/IsaacSim_asset_6a369bf96284561eada5e47a.usd", - "usd_sha256": "f4f47b88e38cf1c77c7f4ca56355b66d4377b3c619fa5cc723fbbe2fc9d68315", + "usd_sha256": "5d0f345b166b823589769c90c7f035e5c6c49383c81c12308d3e6f2bb16cbc93", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f4f47b88e38cf1c77c7f4ca56355b66d4377b3c619fa5cc723fbbe2fc9d68315", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d0f345b166b823589769c90c7f035e5c6c49383c81c12308d3e6f2bb16cbc93", "scope": "authored_usd_dimensions", "bounds_m": [ 0.10208700224757195, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.3499999940395355, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f4f47b88e38cf1c77c7f4ca56355b66d4377b3c619fa5cc723fbbe2fc9d68315", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d0f345b166b823589769c90c7f035e5c6c49383c81c12308d3e6f2bb16cbc93", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.3499999940395355, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 132, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f4f47b88e38cf1c77c7f4ca56355b66d4377b3c619fa5cc723fbbe2fc9d68315", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d0f345b166b823589769c90c7f035e5c6c49383c81c12308d3e6f2bb16cbc93", "scope": "authored_usd_collision_schema", "enabled_shape_count": 132, "approximations": [ @@ -151,18 +151,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f4f47b88e38cf1c77c7f4ca56355b66d4377b3c619fa5cc723fbbe2fc9d68315", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d0f345b166b823589769c90c7f035e5c6c49383c81c12308d3e6f2bb16cbc93", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "5d0f345b166b823589769c90c7f035e5c6c49383c81c12308d3e6f2bb16cbc93", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:11.821020+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "a0478e4d547e1e424ae2237592bd6c80c1af5e7544e60721144ce83255de35ec", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00070_Bowl_Small_Dish/IsaacSim_assets_6a3774bb6284561eadbfdbc4/physics_6a3774bb6284561eadbfdbc4.json b/batch12/D00070_Bowl_Small_Dish/IsaacSim_assets_6a3774bb6284561eadbfdbc4/physics_6a3774bb6284561eadbfdbc4.json index f5234ebd2e2bc662da3f63a7f250c9f655f064db..51db3a11351e58e3efbf8d860e77187f00a51dae 100644 --- a/batch12/D00070_Bowl_Small_Dish/IsaacSim_assets_6a3774bb6284561eadbfdbc4/physics_6a3774bb6284561eadbfdbc4.json +++ b/batch12/D00070_Bowl_Small_Dish/IsaacSim_assets_6a3774bb6284561eadbfdbc4/physics_6a3774bb6284561eadbfdbc4.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "ae1b294576d4ffdc33edb91d2c8d6d5d2fdbd02be4831f700e0f918b55e7dd47" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "031051ac0691808e6d8dac636287e47ebdb3f66ca9746f9ea94034914a636fc0" }, "usd_path": "batch12/D00070_Bowl_Small_Dish/IsaacSim_assets_6a3774bb6284561eadbfdbc4/IsaacSim_asset_6a3774bb6284561eadbfdbc4.usd", - "usd_sha256": "7426ff4df78dbd0e8d077705dfc48c46d1446ea870caa1a78497fdebcb5a25f5", + "usd_sha256": "b267464b07a9feb492de5095342646e0f404b342496cf01239cd74fedb43a9c5", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7426ff4df78dbd0e8d077705dfc48c46d1446ea870caa1a78497fdebcb5a25f5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b267464b07a9feb492de5095342646e0f404b342496cf01239cd74fedb43a9c5", "scope": "authored_usd_dimensions", "bounds_m": [ 0.11885900050401688, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.4000000059604645, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7426ff4df78dbd0e8d077705dfc48c46d1446ea870caa1a78497fdebcb5a25f5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b267464b07a9feb492de5095342646e0f404b342496cf01239cd74fedb43a9c5", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.4000000059604645, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 153, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7426ff4df78dbd0e8d077705dfc48c46d1446ea870caa1a78497fdebcb5a25f5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b267464b07a9feb492de5095342646e0f404b342496cf01239cd74fedb43a9c5", "scope": "authored_usd_collision_schema", "enabled_shape_count": 153, "approximations": [ @@ -151,18 +151,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7426ff4df78dbd0e8d077705dfc48c46d1446ea870caa1a78497fdebcb5a25f5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b267464b07a9feb492de5095342646e0f404b342496cf01239cd74fedb43a9c5", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "b267464b07a9feb492de5095342646e0f404b342496cf01239cd74fedb43a9c5", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:23.439649+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "374dd3e93c53f9f22ea154a97299da859d2c3a753de8f7db254e265dc1389505", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00114 Casserole Dish/IsaacSim_assets_69f2029e59057a93105a6005/physics_69f2029e59057a93105a6005.json b/batch12/D00114 Casserole Dish/IsaacSim_assets_69f2029e59057a93105a6005/physics_69f2029e59057a93105a6005.json index 8bd9e1b3ac5aa9a57be7d59b8e115e3bf7865629..e722272a5e36913e677a52538064d7ac249d378c 100644 --- a/batch12/D00114 Casserole Dish/IsaacSim_assets_69f2029e59057a93105a6005/physics_69f2029e59057a93105a6005.json +++ b/batch12/D00114 Casserole Dish/IsaacSim_assets_69f2029e59057a93105a6005/physics_69f2029e59057a93105a6005.json @@ -16,7 +16,52 @@ "parent": "pot body", "score": 0.98, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_pot_body__right_side_handle", + "path": "/World/textured_mesh_69f2029e59057a93105a6005/Joints/joint_pot_body__right_side_handle", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2029e59057a93105a6005/part_3" + ], + "body1_targets": [ + "/World/textured_mesh_69f2029e59057a93105a6005/part_1" + ], + "authored_usd": { + "id": "joint_pot_body__right_side_handle", + "source_prim_path": "/World/textured_mesh_69f2029e59057a93105a6005/Joints/joint_pot_body__right_side_handle", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2029e59057a93105a6005/part_3" + ], + "body1": [ + "/World/textured_mesh_69f2029e59057a93105a6005/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -32,52 +77,103 @@ "parent": "pot body", "score": 0.98, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_pot_body__left_side_handle", + "path": "/World/textured_mesh_69f2029e59057a93105a6005/Joints/joint_pot_body__left_side_handle", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2029e59057a93105a6005/part_3" + ], + "body1_targets": [ + "/World/textured_mesh_69f2029e59057a93105a6005/part_2" + ], + "authored_usd": { + "id": "joint_pot_body__left_side_handle", + "source_prim_path": "/World/textured_mesh_69f2029e59057a93105a6005/Joints/joint_pot_body__left_side_handle", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2029e59057a93105a6005/part_3" + ], + "body1": [ + "/World/textured_mesh_69f2029e59057a93105a6005/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.150017, - 0.126086, - 0.142871 - ], "min": [ - -0.140561, - -0.120833, - -0.000135 + -0.14056600630283356, + -0.12083899974822998, + -0.00014200000441633165 + ], + "max": [ + 0.1500220000743866, + 0.12608499825000763, + 0.14287999272346497 ], "size": [ - 0.290578, - 0.246919, - 0.143006 - ] + 0.29058800637722015, + 0.2469239979982376, + 0.1430219927278813 + ], + "units": "m" }, "description": "A stainless-steel cooking pot with two fixed side handles and a removable lid. Simulation treats the thin metal vessel and handles as rigid welded parts, while the lid is a separate lift-off rigid body.", "name": "removable pot lid", "object_type": "rigid_bodies", - "total_mass": 1.75 + "total_mass": 1.7499999552965164, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00114", "parts": [ { "bounds": { - "center": [ - -0.00862, - 0.02107, - 0.116383 + "min": [ + -0.1185770034790039, + -0.08394099771976471, + 0.08990400284528732 ], "max": [ - 0.101342, - 0.126086, - 0.142871 + 0.10134399682283401, + 0.12608499825000763, + 0.14287999272346497 ], - "min": [ - -0.118582, - -0.083945, - 0.089896 - ] + "size": [ + 0.21992100030183792, + 0.21002599596977234, + 0.05297598987817764 + ], + "units": "m" }, "center_of_mass": [ -0.008733941491893516, @@ -100,25 +196,28 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 0.00012336042939096377 + "volume": 0.00012336042939096377, + "source_prim_path": "/World/textured_mesh_69f2029e59057a93105a6005/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.124177, - -0.015695, - 0.072993 + "min": [ + 0.09834499657154083, + -0.056276001036167145, + 0.05398700013756752 ], "max": [ - 0.150017, - 0.024896, - 0.091988 + 0.1500220000743866, + 0.024904999881982803, + 0.09195099771022797 ], - "min": [ - 0.098338, - -0.056286, - 0.053999 - ] + "size": [ + 0.051677003502845764, + 0.08118100091814995, + 0.037963997572660446 + ], + "units": "m" }, "center_of_mass": [ 0.12758326561249808, @@ -133,7 +232,7 @@ 7.435904957303971e-05, 0.00010892302729190066 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "polished_stainless_steel", "name": "right side handle", "physics_type": "rigid", @@ -141,25 +240,28 @@ "object_name": "part_1", "part_name": "part_1" }, - "volume": 1.0227744602378686e-05 + "volume": 1.0227744602378686e-05, + "source_prim_path": "/World/textured_mesh_69f2029e59057a93105a6005/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.114755, - -0.015642, - 0.073022 + "min": [ + -0.14056600630283356, + -0.056210000067949295, + 0.054016999900341034 ], "max": [ - -0.08895, - 0.024992, - 0.092031 + -0.08894699811935425, + 0.02498600073158741, + 0.09201300144195557 ], - "min": [ - -0.140561, - -0.056276, - 0.054012 - ] + "size": [ + 0.05161900818347931, + 0.0811960007995367, + 0.03799600154161453 + ], + "units": "m" }, "center_of_mass": [ -0.11794039425801034, @@ -174,7 +276,7 @@ 7.489283485597046e-05, 0.00010972705375292434 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "polished_stainless_steel", "name": "left side handle", "physics_type": "rigid", @@ -182,25 +284,28 @@ "object_name": "part_2", "part_name": "part_2" }, - "volume": 1.0314733347193674e-05 + "volume": 1.0314733347193674e-05, + "source_prim_path": "/World/textured_mesh_69f2029e59057a93105a6005/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.004411, - -0.011723, - 0.045966 + "min": [ + -0.10410299897193909, + -0.12083899974822998, + -0.00014200000441633165 ], "max": [ - 0.112905, - 0.097387, - 0.092067 + 0.11290600150823593, + 0.09738700091838837, + 0.09228099882602692 ], - "min": [ - -0.104083, - -0.120833, - -0.000135 - ] + "size": [ + 0.21700900048017502, + 0.21822600066661835, + 0.09242299883044325 + ], + "units": "m" }, "center_of_mass": [ 0.004438233361991293, @@ -215,7 +320,7 @@ 0.0036007719063388816, 0.005717361797480046 ], - "mass": 1.05, + "mass": 1.0499999523162842, "material": "brushed_stainless_steel", "name": "pot body", "physics_type": "rigid", @@ -223,10 +328,27 @@ "object_name": "part_3", "part_name": "part_3" }, - "volume": 0.0031452426847934298 + "volume": 0.0031452426847934298, + "source_prim_path": "/World/textured_mesh_69f2029e59057a93105a6005/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1efe6846121bd6fef76414f46226e76798a9d5f8650061221577b14cc61c7772" + }, + "usd_path": "batch12/D00114 Casserole Dish/IsaacSim_assets_69f2029e59057a93105a6005/IsaacSim_asset_69f2029e59057a93105a6005.usd", + "usd_sha256": "fca055a872ec0b080ba802ef167d53803e1465a4751859bc57690c66586a7881", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -242,25 +364,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.290578, - 0.246919, - 0.143006 - ] + 0.29058800637722015, + 0.2469239979982376, + 0.1430219927278813 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fca055a872ec0b080ba802ef167d53803e1465a4751859bc57690c66586a7881", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.75 + "value_kg": 1.7499999552965164, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fca055a872ec0b080ba802ef167d53803e1465a4751859bc57690c66586a7881", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.7499999552965164, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 128, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fca055a872ec0b080ba802ef167d53803e1465a4751859bc57690c66586a7881", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 128, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fca055a872ec0b080ba802ef167d53803e1465a4751859bc57690c66586a7881", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "fca055a872ec0b080ba802ef167d53803e1465a4751859bc57690c66586a7881", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:15:59.391141+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "17a48f1046623d4beded68c745c55ceff0c6a60be6ad484be7a5ff5291452661", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00171_Colander_Sauce/IsaacSim_assets_6a4bcbdda91d78f0f30016fd/physics_6a4bcbdda91d78f0f30016fd.json b/batch12/D00171_Colander_Sauce/IsaacSim_assets_6a4bcbdda91d78f0f30016fd/physics_6a4bcbdda91d78f0f30016fd.json index 6a2e0b1141ab582dc2cbeba5b2b6a527c7e7df8c..a0f47f01b4c53f40dce8a295139a2a054af63530 100644 --- a/batch12/D00171_Colander_Sauce/IsaacSim_assets_6a4bcbdda91d78f0f30016fd/physics_6a4bcbdda91d78f0f30016fd.json +++ b/batch12/D00171_Colander_Sauce/IsaacSim_assets_6a4bcbdda91d78f0f30016fd/physics_6a4bcbdda91d78f0f30016fd.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10873357, - 0.09530752, - 0.08297167 - ], "min": [ - -0.10899137, - 0.0, - -0.08341374 + -0.1090100035071373, + -0.08297199755907059, + -4.3000000005122274e-05 + ], + "max": [ + 0.10875199735164642, + 0.0834140032529831, + 0.0953499972820282 ], "size": [ - 0.21772494, - 0.09530752, - 0.16638541 - ] + 0.21776200085878372, + 0.16638600081205368, + 0.09539299728203332 + ], + "units": "m" }, "description": "A speckled light gray ceramic colander with symmetrical side handles and circular drainage holes.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.52 + "total_mass": 0.5199999809265137, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00171", "parts": [ { "bounds": { - "center": [ - -7.241430853103625e-05, - 0.04329845516012886, - -0.00012558389308462627 + "min": [ + -0.1090100035071373, + -0.08297199755907059, + -4.3000000005122274e-05 ], "max": [ - 0.10873357, - 0.09530752, - 0.08297167 + 0.10875199735164642, + 0.0834140032529831, + 0.0953499972820282 ], - "min": [ - -0.10899137, - 0.0, - -0.08341374 - ] + "size": [ + 0.21776200085878372, + 0.16638600081205368, + 0.09539299728203332 + ], + "units": "m" }, "center_of_mass": [ -7.707775135693921e-05, @@ -59,7 +65,7 @@ 0.0013671826885175047, 0.0017933412248785341 ], - "mass": 0.52, + "mass": 0.5199999809265137, "material": "ceramic", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.001899636873086365 + "volume": 0.001899636873086365, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "aae92c7080262d472d17fe890cb8044e1591f66950d886a8a2f28b3c92059f5b" + }, + "usd_path": "batch12/D00171_Colander_Sauce/IsaacSim_assets_6a4bcbdda91d78f0f30016fd/IsaacSim_asset_6a4bcbdda91d78f0f30016fd.usd", + "usd_sha256": "0bb0c8019cf94515e01b22fac4ecb3d2bb215875ac34ce10dddbca4a6c9e9e02", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.21772494, - 0.09530752, - 0.16638541 - ] + 0.21776200085878372, + 0.16638600081205368, + 0.09539299728203332 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0bb0c8019cf94515e01b22fac4ecb3d2bb215875ac34ce10dddbca4a6c9e9e02", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.52 + "value_kg": 0.5199999809265137, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0bb0c8019cf94515e01b22fac4ecb3d2bb215875ac34ce10dddbca4a6c9e9e02", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5199999809265137, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0bb0c8019cf94515e01b22fac4ecb3d2bb215875ac34ce10dddbca4a6c9e9e02", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0bb0c8019cf94515e01b22fac4ecb3d2bb215875ac34ce10dddbca4a6c9e9e02", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "0bb0c8019cf94515e01b22fac4ecb3d2bb215875ac34ce10dddbca4a6c9e9e02", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:46.233522+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "321b0c1673dce04c2ac73267ae3eee19b5ac43d80e42c9194293f2e3c916857c", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00183 Container Storage Jar/IsaacSim_assets_69f211c659057a93105b99dc/physics_69f211c659057a93105b99dc.json b/batch12/D00183 Container Storage Jar/IsaacSim_assets_69f211c659057a93105b99dc/physics_69f211c659057a93105b99dc.json index c9bcfff90c3dc6105a8d2d21bb78afc89ab55b69..f111f50d1d9310592c99fd4c221800528d687cb3 100644 --- a/batch12/D00183 Container Storage Jar/IsaacSim_assets_69f211c659057a93105b99dc/physics_69f211c659057a93105b99dc.json +++ b/batch12/D00183 Container Storage Jar/IsaacSim_assets_69f211c659057a93105b99dc/physics_69f211c659057a93105b99dc.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05603672, - 0.14869708, - 0.05670137 - ], "min": [ - -0.05504987, - 0.0, - -0.05615492 + -0.05503999814391136, + -0.056644000113010406, + 0.00012199999764561653 + ], + "max": [ + 0.056026000529527664, + 0.05609700083732605, + 0.14857499301433563 ], "size": [ - 0.11108659, - 0.14869708, - 0.11285629 - ] + 0.11106599867343903, + 0.11274100095033646, + 0.14845299301669002 + ], + "units": "m" }, "description": "A white cylindrical ceramic storage jar filled with rice. It features a circular wooden lid resting slightly open on top.", "name": "D00183 Container Storage Jar", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00183", "parts": [ { "bounds": { - "center": [ - 0.0005407365127445498, - 0.07228664989734257, - 0.0002803440535434795 + "min": [ + -0.05503999814391136, + -0.056644000113010406, + 0.00012199999764561653 ], "max": [ - 0.05603672, - 0.14869708, - 0.05670137 + 0.056026000529527664, + 0.05609700083732605, + 0.14857499301433563 ], - "min": [ - -0.05504987, - 0.0, - -0.05615492 - ] + "size": [ + 0.11106599867343903, + 0.11274100095033646, + 0.14845299301669002 + ], + "units": "m" }, "center_of_mass": [ 0.0006078754285258726, @@ -59,7 +65,7 @@ 0.0021000802425908656, 0.002125678926790889 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "ceramic", "name": "D00183 Container Storage Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00183 Container Storage Jar", "part_name": "D00183 Container Storage Jar" }, - "volume": 0.0016917267747998937 + "volume": 0.0016917267747998937, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "363f7025a34ca7e6220c31138eed5142a4e606f0112e4499a5d9c5723fe05dc6" + }, + "usd_path": "batch12/D00183 Container Storage Jar/IsaacSim_assets_69f211c659057a93105b99dc/IsaacSim_asset_69f211c659057a93105b99dc.usd", + "usd_sha256": "bf9246f471accecb4cbdaf69d8284329c5a7aeb12c1149241a8ffab3dff6182c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.11108659, - 0.14869708, - 0.11285629 - ] + 0.11106599867343903, + 0.11274100095033646, + 0.14845299301669002 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf9246f471accecb4cbdaf69d8284329c5a7aeb12c1149241a8ffab3dff6182c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf9246f471accecb4cbdaf69d8284329c5a7aeb12c1149241a8ffab3dff6182c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf9246f471accecb4cbdaf69d8284329c5a7aeb12c1149241a8ffab3dff6182c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf9246f471accecb4cbdaf69d8284329c5a7aeb12c1149241a8ffab3dff6182c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00190 Cookie/IsaacSim_assets_69f2231959057a93105c9ed6/physics_69f2231959057a93105c9ed6.json b/batch12/D00190 Cookie/IsaacSim_assets_69f2231959057a93105c9ed6/physics_69f2231959057a93105c9ed6.json index 31eccad678d4387418d4b9945f9ae394700a14b7..78adf2fce11b451da442e5d2b8b770a8ff5b6b81 100644 --- a/batch12/D00190 Cookie/IsaacSim_assets_69f2231959057a93105c9ed6/physics_69f2231959057a93105c9ed6.json +++ b/batch12/D00190 Cookie/IsaacSim_assets_69f2231959057a93105c9ed6/physics_69f2231959057a93105c9ed6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03861354, - 0.02135493, - 0.03726286 - ], "min": [ - -0.03666995, - 0.0, - -0.03759794 + -0.036816999316215515, + -0.037262000143527985, + 9.150458051699417e-19 + ], + "max": [ + 0.03876100108027458, + 0.03759700059890747, + 0.021354999393224716 ], "size": [ - 0.07528349000000001, - 0.02135493, - 0.0748608 - ] + 0.0755780003964901, + 0.07485900074243546, + 0.021354999393224716 + ], + "units": "m" }, "description": "A baked, round chocolate chip cookie with a textured, golden-brown surface and embedded dark chocolate chips.", "name": "D00190 Cookie", "object_type": "rigid_bodies", - "total_mass": 0.04 + "total_mass": 0.03999999910593033, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00190", "parts": [ { "bounds": { - "center": [ - 0.0007280097224884288, - 0.009435585433808505, - -9.760738130142358e-05 + "min": [ + -0.036816999316215515, + -0.037262000143527985, + 9.150458051699417e-19 ], "max": [ - 0.03861354, - 0.02135493, - 0.03726286 + 0.03876100108027458, + 0.03759700059890747, + 0.021354999393224716 ], - "min": [ - -0.03666995, - 0.0, - -0.03759794 - ] + "size": [ + 0.0755780003964901, + 0.07485900074243546, + 0.021354999393224716 + ], + "units": "m" }, "center_of_mass": [ 0.0008884404525783298, @@ -59,7 +65,7 @@ 1.4601507778433504e-05, 2.5427996134089077e-05 ], - "mass": 0.04, + "mass": 0.03999999910593033, "material": "baked_dough", "name": "D00190 Cookie", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00190 Cookie", "part_name": "D00190 Cookie" }, - "volume": 7.888718945907032e-05 + "volume": 7.888718945907032e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e3ecd56d74efa62fc8f60ba86f79eb4014ee497e01940a5dc4989d08d51bc65e" + }, + "usd_path": "batch12/D00190 Cookie/IsaacSim_assets_69f2231959057a93105c9ed6/IsaacSim_asset_69f2231959057a93105c9ed6.usd", + "usd_sha256": "f1b87742ab4615db6d2099cb7612a19ea3851edfadf4f39eec519eceb7957101", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.07528349000000001, - 0.02135493, - 0.0748608 - ] + 0.0755780003964901, + 0.07485900074243546, + 0.021354999393224716 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f1b87742ab4615db6d2099cb7612a19ea3851edfadf4f39eec519eceb7957101", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.04 + "value_kg": 0.03999999910593033, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f1b87742ab4615db6d2099cb7612a19ea3851edfadf4f39eec519eceb7957101", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.03999999910593033, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 256, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f1b87742ab4615db6d2099cb7612a19ea3851edfadf4f39eec519eceb7957101", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 256, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f1b87742ab4615db6d2099cb7612a19ea3851edfadf4f39eec519eceb7957101", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "f1b87742ab4615db6d2099cb7612a19ea3851edfadf4f39eec519eceb7957101", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:06.284500+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "9f8eb45ffd2073093a8e69cf8b55632aeaa96fadb2fd9d6f8f9214b0df97cd91", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00204 Cooking Utensil/IsaacSim_assets_69f2262959057a93105cf037/physics_69f2262959057a93105cf037.json b/batch12/D00204 Cooking Utensil/IsaacSim_assets_69f2262959057a93105cf037/physics_69f2262959057a93105cf037.json index e2e3e4b9261d9e75f0394a32934499048c9f7505..ac779846386c065195f31986c4c0b78fed4d26bb 100644 --- a/batch12/D00204 Cooking Utensil/IsaacSim_assets_69f2262959057a93105cf037/physics_69f2262959057a93105cf037.json +++ b/batch12/D00204 Cooking Utensil/IsaacSim_assets_69f2262959057a93105cf037/physics_69f2262959057a93105cf037.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.20892404, - 0.03892832, - 0.04962441 - ], "min": [ - -0.14314552, - 0.0, - -0.04984052 + -0.14315000176429749, + -0.04962100088596344, + -9.999999747378752e-06 + ], + "max": [ + 0.20892800390720367, + 0.04983700066804886, + 0.0389380007982254 ], "size": [ - 0.35206956, - 0.03892832, - 0.09946493000000001 - ] + 0.35207800567150116, + 0.0994580015540123, + 0.03894800079797278 + ], + "units": "m" }, "description": "A cooking spatula with a slotted brushed stainless steel blade and a dark wooden handle secured by two metal rivets.", "name": "D00204 Cooking Utensil", "object_type": "rigid_bodies", - "total_mass": 0.18 + "total_mass": 0.18000000715255737, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00204", "parts": [ { "bounds": { - "center": [ - -0.0008161313969284645, - 0.01616724754064693, - -0.00011489399649502091 + "min": [ + -0.14315000176429749, + -0.04962100088596344, + -9.999999747378752e-06 ], "max": [ - 0.20892404, - 0.03892832, - 0.04962441 + 0.20892800390720367, + 0.04983700066804886, + 0.0389380007982254 ], - "min": [ - -0.14314552, - 0.0, - -0.04984052 - ] + "size": [ + 0.35207800567150116, + 0.0994580015540123, + 0.03894800079797278 + ], + "units": "m" }, "center_of_mass": [ 0.021635620079662448, @@ -59,7 +65,7 @@ 0.0012659579114103988, 0.0013330882578514974 ], - "mass": 0.18, + "mass": 0.18000000715255737, "material": "stainless_steel", "name": "D00204 Cooking Utensil", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00204 Cooking Utensil", "part_name": "D00204 Cooking Utensil" }, - "volume": 0.00048565662824673117 + "volume": 0.00048565662824673117, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ea0f3a03f987321147840241a5f4a51a9596b75cf874a0be509aa565a3d1f9b8" + }, + "usd_path": "batch12/D00204 Cooking Utensil/IsaacSim_assets_69f2262959057a93105cf037/IsaacSim_asset_69f2262959057a93105cf037.usd", + "usd_sha256": "8cb7c284aef96d0aa65936b0b1250f8230caa26b9023a559a1077978b5fbb1c1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.35206956, - 0.03892832, - 0.09946493000000001 - ] + 0.35207800567150116, + 0.0994580015540123, + 0.03894800079797278 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8cb7c284aef96d0aa65936b0b1250f8230caa26b9023a559a1077978b5fbb1c1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.18 + "value_kg": 0.18000000715255737, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8cb7c284aef96d0aa65936b0b1250f8230caa26b9023a559a1077978b5fbb1c1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.18000000715255737, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8cb7c284aef96d0aa65936b0b1250f8230caa26b9023a559a1077978b5fbb1c1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8cb7c284aef96d0aa65936b0b1250f8230caa26b9023a559a1077978b5fbb1c1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "8cb7c284aef96d0aa65936b0b1250f8230caa26b9023a559a1077978b5fbb1c1", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:07.286350+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "8e18dc852f660d31ef3217873427665581d5aaf49f36875a481a891739320770", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00209 Cookware Spoon Holder/IsaacSim_assets_69f2265859057a93105cf592/physics_69f2265859057a93105cf592.json b/batch12/D00209 Cookware Spoon Holder/IsaacSim_assets_69f2265859057a93105cf592/physics_69f2265859057a93105cf592.json index a1c6bb50c67a9f29af7af97a0ec825f9c7f417b2..201bd9820b15ecdf9c261edaffeade8a9de2e6f0 100644 --- a/batch12/D00209 Cookware Spoon Holder/IsaacSim_assets_69f2265859057a93105cf592/physics_69f2265859057a93105cf592.json +++ b/batch12/D00209 Cookware Spoon Holder/IsaacSim_assets_69f2265859057a93105cf592/physics_69f2265859057a93105cf592.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09384725, - 0.02906228, - 0.05946321 - ], "min": [ - -0.07523305, - 0.0, - -0.05917723 + -0.0752279981970787, + -0.059466999024152756, + -6.000000212225132e-06 + ], + "max": [ + 0.0938429981470108, + 0.05918100103735924, + 0.029068000614643097 ], "size": [ - 0.1690803, - 0.02906228, - 0.11864044 - ] + 0.1690709963440895, + 0.118648000061512, + 0.029074000614855322 + ], + "units": "m" }, "description": "A brushed stainless steel spoon rest with a shallow oval bowl and a raised, curved handle.", "name": "D00209 Cookware Spoon Holder", "object_type": "rigid_bodies", - "total_mass": 0.393 + "total_mass": 0.3930000066757202, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00209", "parts": [ { "bounds": { - "center": [ - -0.0009340510115139052, - 0.011855875340587138, - -9.33138097072234e-05 + "min": [ + -0.0752279981970787, + -0.059466999024152756, + -6.000000212225132e-06 ], "max": [ - 0.09384725, - 0.02906228, - 0.05946321 + 0.0938429981470108, + 0.05918100103735924, + 0.029068000614643097 ], - "min": [ - -0.07523305, - 0.0, - -0.05917723 - ] + "size": [ + 0.1690709963440895, + 0.118648000061512, + 0.029074000614855322 + ], + "units": "m" }, "center_of_mass": [ 0.006934255815501663, @@ -59,7 +65,7 @@ 0.0006785950024978016, 0.0009118916526930867 ], - "mass": 0.393, + "mass": 0.3930000066757202, "material": "stainless_steel", "name": "D00209 Cookware Spoon Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00209 Cookware Spoon Holder", "part_name": "D00209 Cookware Spoon Holder" }, - "volume": 0.0003139743223345456 + "volume": 0.0003139743223345456, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a6c1332e8d8315f18b6335a3a6ebc576261577083e2eca80e5aaf3be3196e187" + }, + "usd_path": "batch12/D00209 Cookware Spoon Holder/IsaacSim_assets_69f2265859057a93105cf592/IsaacSim_asset_69f2265859057a93105cf592.usd", + "usd_sha256": "05b2a19714266985a28ce23f5e05239a99b85784dbff4680234211e7741bc9de", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1690803, - 0.02906228, - 0.11864044 - ] + 0.1690709963440895, + 0.118648000061512, + 0.029074000614855322 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05b2a19714266985a28ce23f5e05239a99b85784dbff4680234211e7741bc9de", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.393 + "value_kg": 0.3930000066757202, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05b2a19714266985a28ce23f5e05239a99b85784dbff4680234211e7741bc9de", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3930000066757202, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 84, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05b2a19714266985a28ce23f5e05239a99b85784dbff4680234211e7741bc9de", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 84, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05b2a19714266985a28ce23f5e05239a99b85784dbff4680234211e7741bc9de", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "05b2a19714266985a28ce23f5e05239a99b85784dbff4680234211e7741bc9de", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:07.765180+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "391c576ea621dfe96bdfcdf1419f291b43b6039d06322cfffda05cc3a9cab768", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00219 Croissant/IsaacSim_assets_69f228ea59057a93105d3bb7/physics_69f228ea59057a93105d3bb7.json b/batch12/D00219 Croissant/IsaacSim_assets_69f228ea59057a93105d3bb7/physics_69f228ea59057a93105d3bb7.json index e52338fbd1dffdb87f3902fe14617023ef2f8dc9..2b58e6f60163958845b61c6c36d6ca969f503241 100644 --- a/batch12/D00219 Croissant/IsaacSim_assets_69f228ea59057a93105d3bb7/physics_69f228ea59057a93105d3bb7.json +++ b/batch12/D00219 Croissant/IsaacSim_assets_69f228ea59057a93105d3bb7/physics_69f228ea59057a93105d3bb7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03749103, - 0.04363294, - 0.06045488 - ], "min": [ - -0.03472889, - 0.0, - -0.07309856 + -0.03476300090551376, + -0.0604499988257885, + -9.999999747378752e-06 + ], + "max": [ + 0.0375249981880188, + 0.07309400290250778, + 0.04364300146698952 ], "size": [ - 0.07221991999999999, - 0.04363294, - 0.13355344000000002 - ] + 0.07228799909353256, + 0.13354400172829628, + 0.043653001466736896 + ], + "units": "m" }, "description": "A golden-brown baked croissant with flaky, textured layers and a crescent shape.", "name": "D00219 Croissant", "object_type": "rigid_bodies", - "total_mass": 0.06 + "total_mass": 0.05999999865889549, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00219", "parts": [ { "bounds": { - "center": [ - 0.0018789545699430805, - 0.014775343727768236, - -0.00466645465171116 + "min": [ + -0.03476300090551376, + -0.0604499988257885, + -9.999999747378752e-06 ], "max": [ - 0.03749103, - 0.04363294, - 0.06045488 + 0.0375249981880188, + 0.07309400290250778, + 0.04364300146698952 ], - "min": [ - -0.03472889, - 0.0, - -0.07309856 - ] + "size": [ + 0.07228799909353256, + 0.13354400172829628, + 0.043653001466736896 + ], + "units": "m" }, "center_of_mass": [ 0.001953484263002111, @@ -59,7 +65,7 @@ 5.647349822006921e-05, 6.461311202990472e-05 ], - "mass": 0.06, + "mass": 0.05999999865889549, "material": "baked_pastry", "name": "D00219 Croissant", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00219 Croissant", "part_name": "D00219 Croissant" }, - "volume": 0.00018904152327824507 + "volume": 0.00018904152327824507, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "49d2ac3dbc2fa9d5308ccc7353dffef6039b0b202745a70fc862d1d48615c42f" + }, + "usd_path": "batch12/D00219 Croissant/IsaacSim_assets_69f228ea59057a93105d3bb7/IsaacSim_asset_69f228ea59057a93105d3bb7.usd", + "usd_sha256": "b4ad2a7e7421096a2f02bf5178d38cd04eefcb7352f4a96301e33eb894574874", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.07221991999999999, - 0.04363294, - 0.13355344000000002 - ] + 0.07228799909353256, + 0.13354400172829628, + 0.043653001466736896 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b4ad2a7e7421096a2f02bf5178d38cd04eefcb7352f4a96301e33eb894574874", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.06 + "value_kg": 0.05999999865889549, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b4ad2a7e7421096a2f02bf5178d38cd04eefcb7352f4a96301e33eb894574874", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05999999865889549, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b4ad2a7e7421096a2f02bf5178d38cd04eefcb7352f4a96301e33eb894574874", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b4ad2a7e7421096a2f02bf5178d38cd04eefcb7352f4a96301e33eb894574874", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00226_Cup_Can/IsaacSim_assets_6a44edf43c18d617d715dab5/physics_6a44edf43c18d617d715dab5.json b/batch12/D00226_Cup_Can/IsaacSim_assets_6a44edf43c18d617d715dab5/physics_6a44edf43c18d617d715dab5.json index dac3d7f753ee71f1c7a8f11e66c214c281532eec..e7addd6b5fbacb85c166ec6c9b09cd76e0de15a0 100644 --- a/batch12/D00226_Cup_Can/IsaacSim_assets_6a44edf43c18d617d715dab5/physics_6a44edf43c18d617d715dab5.json +++ b/batch12/D00226_Cup_Can/IsaacSim_assets_6a44edf43c18d617d715dab5/physics_6a44edf43c18d617d715dab5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03482124, - 0.11260946, - 0.03469426 - ], "min": [ - -0.03480459, - 0.0, - -0.03493251 + -0.03477500006556511, + -0.03476300090551376, + -2.8000000384054147e-05 + ], + "max": [ + 0.03479199856519699, + 0.0350009985268116, + 0.11263799667358398 ], "size": [ - 0.06962583, - 0.11260946, - 0.06962677 - ] + 0.0695669986307621, + 0.06976399943232536, + 0.11266599667396804 + ], + "units": "m" }, "description": "A cylindrical, can-shaped container with a glossy dark blue ceramic body and a silver metallic rim.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00226", "parts": [ { "bounds": { - "center": [ - 2.3470116927308138e-05, - 0.05253223190351518, - -0.00010966862442927875 + "min": [ + -0.03477500006556511, + -0.03476300090551376, + -2.8000000384054147e-05 ], "max": [ - 0.03482124, - 0.11260946, - 0.03469426 + 0.03479199856519699, + 0.0350009985268116, + 0.11263799667358398 ], - "min": [ - -0.03480459, - 0.0, - -0.03493251 - ] + "size": [ + 0.0695669986307621, + 0.06976399943232536, + 0.11266599667396804 + ], + "units": "m" }, "center_of_mass": [ -7.94501293058886e-06, @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0001172013069191018 + "volume": 0.0001172013069191018, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0658b5ed42f26678b7f4aeaa252dbc3bc71910eac507edca918a13d990874d3f" + }, + "usd_path": "batch12/D00226_Cup_Can/IsaacSim_assets_6a44edf43c18d617d715dab5/IsaacSim_asset_6a44edf43c18d617d715dab5.usd", + "usd_sha256": "1f626cffaeff7c9a5c0a27ebd72e11b86ec5bac3a5eff698ead92e19d87146b9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.06962583, - 0.11260946, - 0.06962677 - ] + 0.0695669986307621, + 0.06976399943232536, + 0.11266599667396804 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1f626cffaeff7c9a5c0a27ebd72e11b86ec5bac3a5eff698ead92e19d87146b9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1f626cffaeff7c9a5c0a27ebd72e11b86ec5bac3a5eff698ead92e19d87146b9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 157, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1f626cffaeff7c9a5c0a27ebd72e11b86ec5bac3a5eff698ead92e19d87146b9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 157, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1f626cffaeff7c9a5c0a27ebd72e11b86ec5bac3a5eff698ead92e19d87146b9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00227_Cup_Cookie/IsaacSim_assets_6a44efbf3c18d617d7174d87/physics_6a44efbf3c18d617d7174d87.json b/batch12/D00227_Cup_Cookie/IsaacSim_assets_6a44efbf3c18d617d7174d87/physics_6a44efbf3c18d617d7174d87.json index 2221b5b6458dbde7c2422879c4bc8714d242ba20..31b9b8bd6ec13997ae9bd79ddac7753c1d70debb 100644 --- a/batch12/D00227_Cup_Cookie/IsaacSim_assets_6a44efbf3c18d617d7174d87/physics_6a44efbf3c18d617d7174d87.json +++ b/batch12/D00227_Cup_Cookie/IsaacSim_assets_6a44efbf3c18d617d7174d87/physics_6a44efbf3c18d617d7174d87.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.01942991, - 0.02398946, - 0.01941128 - ], "min": [ - -0.01942176, - 0.0, - -0.01943832 + -0.019426999613642693, + -0.019425999373197556, + -1.5999999959603883e-05 + ], + "max": [ + 0.01943499967455864, + 0.019453000277280807, + 0.024004999548196793 ], "size": [ - 0.038851670000000005, - 0.02398946, - 0.0388496 - ] + 0.03886199928820133, + 0.03887899965047836, + 0.024020999548156396 + ], + "units": "m" }, "description": "A cup-shaped cookie with a baked, textured golden-brown surface, featuring a flat base and a hollow cylindrical cavity.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.02 + "total_mass": 0.019999999552965164, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00227", "parts": [ { "bounds": { - "center": [ - -1.2653549350167612e-05, - 0.012044337703991617, - 1.12703533036714e-05 + "min": [ + -0.019426999613642693, + -0.019425999373197556, + -1.5999999959603883e-05 ], "max": [ - 0.01942991, - 0.02398946, - 0.01941128 + 0.01943499967455864, + 0.019453000277280807, + 0.024004999548196793 ], - "min": [ - -0.01942176, - 0.0, - -0.01943832 - ] + "size": [ + 0.03886199928820133, + 0.03887899965047836, + 0.024020999548156396 + ], + "units": "m" }, "center_of_mass": [ -0.00015225027955944345, @@ -59,7 +65,7 @@ 3.1571818691384605e-06, 4.193050552384399e-06 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "baked_dough", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 1.0908423779754155e-05 + "volume": 1.0908423779754155e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "92f82ff53c520bce6dae07c7aff20bb1631398ded4d48d08c45130ed3ae71aff" + }, + "usd_path": "batch12/D00227_Cup_Cookie/IsaacSim_assets_6a44efbf3c18d617d7174d87/IsaacSim_asset_6a44efbf3c18d617d7174d87.usd", + "usd_sha256": "b45384130b5fde1942bfa4bffb60e9795e1b520e3eb137084b1cec081d016152", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.038851670000000005, - 0.02398946, - 0.0388496 - ] + 0.03886199928820133, + 0.03887899965047836, + 0.024020999548156396 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b45384130b5fde1942bfa4bffb60e9795e1b520e3eb137084b1cec081d016152", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.02 + "value_kg": 0.019999999552965164, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b45384130b5fde1942bfa4bffb60e9795e1b520e3eb137084b1cec081d016152", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.019999999552965164, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 28, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b45384130b5fde1942bfa4bffb60e9795e1b520e3eb137084b1cec081d016152", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 28, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b45384130b5fde1942bfa4bffb60e9795e1b520e3eb137084b1cec081d016152", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00233 Cup Mug/IsaacSim_assets_69f22cbb59057a93105d9ef2/physics_69f22cbb59057a93105d9ef2.json b/batch12/D00233 Cup Mug/IsaacSim_assets_69f22cbb59057a93105d9ef2/physics_69f22cbb59057a93105d9ef2.json index dbaf02bd8eaf3702faa60d047d12544cf76019c0..08f3f62017444db003f34ec65ab30f874c3bb47f 100644 --- a/batch12/D00233 Cup Mug/IsaacSim_assets_69f22cbb59057a93105d9ef2/physics_69f22cbb59057a93105d9ef2.json +++ b/batch12/D00233 Cup Mug/IsaacSim_assets_69f22cbb59057a93105d9ef2/physics_69f22cbb59057a93105d9ef2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06064724, - 0.07995098, - 0.03510453 - ], "min": [ - -0.04054914, - 0.0, - -0.03531775 + -0.04066000133752823, + -0.035158999264240265, + -1.700000029813964e-05 + ], + "max": [ + 0.06075799837708473, + 0.03537200018763542, + 0.07996799796819687 ], "size": [ - 0.10119638, - 0.07995098, - 0.07042228 - ] + 0.10141799971461296, + 0.07053099945187569, + 0.07998499796849501 + ], + "units": "m" }, "description": "A matte white ceramic coffee mug with a cylindrical body and a curved side handle.", "name": "D00233 Cup Mug", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.3499999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00233", "parts": [ { "bounds": { - "center": [ - -0.0024374345697276596, - 0.036570249606597556, - -1.2592301702665101e-05 + "min": [ + -0.04066000133752823, + -0.035158999264240265, + -1.700000029813964e-05 ], "max": [ - 0.06064724, - 0.07995098, - 0.03510453 + 0.06075799837708473, + 0.03537200018763542, + 0.07996799796819687 ], - "min": [ - -0.04054914, - 0.0, - -0.03531775 - ] + "size": [ + 0.10141799971461296, + 0.07053099945187569, + 0.07998499796849501 + ], + "units": "m" }, "center_of_mass": [ -0.0029476276709764853, @@ -59,7 +65,7 @@ 0.00038080190039018315, 0.0004157881763840973 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "ceramic", "name": "D00233 Cup Mug", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00233 Cup Mug", "part_name": "D00233 Cup Mug" }, - "volume": 9.86235403455003e-05 + "volume": 9.86235403455003e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3ce2649a753027d95b13cb5f7f7fa0d9904ffe778b45b96f22e00042bee439a3" + }, + "usd_path": "batch12/D00233 Cup Mug/IsaacSim_assets_69f22cbb59057a93105d9ef2/IsaacSim_asset_69f22cbb59057a93105d9ef2.usd", + "usd_sha256": "5ee125d3c514b010fcd7c033e586a455018d177e5a55eef8db552aa076eead55", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.10119638, - 0.07995098, - 0.07042228 - ] + 0.10141799971461296, + 0.07053099945187569, + 0.07998499796849501 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ee125d3c514b010fcd7c033e586a455018d177e5a55eef8db552aa076eead55", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.3499999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ee125d3c514b010fcd7c033e586a455018d177e5a55eef8db552aa076eead55", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3499999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 41, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ee125d3c514b010fcd7c033e586a455018d177e5a55eef8db552aa076eead55", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 41, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ee125d3c514b010fcd7c033e586a455018d177e5a55eef8db552aa076eead55", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "5ee125d3c514b010fcd7c033e586a455018d177e5a55eef8db552aa076eead55", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:03.118904+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "699957fb3a7a34404d312d9e25ce8aafd6adccf998aa55b7e22290812089a49d", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00237 Cup Salt Shaker/IsaacSim_assets_69f22e2859057a93105dc6d5/physics_69f22e2859057a93105dc6d5.json b/batch12/D00237 Cup Salt Shaker/IsaacSim_assets_69f22e2859057a93105dc6d5/physics_69f22e2859057a93105dc6d5.json index 268bb8fd3511dfaf74f77500e4cd7782590b4d81..783844f6a8d34e29b3816707626b9167a963ea04 100644 --- a/batch12/D00237 Cup Salt Shaker/IsaacSim_assets_69f22e2859057a93105dc6d5/physics_69f22e2859057a93105dc6d5.json +++ b/batch12/D00237 Cup Salt Shaker/IsaacSim_assets_69f22e2859057a93105dc6d5/physics_69f22e2859057a93105dc6d5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03063613, - 0.06966748, - 0.02628501 - ], "min": [ - -0.02750488, - 0.0, - -0.02655306 + -0.02750599943101406, + -0.026288999244570732, + 9.999999974752427e-07 + ], + "max": [ + 0.030636999756097794, + 0.02655700035393238, + 0.06966699659824371 ], "size": [ - 0.05814101, - 0.06966748, - 0.05283807 - ] + 0.058142999187111855, + 0.05284599959850311, + 0.06966599659824624 + ], + "units": "m" }, "description": "A cylindrical brushed stainless steel shaker with a flat wooden lid featuring dispensing holes and a small protruding tab.", "name": "D00237 Cup Salt Shaker", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00237", "parts": [ { "bounds": { - "center": [ - -0.00026349166700467743, - 0.038969674211592975, - -0.00011233140628470367 + "min": [ + -0.02750599943101406, + -0.026288999244570732, + 9.999999974752427e-07 ], "max": [ - 0.03063613, - 0.06966748, - 0.02628501 + 0.030636999756097794, + 0.02655700035393238, + 0.06966699659824371 ], - "min": [ - -0.02750488, - 0.0, - -0.02655306 - ] + "size": [ + 0.058142999187111855, + 0.05284599959850311, + 0.06966599659824624 + ], + "units": "m" }, "center_of_mass": [ -0.00025381105774035796, @@ -59,7 +65,7 @@ 2.4533927413502287e-05, 2.5306899832589874e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "stainless_steel", "name": "D00237 Cup Salt Shaker", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00237 Cup Salt Shaker", "part_name": "D00237 Cup Salt Shaker" }, - "volume": 0.0001144859603651084 + "volume": 0.0001144859603651084, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ff3966ccd5921fd0ea802a1ad9be837f232ee1f517e3627d385568672f368a9b" + }, + "usd_path": "batch12/D00237 Cup Salt Shaker/IsaacSim_assets_69f22e2859057a93105dc6d5/IsaacSim_asset_69f22e2859057a93105dc6d5.usd", + "usd_sha256": "61dc29081f3c58d4e91a8b142b4cd8f2be1fe64bd88f3cd85af00adb0a39c130", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.05814101, - 0.06966748, - 0.05283807 - ] + 0.058142999187111855, + 0.05284599959850311, + 0.06966599659824624 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "61dc29081f3c58d4e91a8b142b4cd8f2be1fe64bd88f3cd85af00adb0a39c130", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "61dc29081f3c58d4e91a8b142b4cd8f2be1fe64bd88f3cd85af00adb0a39c130", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "61dc29081f3c58d4e91a8b142b4cd8f2be1fe64bd88f3cd85af00adb0a39c130", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "61dc29081f3c58d4e91a8b142b4cd8f2be1fe64bd88f3cd85af00adb0a39c130", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "61dc29081f3c58d4e91a8b142b4cd8f2be1fe64bd88f3cd85af00adb0a39c130", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:03.349407+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "9750f4414c5257c3d3ba6e211acae0ce5c271c612bec03a9042af724a52efc45", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00239 Cup Strainer/IsaacSim_assets_69f22e9959057a93105dd58d/physics_69f22e9959057a93105dd58d.json b/batch12/D00239 Cup Strainer/IsaacSim_assets_69f22e9959057a93105dd58d/physics_69f22e9959057a93105dd58d.json index 39d3edab87aa7c320229608ac39a28c3700889b8..28df1627a60282a5c75689eaedb3b0e5fee51120 100644 --- a/batch12/D00239 Cup Strainer/IsaacSim_assets_69f22e9959057a93105dd58d/physics_69f22e9959057a93105dd58d.json +++ b/batch12/D00239 Cup Strainer/IsaacSim_assets_69f22e9959057a93105dd58d/physics_69f22e9959057a93105dd58d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0592239, - 0.05300585, - 0.0494387 - ], "min": [ - -0.05833774, - 0.0, - -0.050031 + -0.05835900083184242, + -0.04947099834680557, + -9.000000318337698e-06 + ], + "max": [ + 0.05924500152468681, + 0.05006299912929535, + 0.05301399901509285 ], "size": [ - 0.11756164, - 0.05300585, - 0.0994697 - ] + 0.11760400235652924, + 0.09953399747610092, + 0.05302299901541119 + ], + "units": "m" }, "description": "A white ceramic cup strainer with a circular bowl, patterned perforation holes, and two curved side handles.", "name": "D00239 Cup Strainer", "object_type": "rigid_bodies", - "total_mass": 0.086 + "total_mass": 0.0860000029206276, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00239", "parts": [ { "bounds": { - "center": [ - 0.0002050320573815803, - 0.028442252664630997, - 1.7094769282655907e-05 + "min": [ + -0.05835900083184242, + -0.04947099834680557, + -9.000000318337698e-06 ], "max": [ - 0.0592239, - 0.05300585, - 0.0494387 + 0.05924500152468681, + 0.05006299912929535, + 0.05301399901509285 ], - "min": [ - -0.05833774, - 0.0, - -0.050031 - ] + "size": [ + 0.11760400235652924, + 0.09953399747610092, + 0.05302299901541119 + ], + "units": "m" }, "center_of_mass": [ 0.0002985539789157071, @@ -59,7 +65,7 @@ 6.656150191790158e-05, 8.651454939552334e-05 ], - "mass": 0.086, + "mass": 0.0860000029206276, "material": "ceramic", "name": "D00239 Cup Strainer", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00239 Cup Strainer", "part_name": "D00239 Cup Strainer" }, - "volume": 0.00030683644521509315 + "volume": 0.00030683644521509315, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "623918003228ccd04c720e03558db6d4421a15c0d18be65ae6a8dd6acf8e23c0" + }, + "usd_path": "batch12/D00239 Cup Strainer/IsaacSim_assets_69f22e9959057a93105dd58d/IsaacSim_asset_69f22e9959057a93105dd58d.usd", + "usd_sha256": "9e8191ea2b8f7385699035c7aba89b73852a96f120edbdc3308655daf0d645b0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.11756164, - 0.05300585, - 0.0994697 - ] + 0.11760400235652924, + 0.09953399747610092, + 0.05302299901541119 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e8191ea2b8f7385699035c7aba89b73852a96f120edbdc3308655daf0d645b0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.086 + "value_kg": 0.0860000029206276, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e8191ea2b8f7385699035c7aba89b73852a96f120edbdc3308655daf0d645b0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0860000029206276, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 255, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e8191ea2b8f7385699035c7aba89b73852a96f120edbdc3308655daf0d645b0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 255, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e8191ea2b8f7385699035c7aba89b73852a96f120edbdc3308655daf0d645b0", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00242 Cupcake/IsaacSim_assets_69f22f0959057a93105de64f/physics_69f22f0959057a93105de64f.json b/batch12/D00242 Cupcake/IsaacSim_assets_69f22f0959057a93105de64f/physics_69f22f0959057a93105de64f.json index 26fe0b5c945fd68cb6a235262888ad2ef449c94f..9eea847915f2e271d481ab5d94083e4d8262ac3f 100644 --- a/batch12/D00242 Cupcake/IsaacSim_assets_69f22f0959057a93105de64f/physics_69f22f0959057a93105de64f.json +++ b/batch12/D00242 Cupcake/IsaacSim_assets_69f22f0959057a93105de64f/physics_69f22f0959057a93105de64f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03070699, - 0.07329374, - 0.03072125 - ], "min": [ - -0.03180015, - 0.0, - -0.03136416 + -0.03179499879479408, + -0.030719000846147537, + 1.9999999949504854e-06 + ], + "max": [ + 0.030702000483870506, + 0.03136200085282326, + 0.07329200208187103 ], "size": [ - 0.06250714, - 0.07329374, - 0.06208541 - ] + 0.06249699927866459, + 0.062081001698970795, + 0.07329000208187608 + ], + "units": "m" }, "description": "A realistic cupcake with swirled white frosting and colorful sprinkles, enclosed in a ribbed paper-style liner.", "name": "D00242 Cupcake", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00242", "parts": [ { "bounds": { - "center": [ - -0.00021695655134431092, - 0.03474279914778438, - -0.00021288268607281774 + "min": [ + -0.03179499879479408, + -0.030719000846147537, + 1.9999999949504854e-06 ], "max": [ - 0.03070699, - 0.07329374, - 0.03072125 + 0.030702000483870506, + 0.03136200085282326, + 0.07329200208187103 ], - "min": [ - -0.03180015, - 0.0, - -0.03136416 - ] + "size": [ + 0.06249699927866459, + 0.062081001698970795, + 0.07329000208187608 + ], + "units": "m" }, "center_of_mass": [ -0.0004374695273954679, @@ -59,7 +65,7 @@ 7.525964998303218e-05, 7.572124860263945e-05 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "silicone", "name": "D00242 Cupcake", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00242 Cupcake", "part_name": "D00242 Cupcake" }, - "volume": 0.00015545815277653172 + "volume": 0.00015545815277653172, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4bf188660e087aaf9612d3f9556d2feba5153913294ef077bf1951320d74383d" + }, + "usd_path": "batch12/D00242 Cupcake/IsaacSim_assets_69f22f0959057a93105de64f/IsaacSim_asset_69f22f0959057a93105de64f.usd", + "usd_sha256": "51f1c2dfe8f0baf9d39fdfd7bf1238fa6539cb40ce6da139fe8bfa476418ad68", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.06250714, - 0.07329374, - 0.06208541 - ] + 0.06249699927866459, + 0.062081001698970795, + 0.07329000208187608 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "51f1c2dfe8f0baf9d39fdfd7bf1238fa6539cb40ce6da139fe8bfa476418ad68", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "51f1c2dfe8f0baf9d39fdfd7bf1238fa6539cb40ce6da139fe8bfa476418ad68", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 256, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "51f1c2dfe8f0baf9d39fdfd7bf1238fa6539cb40ce6da139fe8bfa476418ad68", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 256, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "51f1c2dfe8f0baf9d39fdfd7bf1238fa6539cb40ce6da139fe8bfa476418ad68", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "51f1c2dfe8f0baf9d39fdfd7bf1238fa6539cb40ce6da139fe8bfa476418ad68", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:09.880603+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "93c3d45a9cfe505af61c0ec320d08e298beb2a17fe15b40a63a823f06ce947bf", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00260 Decorative Bowl/IsaacSim_assets_69f2347e59057a93105e93d2/physics_69f2347e59057a93105e93d2.json b/batch12/D00260 Decorative Bowl/IsaacSim_assets_69f2347e59057a93105e93d2/physics_69f2347e59057a93105e93d2.json index d076f6722da38b439d6963113323b7efc2263433..3a3beef8c5496ddde6b6b954960af1fc026e4885 100644 --- a/batch12/D00260 Decorative Bowl/IsaacSim_assets_69f2347e59057a93105e93d2/physics_69f2347e59057a93105e93d2.json +++ b/batch12/D00260 Decorative Bowl/IsaacSim_assets_69f2347e59057a93105e93d2/physics_69f2347e59057a93105e93d2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14020103, - 0.1227495, - 0.14005283 - ], "min": [ - -0.14006709, - 0.0, - -0.14005232 + -0.14014700055122375, + -0.1400900036096573, + -7.500000356230885e-05 + ], + "max": [ + 0.14028100669384003, + 0.1400890052318573, + 0.12282399833202362 ], "size": [ - 0.28026812, - 0.1227495, - 0.28010515 - ] + 0.2804280072450638, + 0.2801790088415146, + 0.12289899833558593 + ], + "units": "m" }, "description": "A white ceramic decorative bowl featuring intricate grey geometric patterns and gold trim along the rim and base.", "name": "D00260 Decorative Bowl", "object_type": "rigid_bodies", - "total_mass": 1.32 + "total_mass": 1.3200000524520874, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00260", "parts": [ { "bounds": { - "center": [ - 6.0143277113144995e-05, - 0.059442264986858354, - -1.6460741147130377e-05 + "min": [ + -0.14014700055122375, + -0.1400900036096573, + -7.500000356230885e-05 ], "max": [ - 0.14020103, - 0.1227495, - 0.14005283 + 0.14028100669384003, + 0.1400890052318573, + 0.12282399833202362 ], - "min": [ - -0.14006709, - 0.0, - -0.14005232 - ] + "size": [ + 0.2804280072450638, + 0.2801790088415146, + 0.12289899833558593 + ], + "units": "m" }, "center_of_mass": [ 3.5467218984746106e-05, @@ -59,7 +65,7 @@ 0.009068239190806274, 0.014755279011733338 ], - "mass": 1.32, + "mass": 1.3200000524520874, "material": "ceramic", "name": "D00260 Decorative Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00260 Decorative Bowl", "part_name": "D00260 Decorative Bowl" }, - "volume": 0.0008150546839720735 + "volume": 0.0008150546839720735, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6dde372a023752f96f35a6b197dfd1402783e793ddc4fdbd39f90a67b7a07814" + }, + "usd_path": "batch12/D00260 Decorative Bowl/IsaacSim_assets_69f2347e59057a93105e93d2/IsaacSim_asset_69f2347e59057a93105e93d2.usd", + "usd_sha256": "371e82d576b94ee0739c83b6d88ac1e80064578245a05c7eaec9a41807dffde5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.28026812, - 0.1227495, - 0.28010515 - ] + 0.2804280072450638, + 0.2801790088415146, + 0.12289899833558593 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "371e82d576b94ee0739c83b6d88ac1e80064578245a05c7eaec9a41807dffde5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.32 + "value_kg": 1.3200000524520874, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "371e82d576b94ee0739c83b6d88ac1e80064578245a05c7eaec9a41807dffde5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.3200000524520874, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 83, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "371e82d576b94ee0739c83b6d88ac1e80064578245a05c7eaec9a41807dffde5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 83, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "371e82d576b94ee0739c83b6d88ac1e80064578245a05c7eaec9a41807dffde5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00333 Garlic Press/IsaacSim_assets_69f5b5f7431507ff7cec71fa/physics_69f5b5f7431507ff7cec71fa.json b/batch12/D00333 Garlic Press/IsaacSim_assets_69f5b5f7431507ff7cec71fa/physics_69f5b5f7431507ff7cec71fa.json index 4907df9814b805a6ba30d0b42ebf6563c24a88ef..25e18a054cf3cb5ca9c2500ec00b26ed6a7d901a 100644 --- a/batch12/D00333 Garlic Press/IsaacSim_assets_69f5b5f7431507ff7cec71fa/physics_69f5b5f7431507ff7cec71fa.json +++ b/batch12/D00333 Garlic Press/IsaacSim_assets_69f5b5f7431507ff7cec71fa/physics_69f5b5f7431507ff7cec71fa.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11544164412977125, - 0.025964538383283386, - 0.08119864318961989 - ], "min": [ - -0.05423918411612827, - -0.025729054118389535, - 2.3548466432473135e-06 + -0.051972001791000366, + -0.02802100032567978, + 3.000000106112566e-06 + ], + "max": [ + 0.10736499726772308, + 0.027798999100923538, + 0.08047199994325638 ], "size": [ - 0.16968082824589953, - 0.05169359250167292, - 0.08119628834297664 - ] + 0.15933699905872345, + 0.05581999942660332, + 0.08046899994315027 + ], + "units": "m" }, "description": "A handheld garlic press with a brushed stainless-steel body, curved paired handles, cylindrical pressing cup, and hinge pins. Some variants include smooth wooden or black rubber grip inserts.", "name": "D00333 Garlic Press", "object_type": "rigid_bodies", - "total_mass": 0.34 + "total_mass": 0.3400000035762787, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00333", "parts": [ { "bounds": { - "center": [ - 0.007877917192315561, - -5.283881471327859e-06, - 0.030568455462434408 + "min": [ + -0.051972001791000366, + -0.02802100032567978, + 3.000000106112566e-06 ], "max": [ - 0.11544164412977125, - 0.025964538383283386, - 0.08119864318961989 + 0.10736499726772308, + 0.027798999100923538, + 0.08047199994325638 ], - "min": [ - -0.05423918411612827, - -0.025729054118389535, - 2.3548466432473135e-06 - ] + "size": [ + 0.15933699905872345, + 0.05581999942660332, + 0.08046899994315027 + ], + "units": "m" }, "center_of_mass": [ 0.023274405290895486, @@ -59,7 +65,7 @@ 0.0005443868498546247, 0.0006072719195570875 ], - "mass": 0.34, + "mass": 0.3400000035762787, "material": "brushed_stainless_steel", "name": "D00333 Garlic Press", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00333 Garlic Press", "part_name": "D00333 Garlic Press" }, - "volume": 0.0002899397657196783 + "volume": 0.0002899397657196783, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bc2d9af056e5de8a05473e647d03bcc2d5a827e1fded3d1b8f7040f151c3b4ab" + }, + "usd_path": "batch12/D00333 Garlic Press/IsaacSim_assets_69f5b5f7431507ff7cec71fa/IsaacSim_asset_69f5b5f7431507ff7cec71fa.usd", + "usd_sha256": "c3c36cfa23e888e8d38588a8cd1e2d4aa03cb5cc3f873c72c4dda1fdf3d121d6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.16968082824589953, - 0.05169359250167292, - 0.08119628834297664 - ] + 0.15933699905872345, + 0.05581999942660332, + 0.08046899994315027 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c3c36cfa23e888e8d38588a8cd1e2d4aa03cb5cc3f873c72c4dda1fdf3d121d6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.34 + "value_kg": 0.3400000035762787, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c3c36cfa23e888e8d38588a8cd1e2d4aa03cb5cc3f873c72c4dda1fdf3d121d6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3400000035762787, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c3c36cfa23e888e8d38588a8cd1e2d4aa03cb5cc3f873c72c4dda1fdf3d121d6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c3c36cfa23e888e8d38588a8cd1e2d4aa03cb5cc3f873c72c4dda1fdf3d121d6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00370 Green Placemat/IsaacSim_assets_69f5c074431507ff7cf01f98/physics_69f5c074431507ff7cf01f98.json b/batch12/D00370 Green Placemat/IsaacSim_assets_69f5c074431507ff7cf01f98/physics_69f5c074431507ff7cf01f98.json index 83fd848dd373f93d0f3e3624a2058f17aababaaf..f1e1b30f47d4a3263c18c80a037ce72b64d3176b 100644 --- a/batch12/D00370 Green Placemat/IsaacSim_assets_69f5c074431507ff7cf01f98/physics_69f5c074431507ff7cf01f98.json +++ b/batch12/D00370 Green Placemat/IsaacSim_assets_69f5c074431507ff7cf01f98/physics_69f5c074431507ff7cf01f98.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2512720227241516, - 0.02604883350431919, - 0.1844252645969391 - ], "min": [ - -0.25842738151550293, - 0.0, - -0.18894274532794952 + -0.2584269940853119, + -0.18445399403572083, + -7.599999662488699e-05 + ], + "max": [ + 0.2513029873371124, + 0.18895000219345093, + 0.026639999821782112 ], "size": [ - 0.5096994042396545, - 0.02604883350431919, - 0.3733680099248886 - ] + 0.5097299814224243, + 0.37340399622917175, + 0.026715999818407 + ], + "units": "m" }, "description": "A rectangular green fabric placemat with a visible weave texture and stitched edges.", "name": "D00370 Green Placemat", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00370", "parts": [ { "bounds": { - "center": [ - -0.0032628428270461557, - 0.011032011171441708, - -0.002121449686773234 + "min": [ + -0.2584269940853119, + -0.18445399403572083, + -7.599999662488699e-05 ], "max": [ - 0.2512720227241516, - 0.02604883350431919, - 0.1844252645969391 + 0.2513029873371124, + 0.18895000219345093, + 0.026639999821782112 ], - "min": [ - -0.25842738151550293, - 0.0, - -0.18894274532794952 - ] + "size": [ + 0.5097299814224243, + 0.37340399622917175, + 0.026715999818407 + ], + "units": "m" }, "center_of_mass": [ -0.0023099847461001246, @@ -59,7 +65,7 @@ 0.0011615478819925924, 0.001775325425271422 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "fabric", "name": "D00370 Green Placemat", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00370 Green Placemat", "part_name": "D00370 Green Placemat" }, - "volume": 0.001495406891165367 + "volume": 0.001495406891165367, + "source_prim_path": "/World/part_00_fabric", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b73232bbf42009dfcf695a094226e096ae7425dce1b1fbce3e42faf3aeee2c64" + }, + "usd_path": "batch12/D00370 Green Placemat/IsaacSim_assets_69f5c074431507ff7cf01f98/IsaacSim_asset_69f5c074431507ff7cf01f98.usd", + "usd_sha256": "2bc7089d24670c2c4b07e031c044d26997909bffb1eaaab715408a2d56c46356", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.5096994042396545, - 0.02604883350431919, - 0.3733680099248886 - ] + 0.5097299814224243, + 0.37340399622917175, + 0.026715999818407 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bc7089d24670c2c4b07e031c044d26997909bffb1eaaab715408a2d56c46356", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bc7089d24670c2c4b07e031c044d26997909bffb1eaaab715408a2d56c46356", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bc7089d24670c2c4b07e031c044d26997909bffb1eaaab715408a2d56c46356", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bc7089d24670c2c4b07e031c044d26997909bffb1eaaab715408a2d56c46356", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00467 Kitchen Tray/IsaacSim_assets_69f5dade431507ff7cf89d18/physics_69f5dade431507ff7cf89d18.json b/batch12/D00467 Kitchen Tray/IsaacSim_assets_69f5dade431507ff7cf89d18/physics_69f5dade431507ff7cf89d18.json index 890f94d0651c3c47f669686d975c9033913be0ff..5d951a8aa2f1212591197e8e5be96363ae9a023b 100644 --- a/batch12/D00467 Kitchen Tray/IsaacSim_assets_69f5dade431507ff7cf89d18/physics_69f5dade431507ff7cf89d18.json +++ b/batch12/D00467 Kitchen Tray/IsaacSim_assets_69f5dade431507ff7cf89d18/physics_69f5dade431507ff7cf89d18.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15135028958320618, - 0.10858213901519775, - 0.04294363036751747 - ], "min": [ - -0.15297414362430573, - -0.10809282958507538, - -2.4127471988322213e-05 + -0.15289099514484406, + -0.10809200257062912, + 9.000000318337698e-06 + ], + "max": [ + 0.1513649970293045, + 0.10858699679374695, + 0.04296499863266945 ], "size": [ - 0.3043244332075119, - 0.21667496860027313, - 0.042967757839505794 - ] + 0.30425599217414856, + 0.21667899936437607, + 0.04295599863235111 + ], + "units": "m" }, "description": "A rectangular white tray with raised edges and two cutout handles on the shorter sides. It features a smooth, matte finish and rounded corners.", "name": "D00467 Kitchen Tray", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00467", "parts": [ { "bounds": { - "center": [ - -0.0007818446027475676, - 0.00025359132470944575, - 0.013558697530380486 + "min": [ + -0.15289099514484406, + -0.10809200257062912, + 9.000000318337698e-06 ], "max": [ - 0.15135028958320618, - 0.10858213901519775, - 0.04294363036751747 + 0.1513649970293045, + 0.10858699679374695, + 0.04296499863266945 ], - "min": [ - -0.15297414362430573, - -0.10809282958507538, - -2.4127471988322213e-05 - ] + "size": [ + 0.30425599217414856, + 0.21667899936437607, + 0.04295599863235111 + ], + "units": "m" }, "center_of_mass": [ -0.0007225709313402961, @@ -67,10 +73,27 @@ "object_name": "D00467 Kitchen Tray", "part_name": "D00467 Kitchen Tray" }, - "volume": 0.0009653407051533548 + "volume": 0.0009653407051533548, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ca7e1dfeed08171e150539e2a9108853b233d2be3ffd7e5d11ac28ca2d4dee1b" + }, + "usd_path": "batch12/D00467 Kitchen Tray/IsaacSim_assets_69f5dade431507ff7cf89d18/IsaacSim_asset_69f5dade431507ff7cf89d18.usd", + "usd_sha256": "c40bd6a508342280a565f41e37df2ce18b5a1d255d57a68bd58feb4a6855541c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3043244332075119, - 0.21667496860027313, - 0.042967757839505794 - ] + 0.30425599217414856, + 0.21667899936437607, + 0.04295599863235111 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c40bd6a508342280a565f41e37df2ce18b5a1d255d57a68bd58feb4a6855541c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c40bd6a508342280a565f41e37df2ce18b5a1d255d57a68bd58feb4a6855541c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 33, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c40bd6a508342280a565f41e37df2ce18b5a1d255d57a68bd58feb4a6855541c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 33, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c40bd6a508342280a565f41e37df2ce18b5a1d255d57a68bd58feb4a6855541c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00486 Large Bowl/IsaacSim_assets_69f5e134431507ff7cfa7ab0/physics_69f5e134431507ff7cfa7ab0.json b/batch12/D00486 Large Bowl/IsaacSim_assets_69f5e134431507ff7cfa7ab0/physics_69f5e134431507ff7cfa7ab0.json index 5296e5a6621db7cc3bcf491ce4abfa452ec0a480..2be74b8862d941d2a256c6e85fbbcedacd43ab31 100644 --- a/batch12/D00486 Large Bowl/IsaacSim_assets_69f5e134431507ff7cfa7ab0/physics_69f5e134431507ff7cfa7ab0.json +++ b/batch12/D00486 Large Bowl/IsaacSim_assets_69f5e134431507ff7cfa7ab0/physics_69f5e134431507ff7cfa7ab0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17494060099124908, - 0.1743522435426712, - 0.15994299948215485 - ], "min": [ - -0.17445015907287598, - -0.17469006776809692, - -0.00034857564605772495 + -0.17445699870586395, + -0.17468999326229095, + 5.000010332878446e-06 + ], + "max": [ + 0.17493900656700134, + 0.1743520051240921, + 0.16025499999523163 ], "size": [ - 0.34939076006412506, - 0.3490423113107681, - 0.16029157512821257 - ] + 0.3493960052728653, + 0.34904199838638306, + 0.16024999998489875 + ], + "units": "m" }, "description": "A white ceramic bowl with a wide rim, flat base, and a smooth, semi-matte finish.", "name": "D00486 Large Bowl", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00486", "parts": [ { "bounds": { - "center": [ - 0.00021466163423071024, - -0.00011877161274567567, - 0.07913889667014797 + "min": [ + -0.17445699870586395, + -0.17468999326229095, + 5.000010332878446e-06 ], "max": [ - 0.17494060099124908, - 0.1743522435426712, - 0.15994299948215485 + 0.17493900656700134, + 0.1743520051240921, + 0.16025499999523163 ], - "min": [ - -0.17445015907287598, - -0.17469006776809692, - -0.00034857564605772495 - ] + "size": [ + 0.3493960052728653, + 0.34904199838638306, + 0.16024999998489875 + ], + "units": "m" }, "center_of_mass": [ 0.00012590754137541685, @@ -59,7 +65,7 @@ 0.00913878175559741, 0.014399036827714963 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "ceramic", "name": "D00486 Large Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00486 Large Bowl", "part_name": "D00486 Large Bowl" }, - "volume": 0.0020386653978770233 + "volume": 0.0020386653978770233, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "cdaeebd99caf76b0a6cb202258ee5b76ca89e8d1a330232b747d54da1cad209f" + }, + "usd_path": "batch12/D00486 Large Bowl/IsaacSim_assets_69f5e134431507ff7cfa7ab0/IsaacSim_asset_69f5e134431507ff7cfa7ab0.usd", + "usd_sha256": "727138bfe297899f1a599c25863a36f0c23bd8d9c93ebe9dc22bfe1ebaa35e13", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.34939076006412506, - 0.3490423113107681, - 0.16029157512821257 - ] + 0.3493960052728653, + 0.34904199838638306, + 0.16024999998489875 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "727138bfe297899f1a599c25863a36f0c23bd8d9c93ebe9dc22bfe1ebaa35e13", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "727138bfe297899f1a599c25863a36f0c23bd8d9c93ebe9dc22bfe1ebaa35e13", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 65, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "727138bfe297899f1a599c25863a36f0c23bd8d9c93ebe9dc22bfe1ebaa35e13", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 65, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "727138bfe297899f1a599c25863a36f0c23bd8d9c93ebe9dc22bfe1ebaa35e13", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00491 Lemon Wedge/IsaacSim_assets_69f5e23d431507ff7cfac290/physics_69f5e23d431507ff7cfac290.json b/batch12/D00491 Lemon Wedge/IsaacSim_assets_69f5e23d431507ff7cfac290/physics_69f5e23d431507ff7cfac290.json index 783e3be665f5572e6595e6088e87af3a1464d61c..03ffde8144c4f8f4052a62cab6adb64164998f99 100644 --- a/batch12/D00491 Lemon Wedge/IsaacSim_assets_69f5e23d431507ff7cfac290/physics_69f5e23d431507ff7cfac290.json +++ b/batch12/D00491 Lemon Wedge/IsaacSim_assets_69f5e23d431507ff7cfac290/physics_69f5e23d431507ff7cfac290.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02554775, - 0.03197656, - 0.01631369 - ], "min": [ - -0.02471635, - 0.0, - -0.01764978 + -0.024708999320864677, + -0.016311999410390854, + 5.000000328436727e-06 + ], + "max": [ + 0.025539999827742577, + 0.01764800027012825, + 0.03201200067996979 ], "size": [ - 0.050264100000000006, - 0.03197656, - 0.033963469999999996 - ] + 0.050248999148607254, + 0.033959999680519104, + 0.03200700067964135 + ], + "units": "m" }, "description": "A yellow lemon wedge featuring a textured outer rind and exposed inner flesh.", "name": "D00491 Lemon Wedge", "object_type": "rigid_bodies", - "total_mass": 0.015 + "total_mass": 0.014999999664723873, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00491", "parts": [ { "bounds": { - "center": [ - -4.0488288088831907e-05, - 0.014709440532677028, - -0.0002965871892373472 + "min": [ + -0.024708999320864677, + -0.016311999410390854, + 5.000000328436727e-06 ], "max": [ - 0.02554775, - 0.03197656, - 0.01631369 + 0.025539999827742577, + 0.01764800027012825, + 0.03201200067996979 ], - "min": [ - -0.02471635, - 0.0, - -0.01764978 - ] + "size": [ + 0.050248999148607254, + 0.033959999680519104, + 0.03200700067964135 + ], + "units": "m" }, "center_of_mass": [ -0.0001227080959444561, @@ -59,7 +65,7 @@ 2.754736734707222e-06, 2.870201516801605e-06 ], - "mass": 0.015, + "mass": 0.014999999664723873, "material": "organic_citrus", "name": "D00491 Lemon Wedge", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00491 Lemon Wedge", "part_name": "D00491 Lemon Wedge" }, - "volume": 2.1597744784721506e-05 + "volume": 2.1597744784721506e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "64c02d5340db7ec4deb2587fb018ad2a818a3c2cbb22af094cafb9ed746368e7" + }, + "usd_path": "batch12/D00491 Lemon Wedge/IsaacSim_assets_69f5e23d431507ff7cfac290/IsaacSim_asset_69f5e23d431507ff7cfac290.usd", + "usd_sha256": "1d6bba37cdf1d4af05852c961b3502d713c86b23b8807dc3057db5d042ee51b6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.050264100000000006, - 0.03197656, - 0.033963469999999996 - ] + 0.050248999148607254, + 0.033959999680519104, + 0.03200700067964135 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d6bba37cdf1d4af05852c961b3502d713c86b23b8807dc3057db5d042ee51b6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.015 + "value_kg": 0.014999999664723873, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d6bba37cdf1d4af05852c961b3502d713c86b23b8807dc3057db5d042ee51b6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.014999999664723873, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d6bba37cdf1d4af05852c961b3502d713c86b23b8807dc3057db5d042ee51b6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d6bba37cdf1d4af05852c961b3502d713c86b23b8807dc3057db5d042ee51b6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00501 Marble Tray/IsaacSim_assets_69f5e61a431507ff7cfbd3e3/physics_69f5e61a431507ff7cfbd3e3.json b/batch12/D00501 Marble Tray/IsaacSim_assets_69f5e61a431507ff7cfbd3e3/physics_69f5e61a431507ff7cfbd3e3.json index d53f72327fc9fcc4a26cfc95230427a05b59cba5..b59dc9a44b2da44229ca1b3a0140ec788520a00f 100644 --- a/batch12/D00501 Marble Tray/IsaacSim_assets_69f5e61a431507ff7cfbd3e3/physics_69f5e61a431507ff7cfbd3e3.json +++ b/batch12/D00501 Marble Tray/IsaacSim_assets_69f5e61a431507ff7cfbd3e3/physics_69f5e61a431507ff7cfbd3e3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.18564946949481964, - 0.12837547063827515, - 0.04129300266504288 - ], "min": [ - -0.1871182769536972, - -0.128758043050766, - -0.0004540622467175126 + -0.18711799383163452, + -0.12829799950122833, + 4.599662861437537e-05 + ], + "max": [ + 0.18564899265766144, + 0.12883499264717102, + 0.04179300367832184 ], "size": [ - 0.37276774644851685, - 0.25713351368904114, - 0.04174706491176039 - ] + 0.37276698648929596, + 0.25713299214839935, + 0.04174700704970746 + ], + "units": "m" }, "description": "A rectangular tray made of white marble with grey veining. It features raised edges and sits on small, shallow feet.", "name": "D00501 Marble Tray", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00501", "parts": [ { "bounds": { - "center": [ - -0.000645904557290603, - 6.332754010154197e-05, - 0.020641022490263845 + "min": [ + -0.18711799383163452, + -0.12829799950122833, + 4.599662861437537e-05 ], "max": [ - 0.18564946949481964, - 0.12837547063827515, - 0.04129300266504288 + 0.18564899265766144, + 0.12883499264717102, + 0.04179300367832184 ], - "min": [ - -0.1871182769536972, - -0.128758043050766, - -0.0004540622467175126 - ] + "size": [ + 0.37276698648929596, + 0.25713299214839935, + 0.04174700704970746 + ], + "units": "m" }, "center_of_mass": [ -0.0007343707819589033, @@ -67,10 +73,27 @@ "object_name": "D00501 Marble Tray", "part_name": "D00501 Marble Tray" }, - "volume": 0.0019321948625155153 + "volume": 0.0019321948625155153, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "015109f00e68d1f439496ec7679f9ff8cdd7624fbca14cf04a792b4d594557ee" + }, + "usd_path": "batch12/D00501 Marble Tray/IsaacSim_assets_69f5e61a431507ff7cfbd3e3/IsaacSim_asset_69f5e61a431507ff7cfbd3e3.usd", + "usd_sha256": "d1fb932b4edb279bb6c45cd236edada80d2dca669a173e89523c0e35cc579484", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.37276774644851685, - 0.25713351368904114, - 0.04174706491176039 - ] + 0.37276698648929596, + 0.25713299214839935, + 0.04174700704970746 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d1fb932b4edb279bb6c45cd236edada80d2dca669a173e89523c0e35cc579484", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d1fb932b4edb279bb6c45cd236edada80d2dca669a173e89523c0e35cc579484", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 42, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d1fb932b4edb279bb6c45cd236edada80d2dca669a173e89523c0e35cc579484", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 42, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d1fb932b4edb279bb6c45cd236edada80d2dca669a173e89523c0e35cc579484", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00507 Melon/IsaacSim_assets_69f5e700431507ff7cfc14de/physics_69f5e700431507ff7cfc14de.json b/batch12/D00507 Melon/IsaacSim_assets_69f5e700431507ff7cfc14de/physics_69f5e700431507ff7cfc14de.json index cc7af91e3fd7d430ac60fb6c74f4c7870b1d574c..4ea89a05534ef2debb501dce84b63153a016f5e4 100644 --- a/batch12/D00507 Melon/IsaacSim_assets_69f5e700431507ff7cfc14de/physics_69f5e700431507ff7cfc14de.json +++ b/batch12/D00507 Melon/IsaacSim_assets_69f5e700431507ff7cfc14de/physics_69f5e700431507ff7cfc14de.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07365106046199799, - 0.0747000128030777, - 0.16101892292499542 - ], "min": [ - -0.07513005286455154, - -0.07381494343280792, - -0.00044018265907652676 + -0.07513000071048737, + -0.0738150030374527, + 6.000110079185106e-05 + ], + "max": [ + 0.07365100085735321, + 0.0746999979019165, + 0.16151899099349976 ], "size": [ - 0.14878111332654953, - 0.14851495623588562, - 0.16145910558407195 - ] + 0.14878100156784058, + 0.1485150009393692, + 0.1614589898927079 + ], + "units": "m" }, "description": "A spherical cantaloupe with a textured, tan-colored rind and a small brown stem attached at the top.", "name": "D00507 Melon", "object_type": "rigid_bodies", - "total_mass": 1.7 + "total_mass": 1.7000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00507", "parts": [ { "bounds": { - "center": [ - -0.00023257838614083336, - -0.00013139235328687591, - 0.07143907795200598 + "min": [ + -0.07513000071048737, + -0.0738150030374527, + 6.000110079185106e-05 ], "max": [ - 0.07365106046199799, - 0.0747000128030777, - 0.16101892292499542 + 0.07365100085735321, + 0.0746999979019165, + 0.16151899099349976 ], - "min": [ - -0.07513005286455154, - -0.07381494343280792, - -0.00044018265907652676 - ] + "size": [ + 0.14878100156784058, + 0.1485150009393692, + 0.1614589898927079 + ], + "units": "m" }, "center_of_mass": [ -0.00047854942787781027, @@ -59,7 +65,7 @@ 0.003921322681176484, 0.0039328718959375725 ], - "mass": 1.7, + "mass": 1.7000000476837158, "material": "organic_rind_textured", "name": "D00507 Melon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00507 Melon", "part_name": "D00507 Melon" }, - "volume": 0.0018020300426881577 + "volume": 0.0018020300426881577, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5990cb04087049fad7760f0501ede439d61e4d909543c169c05da717f49813eb" + }, + "usd_path": "batch12/D00507 Melon/IsaacSim_assets_69f5e700431507ff7cfc14de/IsaacSim_asset_69f5e700431507ff7cfc14de.usd", + "usd_sha256": "dc158094e2be435551cdba5f947b88e6c208ca3c773892b11350b763177a0a6a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.14878111332654953, - 0.14851495623588562, - 0.16145910558407195 - ] + 0.14878100156784058, + 0.1485150009393692, + 0.1614589898927079 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dc158094e2be435551cdba5f947b88e6c208ca3c773892b11350b763177a0a6a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.7 + "value_kg": 1.7000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dc158094e2be435551cdba5f947b88e6c208ca3c773892b11350b763177a0a6a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.7000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 19, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dc158094e2be435551cdba5f947b88e6c208ca3c773892b11350b763177a0a6a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 19, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dc158094e2be435551cdba5f947b88e6c208ca3c773892b11350b763177a0a6a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch12/D00508 Meringue/IsaacSim_assets_69f5e88c431507ff7cfc8b51/physics_69f5e88c431507ff7cfc8b51.json b/batch12/D00508 Meringue/IsaacSim_assets_69f5e88c431507ff7cfc8b51/physics_69f5e88c431507ff7cfc8b51.json index ee0ebff53579de83d4528295de55f32946a655f2..251c82462700a8e05e46e11d6d7569f331a8d6d3 100644 --- a/batch12/D00508 Meringue/IsaacSim_assets_69f5e88c431507ff7cfc8b51/physics_69f5e88c431507ff7cfc8b51.json +++ b/batch12/D00508 Meringue/IsaacSim_assets_69f5e88c431507ff7cfc8b51/physics_69f5e88c431507ff7cfc8b51.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03922197222709656, - 0.039042383432388306, - 0.05007735267281532 - ], "min": [ - -0.038698211312294006, - -0.03850338235497475, - -2.4976743588922545e-05 + -0.03869299963116646, + -0.038502998650074005, + 6.999999641266186e-06 + ], + "max": [ + 0.03922199830412865, + 0.039044998586177826, + 0.05010800063610077 ], "size": [ - 0.07792018353939056, - 0.07754576578736305, - 0.050102329416404245 - ] + 0.0779149979352951, + 0.07754799723625183, + 0.0501010006364595 + ], + "units": "m" }, "description": "A pale cream-colored meringue cookie featuring a swirled, conical peak and a dry, textured surface with visible small pores.", "name": "D00508 Meringue", "object_type": "rigid_bodies", - "total_mass": 0.005 + "total_mass": 0.004999999888241291, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00508", "parts": [ { "bounds": { - "center": [ - 8.989003289172725e-05, - 0.0006076292944158465, - 0.017381457825572134 + "min": [ + -0.03869299963116646, + -0.038502998650074005, + 6.999999641266186e-06 ], "max": [ - 0.03922197222709656, - 0.039042383432388306, - 0.05007735267281532 + 0.03922199830412865, + 0.039044998586177826, + 0.05010800063610077 ], - "min": [ - -0.038698211312294006, - -0.03850338235497475, - -2.4976743588922545e-05 - ] + "size": [ + 0.0779149979352951, + 0.07754799723625183, + 0.0501010006364595 + ], + "units": "m" }, "center_of_mass": [ 4.47722765181606e-05, @@ -59,7 +65,7 @@ 1.9849542860175806e-06, 2.786155057527661e-06 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "baked_meringue", "name": "D00508 Meringue", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00508 Meringue", "part_name": "D00508 Meringue" }, - "volume": 0.00012164719915394657 + "volume": 0.00012164719915394657, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "dc89b4498b1493216cf2475768ddab46203a6915dd97ca5635e273a22ce33b71" + }, + "usd_path": "batch12/D00508 Meringue/IsaacSim_assets_69f5e88c431507ff7cfc8b51/IsaacSim_asset_69f5e88c431507ff7cfc8b51.usd", + "usd_sha256": "528980c7fc4dd4377fdcc13d4449569164646b82b75cf522104584d1b54a8a7a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.07792018353939056, - 0.07754576578736305, - 0.050102329416404245 - ] + 0.0779149979352951, + 0.07754799723625183, + 0.0501010006364595 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "528980c7fc4dd4377fdcc13d4449569164646b82b75cf522104584d1b54a8a7a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.005 + "value_kg": 0.004999999888241291, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "528980c7fc4dd4377fdcc13d4449569164646b82b75cf522104584d1b54a8a7a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.004999999888241291, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "528980c7fc4dd4377fdcc13d4449569164646b82b75cf522104584d1b54a8a7a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "528980c7fc4dd4377fdcc13d4449569164646b82b75cf522104584d1b54a8a7a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00001_Alarm_Clock/IsaacSim_assets_6a582e17ed61ec24df3b2f5a/physics_6a582e17ed61ec24df3b2f5a.json b/batch13/D00001_Alarm_Clock/IsaacSim_assets_6a582e17ed61ec24df3b2f5a/physics_6a582e17ed61ec24df3b2f5a.json index 68e5e005b0dc3b7af33eaee8b6603245623aafe5..310e32520f9618d734581a23fc04d260228f9bae 100644 --- a/batch13/D00001_Alarm_Clock/IsaacSim_assets_6a582e17ed61ec24df3b2f5a/physics_6a582e17ed61ec24df3b2f5a.json +++ b/batch13/D00001_Alarm_Clock/IsaacSim_assets_6a582e17ed61ec24df3b2f5a/physics_6a582e17ed61ec24df3b2f5a.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "2b79f927bca8971724e944ad89562db6e8d45cc4d8f116d3038c83d9412f88c5" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "07ef18fab90fc8e7a49d79ea1e1b7e18514872ba3b53b542f1bfa50971ddf9a3" }, "usd_path": "batch13/D00001_Alarm_Clock/IsaacSim_assets_6a582e17ed61ec24df3b2f5a/IsaacSim_asset_6a582e17ed61ec24df3b2f5a.usd", - "usd_sha256": "d476f5efba618451b818e5efcbe4da259f386c5d1d50ff7f4a20617e66418a55", + "usd_sha256": "0018bbd5067a7c70ebd8f0bf2cdf0fd70234822b5c5f43c6cd7be6deaf4c33cc", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d476f5efba618451b818e5efcbe4da259f386c5d1d50ff7f4a20617e66418a55", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0018bbd5067a7c70ebd8f0bf2cdf0fd70234822b5c5f43c6cd7be6deaf4c33cc", "scope": "authored_usd_dimensions", "bounds_m": [ 0.11958099901676178, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.3499999940395355, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d476f5efba618451b818e5efcbe4da259f386c5d1d50ff7f4a20617e66418a55", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0018bbd5067a7c70ebd8f0bf2cdf0fd70234822b5c5f43c6cd7be6deaf4c33cc", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.3499999940395355, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 118, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d476f5efba618451b818e5efcbe4da259f386c5d1d50ff7f4a20617e66418a55", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0018bbd5067a7c70ebd8f0bf2cdf0fd70234822b5c5f43c6cd7be6deaf4c33cc", "scope": "authored_usd_collision_schema", "enabled_shape_count": 118, "approximations": [ @@ -151,18 +151,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d476f5efba618451b818e5efcbe4da259f386c5d1d50ff7f4a20617e66418a55", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0018bbd5067a7c70ebd8f0bf2cdf0fd70234822b5c5f43c6cd7be6deaf4c33cc", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "0018bbd5067a7c70ebd8f0bf2cdf0fd70234822b5c5f43c6cd7be6deaf4c33cc", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:21.677598+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "f30766052382a3cc73fd48159ecdb0f2c6b83f9b9b142374e9dd752e289cdcf3", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00058 Bowl Cup/IsaacSim_assets_69f1f68b59057a9310594a63/physics_69f1f68b59057a9310594a63.json b/batch13/D00058 Bowl Cup/IsaacSim_assets_69f1f68b59057a9310594a63/physics_69f1f68b59057a9310594a63.json index ab029196946105f3045714493b94e5396bfc503a..ae3e5ba80390bcc721c22d74fa79ee043efc14d3 100644 --- a/batch13/D00058 Bowl Cup/IsaacSim_assets_69f1f68b59057a9310594a63/physics_69f1f68b59057a9310594a63.json +++ b/batch13/D00058 Bowl Cup/IsaacSim_assets_69f1f68b59057a9310594a63/physics_69f1f68b59057a9310594a63.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "3cd0ef9e958c9dc24def71a240a57c950dfc2223e93d57d911746168f4605a5e" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f858d96db84c2eef82bc06ac250391e1bdc51d7da944d008fccff4c9d7b38941" }, "usd_path": "batch13/D00058 Bowl Cup/IsaacSim_assets_69f1f68b59057a9310594a63/IsaacSim_asset_69f1f68b59057a9310594a63.usd", - "usd_sha256": "5e235ef0e94512c19d209273b4e5d914dcb97a9539e393d6c697f155579788a9", + "usd_sha256": "cd169aa32e0c6e921049f8c1b0bd74558bdd323defba05754db09f3f265bebdc", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "5e235ef0e94512c19d209273b4e5d914dcb97a9539e393d6c697f155579788a9", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cd169aa32e0c6e921049f8c1b0bd74558bdd323defba05754db09f3f265bebdc", "scope": "authored_usd_dimensions", "bounds_m": [ 0.11181600019335747, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.20000000298023224, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "5e235ef0e94512c19d209273b4e5d914dcb97a9539e393d6c697f155579788a9", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cd169aa32e0c6e921049f8c1b0bd74558bdd323defba05754db09f3f265bebdc", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.20000000298023224, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 85, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "5e235ef0e94512c19d209273b4e5d914dcb97a9539e393d6c697f155579788a9", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cd169aa32e0c6e921049f8c1b0bd74558bdd323defba05754db09f3f265bebdc", "scope": "authored_usd_collision_schema", "enabled_shape_count": 85, "approximations": [ @@ -151,18 +151,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "5e235ef0e94512c19d209273b4e5d914dcb97a9539e393d6c697f155579788a9", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cd169aa32e0c6e921049f8c1b0bd74558bdd323defba05754db09f3f265bebdc", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "cd169aa32e0c6e921049f8c1b0bd74558bdd323defba05754db09f3f265bebdc", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:23.098169+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "2fe22e643f9cd27334d2082010c8788b7b3db40cac105ae520b981f505a82247", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00200 Cooking Pot/IsaacSim_assets_69f225d759057a93105ce834/physics_69f225d759057a93105ce834.json b/batch13/D00200 Cooking Pot/IsaacSim_assets_69f225d759057a93105ce834/physics_69f225d759057a93105ce834.json index 8d348ab76fddedc56f697bebeb4a3d692efead3d..576ab7b4124aa6439b6e71980c00d4959401c368 100644 --- a/batch13/D00200 Cooking Pot/IsaacSim_assets_69f225d759057a93105ce834/physics_69f225d759057a93105ce834.json +++ b/batch13/D00200 Cooking Pot/IsaacSim_assets_69f225d759057a93105ce834/physics_69f225d759057a93105ce834.json @@ -124,13 +124,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "ad2cffe89022a0746eb5f6f23fdebdfa8cddf11f460b36a4abe123fa8ec6bb6c" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0c29bbc86dde2d26efb70f22bf7284d6ec57822e96b883b50c11c8f3cf13e8ff" }, "usd_path": "batch13/D00200 Cooking Pot/IsaacSim_assets_69f225d759057a93105ce834/IsaacSim_asset_69f225d759057a93105ce834.usd", - "usd_sha256": "b2636d6e6eaa92d4d95d1ee38b5d318ee52fd1ee96ebfb7c95a5f27e6e6851d1", + "usd_sha256": "d35516fe56d098ae5f9436ae5e6d5db2628c07906bd2d5ab42bcd66d13f878bc", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -154,9 +154,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b2636d6e6eaa92d4d95d1ee38b5d318ee52fd1ee96ebfb7c95a5f27e6e6851d1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d35516fe56d098ae5f9436ae5e6d5db2628c07906bd2d5ab42bcd66d13f878bc", "scope": "authored_usd_dimensions", "bounds_m": [ 0.2789609879255295, @@ -170,9 +170,9 @@ "status": "verified", "confidence": "high", "value_kg": 2.1000000536441803, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b2636d6e6eaa92d4d95d1ee38b5d318ee52fd1ee96ebfb7c95a5f27e6e6851d1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d35516fe56d098ae5f9436ae5e6d5db2628c07906bd2d5ab42bcd66d13f878bc", "scope": "authored_usd_mass_consistency", "part_sum_kg": 2.1000000536441803, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -181,9 +181,9 @@ "status": "verified", "confidence": "high", "shape_count": 124, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b2636d6e6eaa92d4d95d1ee38b5d318ee52fd1ee96ebfb7c95a5f27e6e6851d1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d35516fe56d098ae5f9436ae5e6d5db2628c07906bd2d5ab42bcd66d13f878bc", "scope": "authored_usd_collision_schema", "enabled_shape_count": 124, "approximations": [ @@ -195,18 +195,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b2636d6e6eaa92d4d95d1ee38b5d318ee52fd1ee96ebfb7c95a5f27e6e6851d1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d35516fe56d098ae5f9436ae5e6d5db2628c07906bd2d5ab42bcd66d13f878bc", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "d35516fe56d098ae5f9436ae5e6d5db2628c07906bd2d5ab42bcd66d13f878bc", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:01.374695+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "5d6f39c3fcb0a73d446e59cc7f7f4bbfb7c6e28dfe28a8f16c65329c40684b40", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00252 Cutting Board/IsaacSim_assets_69f231c359057a93105e3ef0/physics_69f231c359057a93105e3ef0.json b/batch13/D00252 Cutting Board/IsaacSim_assets_69f231c359057a93105e3ef0/physics_69f231c359057a93105e3ef0.json index 6b13d62bbfeea7235ea05e9143f443b5748bd2cd..4f677ef73d970efe654c70e609367f92a1d87788 100644 --- a/batch13/D00252 Cutting Board/IsaacSim_assets_69f231c359057a93105e3ef0/physics_69f231c359057a93105e3ef0.json +++ b/batch13/D00252 Cutting Board/IsaacSim_assets_69f231c359057a93105e3ef0/physics_69f231c359057a93105e3ef0.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "6aca4daddc8468e317137142cad1080573d56c015c4a4247e1d69029db201901" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d8f603c26bcbc7430ccce8a9883c365c0cd4c325a9482249579e65dcdf5c0aba" }, "usd_path": "batch13/D00252 Cutting Board/IsaacSim_assets_69f231c359057a93105e3ef0/IsaacSim_asset_69f231c359057a93105e3ef0.usd", - "usd_sha256": "6781997f228d6d8332d8c206d9bbda3df32780c4f0384c6b9721dd7e57cbd1ca", + "usd_sha256": "63a762a934b6f7a2561b0b20f247d1d295164aed253c9d14187e4a739ba9d844", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6781997f228d6d8332d8c206d9bbda3df32780c4f0384c6b9721dd7e57cbd1ca", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "63a762a934b6f7a2561b0b20f247d1d295164aed253c9d14187e4a739ba9d844", "scope": "authored_usd_dimensions", "bounds_m": [ 0.32505498826503754, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 5.75, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6781997f228d6d8332d8c206d9bbda3df32780c4f0384c6b9721dd7e57cbd1ca", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "63a762a934b6f7a2561b0b20f247d1d295164aed253c9d14187e4a739ba9d844", "scope": "authored_usd_mass_consistency", "part_sum_kg": 5.75, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 36, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6781997f228d6d8332d8c206d9bbda3df32780c4f0384c6b9721dd7e57cbd1ca", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "63a762a934b6f7a2561b0b20f247d1d295164aed253c9d14187e4a739ba9d844", "scope": "authored_usd_collision_schema", "enabled_shape_count": 36, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6781997f228d6d8332d8c206d9bbda3df32780c4f0384c6b9721dd7e57cbd1ca", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "63a762a934b6f7a2561b0b20f247d1d295164aed253c9d14187e4a739ba9d844", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00287 Egg/IsaacSim_assets_69f23ccc59057a93105f8571/physics_69f23ccc59057a93105f8571.json b/batch13/D00287 Egg/IsaacSim_assets_69f23ccc59057a93105f8571/physics_69f23ccc59057a93105f8571.json index f7bebca57fd1a95b815abd2c4ece444e9a0bdfef..a93ef6768a3e3313c86fce281ee8da46788a8929 100644 --- a/batch13/D00287 Egg/IsaacSim_assets_69f23ccc59057a93105f8571/physics_69f23ccc59057a93105f8571.json +++ b/batch13/D00287 Egg/IsaacSim_assets_69f23ccc59057a93105f8571/physics_69f23ccc59057a93105f8571.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.01695915122737494, - 0.042137222016519586, - 0.016945721109907483 - ], "min": [ - -0.016953350018150196, - -1.3845701663402908e-07, - -0.016963675650023054 + -0.01692800037562847, + -0.01684200018644333, + -9.999999974752427e-07 + ], + "max": [ + 0.01694200001657009, + 0.01683799922466278, + 0.04247500002384186 ], "size": [ - 0.03391250124552514, - 0.04213736047353622, - 0.03390939675993054 - ] + 0.03387000039219856, + 0.03367999941110611, + 0.04247600002383933 + ], + "units": "m" }, "description": "A brown, ovoid object with a smooth, faintly speckled surface.", "name": "D00287 Egg", "object_type": "rigid_bodies", - "total_mass": 0.055 + "total_mass": 0.054999999701976776, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00287", "parts": [ { "bounds": { - "center": [ - 1.2778691785377001e-05, - 0.019602125037621706, - -8.971711887976398e-06 + "min": [ + -0.01692800037562847, + -0.01684200018644333, + -9.999999974752427e-07 ], "max": [ - 0.01695915122737494, - 0.042137222016519586, - 0.016945721109907483 + 0.01694200001657009, + 0.01683799922466278, + 0.04247500002384186 ], - "min": [ - -0.016953350018150196, - -1.3845701663402908e-07, - -0.016963675650023054 - ] + "size": [ + 0.03387000039219856, + 0.03367999941110611, + 0.04247600002383933 + ], + "units": "m" }, "center_of_mass": [ 1.40069029991126e-05, @@ -59,7 +65,7 @@ 8.016912512191391e-06, 8.037261132534842e-06 ], - "mass": 0.055, + "mass": 0.054999999701976776, "material": "calcium_carbonate", "name": "D00287 Egg", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00287 Egg", "part_name": "D00287 Egg" }, - "volume": 2.4956012589052084e-05 + "volume": 2.4956012589052084e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "69fbc7f2bca0d4031b57edf238707317dc39b1fe52dbadb606a82051ac0fc91c" + }, + "usd_path": "batch13/D00287 Egg/IsaacSim_assets_69f23ccc59057a93105f8571/IsaacSim_asset_69f23ccc59057a93105f8571.usd", + "usd_sha256": "eae706ca64628054210649176685a1e799046c1fe009c5482c01e1334bfce9c4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.03391250124552514, - 0.04213736047353622, - 0.03390939675993054 - ] + 0.03387000039219856, + 0.03367999941110611, + 0.04247600002383933 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eae706ca64628054210649176685a1e799046c1fe009c5482c01e1334bfce9c4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.055 + "value_kg": 0.054999999701976776, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eae706ca64628054210649176685a1e799046c1fe009c5482c01e1334bfce9c4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.054999999701976776, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eae706ca64628054210649176685a1e799046c1fe009c5482c01e1334bfce9c4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eae706ca64628054210649176685a1e799046c1fe009c5482c01e1334bfce9c4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00484 Ladle/IsaacSim_assets_6a43ad7b88d32669e697f23b/physics_6a43ad7b88d32669e697f23b.json b/batch13/D00484 Ladle/IsaacSim_assets_6a43ad7b88d32669e697f23b/physics_6a43ad7b88d32669e697f23b.json index c3f38b7d10a389871aac1e1e10f0b5b74f6e77e4..89d6caaaf6826e0a3fe4ba96ee197c2567086779 100644 --- a/batch13/D00484 Ladle/IsaacSim_assets_6a43ad7b88d32669e697f23b/physics_6a43ad7b88d32669e697f23b.json +++ b/batch13/D00484 Ladle/IsaacSim_assets_6a43ad7b88d32669e697f23b/physics_6a43ad7b88d32669e697f23b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16884280741214752, - 0.14895574748516083, - 0.04604177549481392 - ], "min": [ - -0.07738319039344788, - 2.1752590328105725e-05, - -0.04643722623586655 + -0.08702600002288818, + -0.048868998885154724, + 3.0000035167176975e-06 + ], + "max": [ + 0.18721599876880646, + 0.048969000577926636, + 0.143668994307518 ], "size": [ - 0.2462259978055954, - 0.14893399489483272, - 0.09247900173068047 - ] + 0.27424199879169464, + 0.09783799946308136, + 0.1436659943040013 + ], + "units": "m" }, "description": "A silver stainless steel kitchen ladle with a deep bowl and an elongated handle featuring a hanging loop.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00484", "parts": [ { "bounds": { - "center": [ - -0.004558869466750575, - 0.044270548853177924, - -0.00012065736727996388 + "min": [ + -0.08702600002288818, + -0.048868998885154724, + 3.0000035167176975e-06 ], "max": [ - 0.16884280741214752, - 0.14895574748516083, - 0.04604177549481392 + 0.18721599876880646, + 0.048969000577926636, + 0.143668994307518 ], - "min": [ - -0.07738319039344788, - 2.1752590328105725e-05, - -0.04643722623586655 - ] + "size": [ + 0.27424199879169464, + 0.09783799946308136, + 0.1436659943040013 + ], + "units": "m" }, "center_of_mass": [ 0.0064011210355878175, @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.000779352971270147 + "volume": 0.000779352971270147, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9a8e9553e2d1647a36e0de3c60da6b390a46ae1ae039debd3ba893f1b743224c" + }, + "usd_path": "batch13/D00484 Ladle/IsaacSim_assets_6a43ad7b88d32669e697f23b/IsaacSim_asset_6a43ad7b88d32669e697f23b.usd", + "usd_sha256": "de557c8b3a9d621b2b5bfaed4ad2c9229f6db717d7553b346cc03073dc9d8e9d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2462259978055954, - 0.14893399489483272, - 0.09247900173068047 - ] + 0.27424199879169464, + 0.09783799946308136, + 0.1436659943040013 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de557c8b3a9d621b2b5bfaed4ad2c9229f6db717d7553b346cc03073dc9d8e9d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de557c8b3a9d621b2b5bfaed4ad2c9229f6db717d7553b346cc03073dc9d8e9d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 30, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de557c8b3a9d621b2b5bfaed4ad2c9229f6db717d7553b346cc03073dc9d8e9d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 30, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de557c8b3a9d621b2b5bfaed4ad2c9229f6db717d7553b346cc03073dc9d8e9d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00542 Mug/IsaacSim_assets_69f5f375431507ff7cffa38b/physics_69f5f375431507ff7cffa38b.json b/batch13/D00542 Mug/IsaacSim_assets_69f5f375431507ff7cffa38b/physics_69f5f375431507ff7cffa38b.json index fbf7c914bdd4d28ddd8501336772a5831803378d..fc0720e02f51eb78b408f257986bc9ab223b6f29 100644 --- a/batch13/D00542 Mug/IsaacSim_assets_69f5f375431507ff7cffa38b/physics_69f5f375431507ff7cffa38b.json +++ b/batch13/D00542 Mug/IsaacSim_assets_69f5f375431507ff7cffa38b/physics_69f5f375431507ff7cffa38b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05548325926065445, - 0.0335349515080452, - 0.07619874179363251 - ], "min": [ - -0.03871564939618111, - -0.033510006964206696, - -2.4055321773630567e-05 + -0.038743000477552414, + -0.0335099995136261, + 3.999999989900971e-06 + ], + "max": [ + 0.05548200011253357, + 0.03353400155901909, + 0.07618999481201172 ], "size": [ - 0.09419890865683556, - 0.06704495847225189, - 0.07622279711540614 - ] + 0.09422500059008598, + 0.06704400107264519, + 0.07618599481202182 + ], + "units": "m" }, "description": "A plain white ceramic coffee mug with a cylindrical body and a curved side handle.", "name": "D00542 Mug", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.3499999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00542", "parts": [ { "bounds": { - "center": [ - -0.002505377158217729, - -0.000173454576567651, - 0.03464843400336624 + "min": [ + -0.038743000477552414, + -0.0335099995136261, + 3.999999989900971e-06 ], "max": [ - 0.05548325926065445, - 0.0335349515080452, - 0.07619874179363251 + 0.05548200011253357, + 0.03353400155901909, + 0.07618999481201172 ], - "min": [ - -0.03871564939618111, - -0.033510006964206696, - -2.4055321773630567e-05 - ] + "size": [ + 0.09422500059008598, + 0.06704400107264519, + 0.07618599481202182 + ], + "units": "m" }, "center_of_mass": [ -0.002254546628173539, @@ -59,7 +65,7 @@ 0.0003376728288762815, 0.0003730050146839976 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "ceramic", "name": "D00542 Mug", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00542 Mug", "part_name": "D00542 Mug" }, - "volume": 7.759744125156176e-05 + "volume": 7.759744125156176e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4e4aadf4866d69f93bc794c45e16662595bcfbb43ccc8565c3306b52113f55ac" + }, + "usd_path": "batch13/D00542 Mug/IsaacSim_assets_69f5f375431507ff7cffa38b/IsaacSim_asset_69f5f375431507ff7cffa38b.usd", + "usd_sha256": "39c4f654a490e98fcd94b4c5ff47ad5a3a6e42869759e13dd5c61c7f42240d86", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.09419890865683556, - 0.06704495847225189, - 0.07622279711540614 - ] + 0.09422500059008598, + 0.06704400107264519, + 0.07618599481202182 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "39c4f654a490e98fcd94b4c5ff47ad5a3a6e42869759e13dd5c61c7f42240d86", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.3499999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "39c4f654a490e98fcd94b4c5ff47ad5a3a6e42869759e13dd5c61c7f42240d86", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3499999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 48, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "39c4f654a490e98fcd94b4c5ff47ad5a3a6e42869759e13dd5c61c7f42240d86", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 48, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "39c4f654a490e98fcd94b4c5ff47ad5a3a6e42869759e13dd5c61c7f42240d86", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00546 Mug Jug/IsaacSim_assets_69f5f69a431507ff7c008725/physics_69f5f69a431507ff7c008725.json b/batch13/D00546 Mug Jug/IsaacSim_assets_69f5f69a431507ff7c008725/physics_69f5f69a431507ff7c008725.json index 0125cfcf7e78d3a4d49273f4cf219b4554756798..46613055c3d0c9bc01cadad1ebbfb0e96c428412 100644 --- a/batch13/D00546 Mug Jug/IsaacSim_assets_69f5f69a431507ff7c008725/physics_69f5f69a431507ff7c008725.json +++ b/batch13/D00546 Mug Jug/IsaacSim_assets_69f5f69a431507ff7c008725/physics_69f5f69a431507ff7c008725.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05787322670221329, - 0.03594588488340378, - 0.07262134552001953 - ], "min": [ - -0.045722994953393936, - -0.03564492240548134, - -7.076032488839701e-05 + -0.045722998678684235, + -0.03566199913620949, + 8.000000889296643e-06 + ], + "max": [ + 0.057895999401807785, + 0.03594600036740303, + 0.07268299907445908 ], "size": [ - 0.10359622165560722, - 0.07159080728888512, - 0.07269210584490793 - ] + 0.10361899808049202, + 0.07160799950361252, + 0.07267499907356978 + ], + "units": "m" }, "description": "A white ceramic pitcher featuring a rounded body, a pouring spout, and a curved handle.", "name": "D00546 Mug Jug", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00546", "parts": [ { "bounds": { - "center": [ - -0.0010463442143903794, - 6.848842978252311e-05, - 0.034414952692618586 + "min": [ + -0.045722998678684235, + -0.03566199913620949, + 8.000000889296643e-06 ], "max": [ - 0.05787322670221329, - 0.03594588488340378, - 0.07262134552001953 + 0.057895999401807785, + 0.03594600036740303, + 0.07268299907445908 ], - "min": [ - -0.045722994953393936, - -0.03564492240548134, - -7.076032488839701e-05 - ] + "size": [ + 0.10361899808049202, + 0.07160799950361252, + 0.07267499907356978 + ], + "units": "m" }, "center_of_mass": [ -0.0005410221729255001, @@ -67,10 +73,27 @@ "object_name": "D00546 Mug Jug", "part_name": "D00546 Mug Jug" }, - "volume": 6.017978460073618e-05 + "volume": 6.017978460073618e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "016d453b886a1f4ac541be0b752a66614cba05138500cea6535c881e37476e0a" + }, + "usd_path": "batch13/D00546 Mug Jug/IsaacSim_assets_69f5f69a431507ff7c008725/IsaacSim_asset_69f5f69a431507ff7c008725.usd", + "usd_sha256": "aa7683a2f502e14b7d8e3255fcdccb4835ede5c5472cd7c88b1a979123932b40", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.10359622165560722, - 0.07159080728888512, - 0.07269210584490793 - ] + 0.10361899808049202, + 0.07160799950361252, + 0.07267499907356978 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa7683a2f502e14b7d8e3255fcdccb4835ede5c5472cd7c88b1a979123932b40", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa7683a2f502e14b7d8e3255fcdccb4835ede5c5472cd7c88b1a979123932b40", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 75, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa7683a2f502e14b7d8e3255fcdccb4835ede5c5472cd7c88b1a979123932b40", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 75, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa7683a2f502e14b7d8e3255fcdccb4835ede5c5472cd7c88b1a979123932b40", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00571 Onion/IsaacSim_assets_6a44b3ea3c18d617d7f4da53/physics_6a44b3ea3c18d617d7f4da53.json b/batch13/D00571 Onion/IsaacSim_assets_6a44b3ea3c18d617d7f4da53/physics_6a44b3ea3c18d617d7f4da53.json index 334cba32e8854eff619501023da97e6028c685f5..d5aea424307147e515bbc4d2f6daf3dd7e78884b 100644 --- a/batch13/D00571 Onion/IsaacSim_assets_6a44b3ea3c18d617d7f4da53/physics_6a44b3ea3c18d617d7f4da53.json +++ b/batch13/D00571 Onion/IsaacSim_assets_6a44b3ea3c18d617d7f4da53/physics_6a44b3ea3c18d617d7f4da53.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02764724, - 0.06192167, - 0.02875988 - ], "min": [ - -0.02835958, - 0.0, - -0.03001799 + -0.028317999094724655, + -0.02876099944114685, + 9.999999974752427e-07 + ], + "max": [ + 0.027605000883340836, + 0.03002000041306019, + 0.061921000480651855 ], "size": [ - 0.05600682, - 0.06192167, - 0.05877787 - ] + 0.05592299997806549, + 0.05878099985420704, + 0.06192000048065438 + ], + "units": "m" }, "description": "A bulbous red onion with dry, papery outer skin and small root remnants at the base.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00571", "parts": [ { "bounds": { - "center": [ - 0.00017886812451894943, - 0.02769266442203361, - -0.00029556711321211855 + "min": [ + -0.028317999094724655, + -0.02876099944114685, + 9.999999974752427e-07 ], "max": [ - 0.02764724, - 0.06192167, - 0.02875988 + 0.027605000883340836, + 0.03002000041306019, + 0.061921000480651855 ], - "min": [ - -0.02835958, - 0.0, - -0.03001799 - ] + "size": [ + 0.05592299997806549, + 0.05878099985420704, + 0.06192000048065438 + ], + "units": "m" }, "center_of_mass": [ -0.00036533472337852677, @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.00010134522227826574 + "volume": 0.00010134522227826574, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ed1643e71c55655764f34b3e13ed6fccaefd814388ba03e2edc00bfe31670d8e" + }, + "usd_path": "batch13/D00571 Onion/IsaacSim_assets_6a44b3ea3c18d617d7f4da53/IsaacSim_asset_6a44b3ea3c18d617d7f4da53.usd", + "usd_sha256": "9781937280dfdb5fb1c7c93cd23c79023c1af456fed73a8fecb5eddf8ffa1af9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.05600682, - 0.06192167, - 0.05877787 - ] + 0.05592299997806549, + 0.05878099985420704, + 0.06192000048065438 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9781937280dfdb5fb1c7c93cd23c79023c1af456fed73a8fecb5eddf8ffa1af9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9781937280dfdb5fb1c7c93cd23c79023c1af456fed73a8fecb5eddf8ffa1af9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 26, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9781937280dfdb5fb1c7c93cd23c79023c1af456fed73a8fecb5eddf8ffa1af9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 26, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9781937280dfdb5fb1c7c93cd23c79023c1af456fed73a8fecb5eddf8ffa1af9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00594 Pastry Cutter/IsaacSim_assets_69f60ad2431507ff7c061e93/physics_69f60ad2431507ff7c061e93.json b/batch13/D00594 Pastry Cutter/IsaacSim_assets_69f60ad2431507ff7c061e93/physics_69f60ad2431507ff7c061e93.json index 09b36e176e793b3433e68f7b01d13b9c97ff3cf7..47d76af0ed467610034dd4897cfd2ceaca2e080b 100644 --- a/batch13/D00594 Pastry Cutter/IsaacSim_assets_69f60ad2431507ff7c061e93/physics_69f60ad2431507ff7c061e93.json +++ b/batch13/D00594 Pastry Cutter/IsaacSim_assets_69f60ad2431507ff7c061e93/physics_69f60ad2431507ff7c061e93.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0928250327706337, - 0.08390200138092041, - 0.05049898475408554 - ], "min": [ - -0.0890839621424675, + -0.08908399939537048, -0.08417899906635284, - -6.3126203713181894e-06 + 1.9999999949504854e-06 + ], + "max": [ + 0.09282500296831131, + 0.08390200138092041, + 0.05050799995660782 ], "size": [ - 0.1819089949131012, + 0.1819090023636818, 0.16808100044727325, - 0.05050529737445686 - ] + 0.05050599995661287 + ], + "units": "m" }, "description": "A pastry blender featuring a thick, curved wooden handle attached to a U-shaped stainless steel frame with multiple parallel, semi-circular blades.", "name": "D00594 Pastry Cutter", "object_type": "rigid_bodies", - "total_mass": 0.21 + "total_mass": 0.20999999344348907, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00594", "parts": [ { "bounds": { - "center": [ - 0.006700479608491491, - -3.9199616208092434e-05, - 0.02487488145457372 + "min": [ + -0.08908399939537048, + -0.08417899906635284, + 1.9999999949504854e-06 ], "max": [ - 0.0928250327706337, + 0.09282500296831131, 0.08390200138092041, - 0.05049898475408554 + 0.05050799995660782 ], - "min": [ - -0.0890839621424675, - -0.08417899906635284, - -6.3126203713181894e-06 - ] + "size": [ + 0.1819090023636818, + 0.16808100044727325, + 0.05050599995661287 + ], + "units": "m" }, "center_of_mass": [ 0.0017184613013462643, @@ -59,7 +65,7 @@ 0.0004783271767468775, 0.0008594300507902403 ], - "mass": 0.21, + "mass": 0.20999999344348907, "material": "stainless_steel", "name": "D00594 Pastry Cutter", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00594 Pastry Cutter", "part_name": "D00594 Pastry Cutter" }, - "volume": 0.0011891860271353934 + "volume": 0.0011891860271353934, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "456a44031f3f7ef74792ecb5b86b26c277e310de536eef72f2dc6fcd27b79cb0" + }, + "usd_path": "batch13/D00594 Pastry Cutter/IsaacSim_assets_69f60ad2431507ff7c061e93/IsaacSim_asset_69f60ad2431507ff7c061e93.usd", + "usd_sha256": "e68ba7dbf7860cc2f103f1461246f59e333bbe148a6171d8c04007da03a92256", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1819089949131012, + 0.1819090023636818, 0.16808100044727325, - 0.05050529737445686 - ] + 0.05050599995661287 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e68ba7dbf7860cc2f103f1461246f59e333bbe148a6171d8c04007da03a92256", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.21 + "value_kg": 0.20999999344348907, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e68ba7dbf7860cc2f103f1461246f59e333bbe148a6171d8c04007da03a92256", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20999999344348907, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 46, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e68ba7dbf7860cc2f103f1461246f59e333bbe148a6171d8c04007da03a92256", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 46, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e68ba7dbf7860cc2f103f1461246f59e333bbe148a6171d8c04007da03a92256", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00617 Pink Bowl/IsaacSim_assets_69f61535431507ff7c091aaa/physics_69f61535431507ff7c091aaa.json b/batch13/D00617 Pink Bowl/IsaacSim_assets_69f61535431507ff7c091aaa/physics_69f61535431507ff7c091aaa.json index 4c5bac7fab7ae8641f16009bc1dc261b7f300801..808487cedaea588ad577183484b1c7486ec4656f 100644 --- a/batch13/D00617 Pink Bowl/IsaacSim_assets_69f61535431507ff7c091aaa/physics_69f61535431507ff7c091aaa.json +++ b/batch13/D00617 Pink Bowl/IsaacSim_assets_69f61535431507ff7c091aaa/physics_69f61535431507ff7c091aaa.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10188225656747818, - 0.10130712389945984, - 0.09995778650045395 - ], "min": [ - -0.10137662291526794, - -0.10153849422931671, - -6.192599539645016e-05 + -0.10137700289487839, + -0.10153800249099731, + 7.999644367373548e-06 + ], + "max": [ + 0.10188200324773788, + 0.10130699723958969, + 0.10002800077199936 ], "size": [ - 0.20325887948274612, - 0.20284561812877655, - 0.1000197124958504 - ] + 0.20325900614261627, + 0.202844999730587, + 0.10002000112763199 + ], + "units": "m" }, "description": "A small, round pink ceramic bowl with a matte finish and a slightly flared rim.", "name": "D00617 Pink Bowl", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00617", "parts": [ { "bounds": { - "center": [ - 0.00036442828465821066, - -0.0001110177294151857, - 0.049668747919283364 + "min": [ + -0.10137700289487839, + -0.10153800249099731, + 7.999644367373548e-06 ], "max": [ - 0.10188225656747818, - 0.10130712389945984, - 0.09995778650045395 + 0.10188200324773788, + 0.10130699723958969, + 0.10002800077199936 ], - "min": [ - -0.10137662291526794, - -0.10153849422931671, - -6.192599539645016e-05 - ] + "size": [ + 0.20325900614261627, + 0.202844999730587, + 0.10002000112763199 + ], + "units": "m" }, "center_of_mass": [ 0.0002859382883441957, @@ -59,7 +65,7 @@ 0.0015652931044169258, 0.002506367734533582 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic", "name": "D00617 Pink Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00617 Pink Bowl", "part_name": "D00617 Pink Bowl" }, - "volume": 0.0006308897374838348 + "volume": 0.0006308897374838348, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2c603c21b9ef51a6f78ec347a70c44655c9b034e226c436889054094fb8c7850" + }, + "usd_path": "batch13/D00617 Pink Bowl/IsaacSim_assets_69f61535431507ff7c091aaa/IsaacSim_asset_69f61535431507ff7c091aaa.usd", + "usd_sha256": "3b9f1d8f1194737cef2053c1ef197808cca242caf1598e97292588925cd0b14c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.20325887948274612, - 0.20284561812877655, - 0.1000197124958504 - ] + 0.20325900614261627, + 0.202844999730587, + 0.10002000112763199 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b9f1d8f1194737cef2053c1ef197808cca242caf1598e97292588925cd0b14c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b9f1d8f1194737cef2053c1ef197808cca242caf1598e97292588925cd0b14c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 68, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b9f1d8f1194737cef2053c1ef197808cca242caf1598e97292588925cd0b14c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 68, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b9f1d8f1194737cef2053c1ef197808cca242caf1598e97292588925cd0b14c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00632 Plate Tray/IsaacSim_assets_69f61e04431507ff7c0bd02f/physics_69f61e04431507ff7c0bd02f.json b/batch13/D00632 Plate Tray/IsaacSim_assets_69f61e04431507ff7c0bd02f/physics_69f61e04431507ff7c0bd02f.json index 9a07d1ea37af207d3e4391b570aad0ef809530ae..14cd32e227b27c5a9907f64d0c14b1d0b3559c5c 100644 --- a/batch13/D00632 Plate Tray/IsaacSim_assets_69f61e04431507ff7c0bd02f/physics_69f61e04431507ff7c0bd02f.json +++ b/batch13/D00632 Plate Tray/IsaacSim_assets_69f61e04431507ff7c0bd02f/physics_69f61e04431507ff7c0bd02f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17212225496768951, - 0.13464407622814178, - 0.032624244689941406 - ], "min": [ - -0.17041710019111633, - -0.1349831074476242, - -0.0004467862891033292 + -0.1704220026731491, + -0.13494199514389038, + 5.800000872113742e-05 + ], + "max": [ + 0.17211900651454926, + 0.1346459984779358, + 0.033114999532699585 ], "size": [ - 0.34253935515880585, - 0.269627183675766, - 0.033071030979044735 - ] + 0.34254100918769836, + 0.26958799362182617, + 0.03305699952397845 + ], + "units": "m" }, "description": "A white ceramic tray with six rectangular compartments and rounded, raised edges.", "name": "D00632 Plate Tray", "object_type": "rigid_bodies", - "total_mass": 0.65 + "total_mass": 0.6499999761581421, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00632", "parts": [ { "bounds": { - "center": [ - 0.0007562282524990205, - -0.0001730629273047969, - 0.012883614487149114 + "min": [ + -0.1704220026731491, + -0.13494199514389038, + 5.800000872113742e-05 ], "max": [ - 0.17212225496768951, - 0.13464407622814178, - 0.032624244689941406 + 0.17211900651454926, + 0.1346459984779358, + 0.033114999532699585 ], - "min": [ - -0.17041710019111633, - -0.1349831074476242, - -0.0004467862891033292 - ] + "size": [ + 0.34254100918769836, + 0.26958799362182617, + 0.03305699952397845 + ], + "units": "m" }, "center_of_mass": [ 0.0007692235961363121, @@ -59,7 +65,7 @@ 0.0058161622342265224, 0.009280092376062601 ], - "mass": 0.65, + "mass": 0.6499999761581421, "material": "ceramic", "name": "D00632 Plate Tray", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00632 Plate Tray", "part_name": "D00632 Plate Tray" }, - "volume": 0.0027365757756664393 + "volume": 0.0027365757756664393, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d1cf895a674274c6ea5b66718e7ef835cf484781ed60349b1059853ffe23b81d" + }, + "usd_path": "batch13/D00632 Plate Tray/IsaacSim_assets_69f61e04431507ff7c0bd02f/IsaacSim_asset_69f61e04431507ff7c0bd02f.usd", + "usd_sha256": "1e3a488038a685719422797bd75137d35f705d9ac5e6e686f40dc07f2bf3a432", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.34253935515880585, - 0.269627183675766, - 0.033071030979044735 - ] + 0.34254100918769836, + 0.26958799362182617, + 0.03305699952397845 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e3a488038a685719422797bd75137d35f705d9ac5e6e686f40dc07f2bf3a432", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.65 + "value_kg": 0.6499999761581421, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e3a488038a685719422797bd75137d35f705d9ac5e6e686f40dc07f2bf3a432", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6499999761581421, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 107, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e3a488038a685719422797bd75137d35f705d9ac5e6e686f40dc07f2bf3a432", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 107, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e3a488038a685719422797bd75137d35f705d9ac5e6e686f40dc07f2bf3a432", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00652 Pot Wok/IsaacSim_assets_69f629e3431507ff7c0f4e33/physics_69f629e3431507ff7c0f4e33.json b/batch13/D00652 Pot Wok/IsaacSim_assets_69f629e3431507ff7c0f4e33/physics_69f629e3431507ff7c0f4e33.json index 1c7382e51204e990777e6e2705ade616713f0840..299624071cda3cd1fdf8c95eaeefd5e2d828c67a 100644 --- a/batch13/D00652 Pot Wok/IsaacSim_assets_69f629e3431507ff7c0f4e33/physics_69f629e3431507ff7c0f4e33.json +++ b/batch13/D00652 Pot Wok/IsaacSim_assets_69f629e3431507ff7c0f4e33/physics_69f629e3431507ff7c0f4e33.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.22780117392539978, - 0.10074615478515625, - 0.08048304915428162 - ], "min": [ - -0.14129631221294403, - -0.10042983293533325, - -6.100069367676042e-05 + -0.14129599928855896, + -0.10042999684810638, + 9.000696081784554e-06 + ], + "max": [ + 0.22780099511146545, + 0.10074599832296371, + 0.08055299520492554 ], "size": [ - 0.3690974861383438, - 0.2011759877204895, - 0.08054404984795838 - ] + 0.3690969944000244, + 0.2011759951710701, + 0.08054399450884375 + ], + "units": "m" }, "description": "A brushed silver stainless steel wok featuring a long primary handle and a shorter helper handle riveted to the opposite side.", "name": "D00652 Pot Wok", "object_type": "rigid_bodies", - "total_mass": 2.0 + "total_mass": 2.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00652", "parts": [ { "bounds": { - "center": [ - -0.002477300704017224, - 0.00014237744448717003, - 0.029243494474729754 + "min": [ + -0.14129599928855896, + -0.10042999684810638, + 9.000696081784554e-06 ], "max": [ - 0.22780117392539978, - 0.10074615478515625, - 0.08048304915428162 + 0.22780099511146545, + 0.10074599832296371, + 0.08055299520492554 ], - "min": [ - -0.14129631221294403, - -0.10042983293533325, - -6.100069367676042e-05 - ] + "size": [ + 0.3690969944000244, + 0.2011759951710701, + 0.08054399450884375 + ], + "units": "m" }, "center_of_mass": [ 0.011168709033635931, @@ -67,10 +73,27 @@ "object_name": "D00652 Pot Wok", "part_name": "D00652 Pot Wok" }, - "volume": 0.0020292107690151125 + "volume": 0.0020292107690151125, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2c4438c6d23733d159c50e4e0c9c38d3a50421f1dde90b9d1e5f66f61fbf5e4f" + }, + "usd_path": "batch13/D00652 Pot Wok/IsaacSim_assets_69f629e3431507ff7c0f4e33/IsaacSim_asset_69f629e3431507ff7c0f4e33.usd", + "usd_sha256": "afe4c207957f662916565e46ffbb66cc2b207f67344a43e8d12c18bf2078b08c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3690974861383438, - 0.2011759877204895, - 0.08054404984795838 - ] + 0.3690969944000244, + 0.2011759951710701, + 0.08054399450884375 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "afe4c207957f662916565e46ffbb66cc2b207f67344a43e8d12c18bf2078b08c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.0 + "value_kg": 2.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "afe4c207957f662916565e46ffbb66cc2b207f67344a43e8d12c18bf2078b08c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 80, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "afe4c207957f662916565e46ffbb66cc2b207f67344a43e8d12c18bf2078b08c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 80, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "afe4c207957f662916565e46ffbb66cc2b207f67344a43e8d12c18bf2078b08c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00653 Poting Pan/IsaacSim_assets_69f9a3163c860d0afb49806e/physics_69f9a3163c860d0afb49806e.json b/batch13/D00653 Poting Pan/IsaacSim_assets_69f9a3163c860d0afb49806e/physics_69f9a3163c860d0afb49806e.json index 2d9d631a4da51ccd642b9d8e43d745e27bf01c2e..cf57bf699ca9a2c07f0dfce5c628c08be987fd72 100644 --- a/batch13/D00653 Poting Pan/IsaacSim_assets_69f9a3163c860d0afb49806e/physics_69f9a3163c860d0afb49806e.json +++ b/batch13/D00653 Poting Pan/IsaacSim_assets_69f9a3163c860d0afb49806e/physics_69f9a3163c860d0afb49806e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1989437660337732, - 0.09352681597623859, - 0.0567733532520314 - ], "min": [ - -0.11167474168394677, - -0.09329498432911804, - -9.08304491059397e-05 + -0.0973149985074997, + -0.12499400228261948, + 5.000000328436727e-06 + ], + "max": [ + 0.09715499728918076, + 0.24096600711345673, + 0.04776899889111519 ], "size": [ - 0.31061850771772, - 0.1868218003053566, - 0.05686418370113734 - ] + 0.19446999579668045, + 0.3659600093960762, + 0.04776399889078675 + ], + "units": "m" }, "description": "A dark gray metal frying pan with a smooth interior coating and a dark gray plastic handle attached by two rivets.", "name": "D00653 Nonstick Saute Pan", "object_type": "rigid_bodies", - "total_mass": 0.837 + "total_mass": 0.8370000123977661, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00653", "parts": [ { "bounds": { - "center": [ - -0.007734596213080473, - 0.00011111735501637497, - 0.016580441432156416 + "min": [ + -0.0973149985074997, + -0.12499400228261948, + 5.000000328436727e-06 ], "max": [ - 0.1989437660337732, - 0.09352681597623859, - 0.0567733532520314 + 0.09715499728918076, + 0.24096600711345673, + 0.04776899889111519 ], - "min": [ - -0.11167474168394677, - -0.09329498432911804, - -9.08304491059397e-05 - ] + "size": [ + 0.19446999579668045, + 0.3659600093960762, + 0.04776399889078675 + ], + "units": "m" }, "center_of_mass": [ -9.813564334157657e-05, @@ -59,7 +65,7 @@ 0.005058897412389283, 0.006566692165715496 ], - "mass": 0.837, + "mass": 0.8370000123977661, "material": "aluminum", "name": "D00653 Poting Pan", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00653 Poting Pan", "part_name": "D00653 Poting Pan" }, - "volume": 0.0018086536860755867 + "volume": 0.0018086536860755867, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "41c783c46f5870a81e36b2210ce9264acf850aa68c581a83ccf15ffb94873735" + }, + "usd_path": "batch13/D00653 Poting Pan/IsaacSim_assets_69f9a3163c860d0afb49806e/IsaacSim_asset_69f9a3163c860d0afb49806e.usd", + "usd_sha256": "2f9a1f0ffcd5beefa4fdccbe82b2e5377d1a89249f9aa385f90be8f49c52cdb7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.31061850771772, - 0.1868218003053566, - 0.05686418370113734 - ] + 0.19446999579668045, + 0.3659600093960762, + 0.04776399889078675 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2f9a1f0ffcd5beefa4fdccbe82b2e5377d1a89249f9aa385f90be8f49c52cdb7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.837 + "value_kg": 0.8370000123977661, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2f9a1f0ffcd5beefa4fdccbe82b2e5377d1a89249f9aa385f90be8f49c52cdb7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8370000123977661, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 32, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2f9a1f0ffcd5beefa4fdccbe82b2e5377d1a89249f9aa385f90be8f49c52cdb7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 32, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2f9a1f0ffcd5beefa4fdccbe82b2e5377d1a89249f9aa385f90be8f49c52cdb7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00658 Pumpkin/IsaacSim_assets_69f62b58431507ff7c0fb9a3/physics_69f62b58431507ff7c0fb9a3.json b/batch13/D00658 Pumpkin/IsaacSim_assets_69f62b58431507ff7c0fb9a3/physics_69f62b58431507ff7c0fb9a3.json index cb8024d85589932382f44b571c20c27a4c9338d4..05251cc1970e84f6b8285bc9a716d44fe9f2d442 100644 --- a/batch13/D00658 Pumpkin/IsaacSim_assets_69f62b58431507ff7c0fb9a3/physics_69f62b58431507ff7c0fb9a3.json +++ b/batch13/D00658 Pumpkin/IsaacSim_assets_69f62b58431507ff7c0fb9a3/physics_69f62b58431507ff7c0fb9a3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12121091783046722, - 0.12487965077161789, - 0.24407504498958588 - ], "min": [ - -0.1236402690410614, - -0.1219349056482315, - -7.869782712077722e-05 + -0.12366499751806259, + -0.12195300310850143, + 4.199999966658652e-05 + ], + "max": [ + 0.12120799720287323, + 0.12487799674272537, + 0.2441750019788742 ], "size": [ - 0.24485118687152863, - 0.2468145564198494, - 0.24415374281670665 - ] + 0.24487299472093582, + 0.2468309998512268, + 0.24413300197920762 + ], + "units": "m" }, "description": "A medium-sized orange pumpkin with characteristic vertical ribbing and a brown, woody stem at the top.", "name": "D00658 Pumpkin", "object_type": "rigid_bodies", - "total_mass": 5.0 + "total_mass": 5.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00658", "parts": [ { "bounds": { - "center": [ - -0.0005853550009490196, - 0.0006646096310038825, - 0.09460404788255951 + "min": [ + -0.12366499751806259, + -0.12195300310850143, + 4.199999966658652e-05 ], "max": [ - 0.12121091783046722, - 0.12487965077161789, - 0.24407504498958588 + 0.12120799720287323, + 0.12487799674272537, + 0.2441750019788742 ], - "min": [ - -0.1236402690410614, - -0.1219349056482315, - -7.869782712077722e-05 - ] + "size": [ + 0.24487299472093582, + 0.2468309998512268, + 0.24413300197920762 + ], + "units": "m" }, "center_of_mass": [ -0.0011171370024361175, @@ -67,10 +73,27 @@ "object_name": "D00658 Pumpkin", "part_name": "D00658 Pumpkin" }, - "volume": 0.006660988880813079 + "volume": 0.006660988880813079, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "381d5d0642f88742ff952ecc7f7402a93ac03a1ad7df7766a25c6a3c30eedc3a" + }, + "usd_path": "batch13/D00658 Pumpkin/IsaacSim_assets_69f62b58431507ff7c0fb9a3/IsaacSim_asset_69f62b58431507ff7c0fb9a3.usd", + "usd_sha256": "aaf514f05269e97c3e277da518aa184ce1528b8f3ae34d2cb1500f6d687d317b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.24485118687152863, - 0.2468145564198494, - 0.24415374281670665 - ] + 0.24487299472093582, + 0.2468309998512268, + 0.24413300197920762 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aaf514f05269e97c3e277da518aa184ce1528b8f3ae34d2cb1500f6d687d317b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 5.0 + "value_kg": 5.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aaf514f05269e97c3e277da518aa184ce1528b8f3ae34d2cb1500f6d687d317b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 5.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 21, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aaf514f05269e97c3e277da518aa184ce1528b8f3ae34d2cb1500f6d687d317b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 21, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aaf514f05269e97c3e277da518aa184ce1528b8f3ae34d2cb1500f6d687d317b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00666 Rice Bowl/IsaacSim_assets_69f62cf6431507ff7c102dd6/physics_69f62cf6431507ff7c102dd6.json b/batch13/D00666 Rice Bowl/IsaacSim_assets_69f62cf6431507ff7c102dd6/physics_69f62cf6431507ff7c102dd6.json index 99e21b896e6d6aa84661909fef92440b4ad64fc6..8a37a2ddae1262166d91ca49fedeb933c4071e5a 100644 --- a/batch13/D00666 Rice Bowl/IsaacSim_assets_69f62cf6431507ff7c102dd6/physics_69f62cf6431507ff7c102dd6.json +++ b/batch13/D00666 Rice Bowl/IsaacSim_assets_69f62cf6431507ff7c102dd6/physics_69f62cf6431507ff7c102dd6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06473549455404282, - 0.06515185534954071, - 0.06447053700685501 - ], "min": [ - -0.06469113379716873, - 0.0, - -0.0646815374493599 + -0.06468699872493744, + -0.06444799900054932, + 3.199929415131919e-05 + ], + "max": [ + 0.06473100185394287, + 0.06467200070619583, + 0.0653030052781105 ], "size": [ - 0.12942662835121155, - 0.06515185534954071, - 0.1291520744562149 - ] + 0.1294180005788803, + 0.12911999970674515, + 0.06527100598395918 + ], + "units": "m" }, "description": "A white ceramic bowl with a smooth finish and a short foot ring at the base.", "name": "D00666 Rice Bowl", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00666", "parts": [ { "bounds": { - "center": [ - 5.66658148005917e-05, - 0.033838722220773304, - -9.30170839224076e-05 + "min": [ + -0.06468699872493744, + -0.06444799900054932, + 3.199929415131919e-05 ], "max": [ - 0.06473549455404282, - 0.06515185534954071, - 0.06447053700685501 + 0.06473100185394287, + 0.06467200070619583, + 0.0653030052781105 ], - "min": [ - -0.06469113379716873, - 0.0, - -0.0646815374493599 - ] + "size": [ + 0.1294180005788803, + 0.12911999970674515, + 0.06527100598395918 + ], + "units": "m" }, "center_of_mass": [ 8.66299345414299e-05, @@ -59,7 +65,7 @@ 0.0005957330813263543, 0.000890820733088182 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "wood", "name": "D00666 Rice Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00666 Rice Bowl", "part_name": "D00666 Rice Bowl" }, - "volume": 0.00010248204272771267 + "volume": 0.00010248204272771267, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ba176d00b1b001c7aa4d35af8787e0d786518478126e79341fce0c4f4a264aad" + }, + "usd_path": "batch13/D00666 Rice Bowl/IsaacSim_assets_69f62cf6431507ff7c102dd6/IsaacSim_asset_69f62cf6431507ff7c102dd6.usd", + "usd_sha256": "de2e6e46688f2ff1f4b62a691d28e1a927927850004b9bbbb12fa3ebfac287cf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.12942662835121155, - 0.06515185534954071, - 0.1291520744562149 - ] + 0.1294180005788803, + 0.12911999970674515, + 0.06527100598395918 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de2e6e46688f2ff1f4b62a691d28e1a927927850004b9bbbb12fa3ebfac287cf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de2e6e46688f2ff1f4b62a691d28e1a927927850004b9bbbb12fa3ebfac287cf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 66, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de2e6e46688f2ff1f4b62a691d28e1a927927850004b9bbbb12fa3ebfac287cf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 66, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de2e6e46688f2ff1f4b62a691d28e1a927927850004b9bbbb12fa3ebfac287cf", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00675 Round Container Bowl/IsaacSim_assets_69f632b3431507ff7c11e23f/physics_69f632b3431507ff7c11e23f.json b/batch13/D00675 Round Container Bowl/IsaacSim_assets_69f632b3431507ff7c11e23f/physics_69f632b3431507ff7c11e23f.json index d1d8a36c0236f97c62f380ac579e70775274c29b..1e521c6a7f7129c6bc2d02fdbbeb891d4be99d8d 100644 --- a/batch13/D00675 Round Container Bowl/IsaacSim_assets_69f632b3431507ff7c11e23f/physics_69f632b3431507ff7c11e23f.json +++ b/batch13/D00675 Round Container Bowl/IsaacSim_assets_69f632b3431507ff7c11e23f/physics_69f632b3431507ff7c11e23f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10640737414360046, - 0.11727648228406906, - 0.10644061118364334 - ], "min": [ - -0.10663864016532898, - 0.0, - -0.1064528152346611 + -0.10636000335216522, + -0.10647899657487869, + 2.5999170247814618e-05 + ], + "max": [ + 0.10640499740839005, + 0.10621500015258789, + 0.1175830066204071 ], "size": [ - 0.21304601430892944, - 0.11727648228406906, - 0.21289342641830444 - ] + 0.21276500076055527, + 0.21269399672746658, + 0.11755700745015929 + ], + "units": "m" }, "description": "A plain white ceramic bowl with a smooth exterior and a flat circular base.", "name": "D00675 Round Container Bowl", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00675", "parts": [ { "bounds": { - "center": [ - -6.39753042168258e-05, - 0.05733076844129987, - -1.3883403140866353e-05 + "min": [ + -0.10636000335216522, + -0.10647899657487869, + 2.5999170247814618e-05 ], "max": [ - 0.10640737414360046, - 0.11727648228406906, - 0.10644061118364334 + 0.10640499740839005, + 0.10621500015258789, + 0.1175830066204071 ], - "min": [ - -0.10663864016532898, - 0.0, - -0.1064528152346611 - ] + "size": [ + 0.21276500076055527, + 0.21269399672746658, + 0.11755700745015929 + ], + "units": "m" }, "center_of_mass": [ 0.0001790131216480305, @@ -59,7 +65,7 @@ 0.001911768387383969, 0.0029220357484094055 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic", "name": "D00675 Round Container Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00675 Round Container Bowl", "part_name": "D00675 Round Container Bowl" }, - "volume": 0.0008326286145427782 + "volume": 0.0008326286145427782, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c656135deee6315af89e063d434601b6c1deb8bcc1d8a5e71f84d1245b8e4e06" + }, + "usd_path": "batch13/D00675 Round Container Bowl/IsaacSim_assets_69f632b3431507ff7c11e23f/IsaacSim_asset_69f632b3431507ff7c11e23f.usd", + "usd_sha256": "e34e8e23bf6dd88b3b30a6c10a61c01dc6962f0aadd169b97a2c4e6b9d6ba668", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.21304601430892944, - 0.11727648228406906, - 0.21289342641830444 - ] + 0.21276500076055527, + 0.21269399672746658, + 0.11755700745015929 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e34e8e23bf6dd88b3b30a6c10a61c01dc6962f0aadd169b97a2c4e6b9d6ba668", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e34e8e23bf6dd88b3b30a6c10a61c01dc6962f0aadd169b97a2c4e6b9d6ba668", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 72, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e34e8e23bf6dd88b3b30a6c10a61c01dc6962f0aadd169b97a2c4e6b9d6ba668", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 72, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e34e8e23bf6dd88b3b30a6c10a61c01dc6962f0aadd169b97a2c4e6b9d6ba668", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00676 Round Cutting Board/IsaacSim_assets_69f632b5431507ff7c11e2c3/physics_69f632b5431507ff7c11e2c3.json b/batch13/D00676 Round Cutting Board/IsaacSim_assets_69f632b5431507ff7c11e2c3/physics_69f632b5431507ff7c11e2c3.json index 7c8b034a1cbac1881ca81d49e71b20aa4e883249..ea7a1b72ef9e3123ed62fc985b6f9cb2456d8d5d 100644 --- a/batch13/D00676 Round Cutting Board/IsaacSim_assets_69f632b5431507ff7c11e2c3/physics_69f632b5431507ff7c11e2c3.json +++ b/batch13/D00676 Round Cutting Board/IsaacSim_assets_69f632b5431507ff7c11e2c3/physics_69f632b5431507ff7c11e2c3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16945411264896393, - 0.035359494388103485, - 0.14283257722854614 - ], "min": [ - -0.1551402062177658, - 0.0, - -0.1444195806980133 + -0.15519599616527557, + -0.14295099675655365, + 4.995568815502338e-06 + ], + "max": [ + 0.1695069968700409, + 0.1444530040025711, + 0.03570600226521492 ], "size": [ - 0.32459431886672974, - 0.035359494388103485, - 0.28725215792655945 - ] + 0.32470299303531647, + 0.28740400075912476, + 0.03570100669639942 + ], + "units": "m" }, "description": "A circular wooden cutting board with a thick, flat profile and natural wood grain. A brushed metal handle is attached to one side.", "name": "D00676 Round Cutting Board", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00676", "parts": [ { "bounds": { - "center": [ - -0.0036645303323688053, - 0.01763209807189887, - -0.0006850981381170898 + "min": [ + -0.15519599616527557, + -0.14295099675655365, + 4.995568815502338e-06 ], "max": [ - 0.16945411264896393, - 0.035359494388103485, - 0.14283257722854614 + 0.1695069968700409, + 0.1444530040025711, + 0.03570600226521492 ], - "min": [ - -0.1551402062177658, - 0.0, - -0.1444195806980133 - ] + "size": [ + 0.32470299303531647, + 0.28740400075912476, + 0.03570100669639942 + ], + "units": "m" }, "center_of_mass": [ -0.003994456743956326, @@ -67,10 +73,27 @@ "object_name": "D00676 Round Cutting Board", "part_name": "D00676 Round Cutting Board" }, - "volume": 0.002421749024015757 + "volume": 0.002421749024015757, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "17a4155e15a6d273d72cdba80978ed3400460d46ea6c29359724bf36e445cf4e" + }, + "usd_path": "batch13/D00676 Round Cutting Board/IsaacSim_assets_69f632b5431507ff7c11e2c3/IsaacSim_asset_69f632b5431507ff7c11e2c3.usd", + "usd_sha256": "0fae8cc3dbebe9ce39ad891808e0d8bf88e70aa1ae83bdf292f1c41b923fd404", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.32459431886672974, - 0.035359494388103485, - 0.28725215792655945 - ] + 0.32470299303531647, + 0.28740400075912476, + 0.03570100669639942 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fae8cc3dbebe9ce39ad891808e0d8bf88e70aa1ae83bdf292f1c41b923fd404", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fae8cc3dbebe9ce39ad891808e0d8bf88e70aa1ae83bdf292f1c41b923fd404", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fae8cc3dbebe9ce39ad891808e0d8bf88e70aa1ae83bdf292f1c41b923fd404", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fae8cc3dbebe9ce39ad891808e0d8bf88e70aa1ae83bdf292f1c41b923fd404", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00708 Saucepan Wok/IsaacSim_assets_69f653277f5104dbf2635723/physics_69f653277f5104dbf2635723.json b/batch13/D00708 Saucepan Wok/IsaacSim_assets_69f653277f5104dbf2635723/physics_69f653277f5104dbf2635723.json index 34eeb9bc1a694684422137939173d35384202c8b..27e3a46065c85d5ac3a9ed93f6ddd81e1c1add5c 100644 --- a/batch13/D00708 Saucepan Wok/IsaacSim_assets_69f653277f5104dbf2635723/physics_69f653277f5104dbf2635723.json +++ b/batch13/D00708 Saucepan Wok/IsaacSim_assets_69f653277f5104dbf2635723/physics_69f653277f5104dbf2635723.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2776067940904086, - 0.11815264954022853, - 0.09182361751166743 - ], "min": [ - -0.17290108453306274, - -0.11884564406871344, - -0.00046231252332618495 + -0.17546199262142181, + -0.11875899881124496, + 7.000000096013537e-06 + ], + "max": [ + 0.2804279923439026, + 0.12023399770259857, + 0.09046900272369385 ], "size": [ - 0.45050787862347136, - 0.23699829360894198, - 0.09228593003499361 - ] + 0.4558899849653244, + 0.23899299651384354, + 0.09046200272359783 + ], + "units": "m" }, "description": "A stainless steel wok with a large, polished concave bowl. It features a long, cylindrical main handle with a black grip insert, and a smaller looped helper handle riveted to the opposite side.", "name": "D00708 Stainless Steel Wok", "object_type": "rigid_bodies", - "total_mass": 2.0 + "total_mass": 2.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00708", "parts": [ { "bounds": { - "center": [ - -0.004491558005177227, - -0.0003668165777870776, - 0.032121506926943454 + "min": [ + -0.17546199262142181, + -0.11875899881124496, + 7.000000096013537e-06 ], "max": [ - 0.2776067940904086, - 0.11815264954022853, - 0.09182361751166743 + 0.2804279923439026, + 0.12023399770259857, + 0.09046900272369385 ], - "min": [ - -0.17290108453306274, - -0.11884564406871344, - -0.00046231252332618495 - ] + "size": [ + 0.4558899849653244, + 0.23899299651384354, + 0.09046200272359783 + ], + "units": "m" }, "center_of_mass": [ 0.010787270139003864, @@ -67,10 +73,27 @@ "object_name": "D00708 Saucepan Wok", "part_name": "D00708 Saucepan Wok" }, - "volume": 0.0036491501186385524 + "volume": 0.0036491501186385524, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c0507dc0a40c5dff8118342fcb758aa3cc3f4eba91489f10fa3bfe199ba9e439" + }, + "usd_path": "batch13/D00708 Saucepan Wok/IsaacSim_assets_69f653277f5104dbf2635723/IsaacSim_asset_69f653277f5104dbf2635723.usd", + "usd_sha256": "9e3153b6b94b155df4ecc4662b164d2559b1a94716219cb0d5935bca359d3874", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.45050787862347136, - 0.23699829360894198, - 0.09228593003499361 - ] + 0.4558899849653244, + 0.23899299651384354, + 0.09046200272359783 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e3153b6b94b155df4ecc4662b164d2559b1a94716219cb0d5935bca359d3874", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.0 + "value_kg": 2.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e3153b6b94b155df4ecc4662b164d2559b1a94716219cb0d5935bca359d3874", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 42, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e3153b6b94b155df4ecc4662b164d2559b1a94716219cb0d5935bca359d3874", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 42, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e3153b6b94b155df4ecc4662b164d2559b1a94716219cb0d5935bca359d3874", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00711 Saucer/IsaacSim_assets_69f6532d7f5104dbf263578f/physics_69f6532d7f5104dbf263578f.json b/batch13/D00711 Saucer/IsaacSim_assets_69f6532d7f5104dbf263578f/physics_69f6532d7f5104dbf263578f.json index 1652b5b7bf904c2f1dba37677c26d6f3ed792525..e9f68ea94444f9a31967467a755f59cb32826797 100644 --- a/batch13/D00711 Saucer/IsaacSim_assets_69f6532d7f5104dbf263578f/physics_69f6532d7f5104dbf263578f.json +++ b/batch13/D00711 Saucer/IsaacSim_assets_69f6532d7f5104dbf263578f/physics_69f6532d7f5104dbf263578f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05815032461106436, - 0.058106435149690834, - 0.01886197924146795 - ], "min": [ - -0.05803197605948676, - -0.05802178618320991, - -0.00029626146014521406 + -0.05828399956226349, + -0.05814100056886673, + 2.9999989692441886e-06 + ], + "max": [ + 0.05822800099849701, + 0.058316998183727264, + 0.01905599981546402 ], "size": [ - 0.11618230067055113, - 0.11612822133290074, - 0.019158240701613163 - ] + 0.1165120005607605, + 0.116457998752594, + 0.019052999816494776 + ], + "units": "m" }, "description": "A round, white ceramic saucer with a raised rim and a shallow central depression.", "name": "D00711 Saucer", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00711", "parts": [ { "bounds": { - "center": [ - 3.902873972827706e-05, - 4.1854048368208055e-05, - 0.007591612951411109 + "min": [ + -0.05828399956226349, + -0.05814100056886673, + 2.9999989692441886e-06 ], "max": [ - 0.05815032461106436, - 0.058106435149690834, - 0.01886197924146795 + 0.05822800099849701, + 0.058316998183727264, + 0.01905599981546402 ], - "min": [ - -0.05803197605948676, - -0.05802178618320991, - -0.00029626146014521406 - ] + "size": [ + 0.1165120005607605, + 0.116457998752594, + 0.019052999816494776 + ], + "units": "m" }, "center_of_mass": [ 5.5659561494119195e-05, @@ -59,7 +65,7 @@ 0.00013754504293068476, 0.0002674626887682856 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "ceramic", "name": "D00711 Saucer", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00711 Saucer", "part_name": "D00711 Saucer" }, - "volume": 6.175974914934075e-05 + "volume": 6.175974914934075e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6401861cf05ee644c722e9dbd4c195cecdb76dcfcd4ac0528e6161cd363d3156" + }, + "usd_path": "batch13/D00711 Saucer/IsaacSim_assets_69f6532d7f5104dbf263578f/IsaacSim_asset_69f6532d7f5104dbf263578f.usd", + "usd_sha256": "917e4258876cd4d49480ca54f5c144faa77f5708cfb4362370247891934016cb", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.11618230067055113, - 0.11612822133290074, - 0.019158240701613163 - ] + 0.1165120005607605, + 0.116457998752594, + 0.019052999816494776 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "917e4258876cd4d49480ca54f5c144faa77f5708cfb4362370247891934016cb", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "917e4258876cd4d49480ca54f5c144faa77f5708cfb4362370247891934016cb", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 28, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "917e4258876cd4d49480ca54f5c144faa77f5708cfb4362370247891934016cb", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 28, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "917e4258876cd4d49480ca54f5c144faa77f5708cfb4362370247891934016cb", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00718 Serving Plate/IsaacSim_assets_69f6533e7f5104dbf2635a4b/physics_69f6533e7f5104dbf2635a4b.json b/batch13/D00718 Serving Plate/IsaacSim_assets_69f6533e7f5104dbf2635a4b/physics_69f6533e7f5104dbf2635a4b.json index 603d6d5ef5b553782a21cf050a7f6fcbd317fbb0..4f279c6d75e7c782fe313c26f4bf37f18e19301c 100644 --- a/batch13/D00718 Serving Plate/IsaacSim_assets_69f6533e7f5104dbf2635a4b/physics_69f6533e7f5104dbf2635a4b.json +++ b/batch13/D00718 Serving Plate/IsaacSim_assets_69f6533e7f5104dbf2635a4b/physics_69f6533e7f5104dbf2635a4b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13405239284441722, - 0.133476816937868, - 0.0395314235805131 - ], "min": [ - -0.13342147133855006, - -0.1338556135819416, - -0.0002754888735363832 + -0.1291169971227646, + -0.12941400706768036, + 1.0000015890909708e-06 + ], + "max": [ + 0.12933200597763062, + 0.1289689987897873, + 0.042778000235557556 ], "size": [ - 0.26747386418296726, - 0.2673324305198096, - 0.039806912454049485 - ] + 0.2584490031003952, + 0.25838300585746765, + 0.042777000233968465 + ], + "units": "m" }, "description": "A circular white ceramic serving plate with a smooth matte finish and a gently raised rim.", "name": "D00718 Serving Plate", "object_type": "rigid_bodies", - "total_mass": 0.642 + "total_mass": 0.6420000195503235, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00718", "parts": [ { "bounds": { - "center": [ - 0.000333228336726239, - -0.00021155948404968813, - 0.014987168065584516 + "min": [ + -0.1291169971227646, + -0.12941400706768036, + 1.0000015890909708e-06 ], "max": [ - 0.13405239284441722, - 0.133476816937868, - 0.0395314235805131 + 0.12933200597763062, + 0.1289689987897873, + 0.042778000235557556 ], - "min": [ - -0.13342147133855006, - -0.1338556135819416, - -0.0002754888735363832 - ] + "size": [ + 0.2584490031003952, + 0.25838300585746765, + 0.042777000233968465 + ], + "units": "m" }, "center_of_mass": [ 0.00025536585217136377, @@ -59,7 +65,7 @@ 0.00293371900012256, 0.005720591465638152 ], - "mass": 0.642, + "mass": 0.6420000195503235, "material": "ceramic", "name": "D00718 Serving Plate", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00718 Serving Plate", "part_name": "D00718 Serving Plate" }, - "volume": 0.0006017543903143346 + "volume": 0.0006017543903143346, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5a0ed549b7789bc2786ca72efe3c708a56af37dde7e0b332726025fa99020381" + }, + "usd_path": "batch13/D00718 Serving Plate/IsaacSim_assets_69f6533e7f5104dbf2635a4b/IsaacSim_asset_69f6533e7f5104dbf2635a4b.usd", + "usd_sha256": "34778b34428019959cf02677dd63492ae1eb51c80ebbd756178a0fe45b8b35b7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.26747386418296726, - 0.2673324305198096, - 0.039806912454049485 - ] + 0.2584490031003952, + 0.25838300585746765, + 0.042777000233968465 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "34778b34428019959cf02677dd63492ae1eb51c80ebbd756178a0fe45b8b35b7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.642 + "value_kg": 0.6420000195503235, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "34778b34428019959cf02677dd63492ae1eb51c80ebbd756178a0fe45b8b35b7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6420000195503235, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 44, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "34778b34428019959cf02677dd63492ae1eb51c80ebbd756178a0fe45b8b35b7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 44, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "34778b34428019959cf02677dd63492ae1eb51c80ebbd756178a0fe45b8b35b7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00730 Small Bowl/IsaacSim_assets_69f6569c7f5104dbf2651676/physics_69f6569c7f5104dbf2651676.json b/batch13/D00730 Small Bowl/IsaacSim_assets_69f6569c7f5104dbf2651676/physics_69f6569c7f5104dbf2651676.json index 21a01239db0affc52713c9c830276575765dfdf8..70eb495eaadc7c403502b082621f37912aeb654a 100644 --- a/batch13/D00730 Small Bowl/IsaacSim_assets_69f6569c7f5104dbf2651676/physics_69f6569c7f5104dbf2651676.json +++ b/batch13/D00730 Small Bowl/IsaacSim_assets_69f6569c7f5104dbf2651676/physics_69f6569c7f5104dbf2651676.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05863751471042633, - 0.061234768480062485, - 0.05822718143463135 - ], "min": [ - -0.05907755345106125, - 0.0, - -0.059244513511657715 + -0.059087999165058136, + -0.058243997395038605, + 1.4999476661614608e-05 + ], + "max": [ + 0.0585470013320446, + 0.059140004217624664, + 0.06141900271177292 ], "size": [ - 0.11771506816148758, - 0.061234768480062485, - 0.11747169494628906 - ] + 0.11763500049710274, + 0.11738400161266327, + 0.061404003235111304 + ], + "units": "m" }, "description": "A white glazed ceramic bowl with rounded sides, a thick rolled rim, and a small foot ring. The glossy surface has subtle gray marbling and fine speckling.", "name": "D00730 Small Bowl", "object_type": "rigid_bodies", - "total_mass": 0.32 + "total_mass": 0.3199999928474426, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00730", "parts": [ { "bounds": { - "center": [ - -0.00012316232283839953, - 0.03189417656149122, - -4.336707685631655e-05 + "min": [ + -0.059087999165058136, + -0.058243997395038605, + 1.4999476661614608e-05 ], "max": [ - 0.05863751471042633, - 0.061234768480062485, - 0.05822718143463135 + 0.0585470013320446, + 0.059140004217624664, + 0.06141900271177292 ], - "min": [ - -0.05907755345106125, - 0.0, - -0.059244513511657715 - ] + "size": [ + 0.11763500049710274, + 0.11738400161266327, + 0.061404003235111304 + ], + "units": "m" }, "center_of_mass": [ -3.8207746757698235e-05, @@ -59,7 +65,7 @@ 0.00040247553535805385, 0.0005968679761518063 ], - "mass": 0.32, + "mass": 0.3199999928474426, "material": "baked_bread", "name": "D00730 Small Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00730 Small Bowl", "part_name": "D00730 Small Bowl" }, - "volume": 0.00014682886160501026 + "volume": 0.00014682886160501026, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "70cb5eadf3c6424c7bdfb469a2446e91c9d54b102cff7ffd4947001fb490db82" + }, + "usd_path": "batch13/D00730 Small Bowl/IsaacSim_assets_69f6569c7f5104dbf2651676/IsaacSim_asset_69f6569c7f5104dbf2651676.usd", + "usd_sha256": "04de4809a472b49ba46b8d31c03e42bf82e016d899a071fc2bd265da85a0d66d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.11771506816148758, - 0.061234768480062485, - 0.11747169494628906 - ] + 0.11763500049710274, + 0.11738400161266327, + 0.061404003235111304 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "04de4809a472b49ba46b8d31c03e42bf82e016d899a071fc2bd265da85a0d66d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.32 + "value_kg": 0.3199999928474426, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "04de4809a472b49ba46b8d31c03e42bf82e016d899a071fc2bd265da85a0d66d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3199999928474426, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 57, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "04de4809a472b49ba46b8d31c03e42bf82e016d899a071fc2bd265da85a0d66d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 57, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "04de4809a472b49ba46b8d31c03e42bf82e016d899a071fc2bd265da85a0d66d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00732 Small Cup/IsaacSim_assets_69f658767f5104dbf266271a/physics_69f658767f5104dbf266271a.json b/batch13/D00732 Small Cup/IsaacSim_assets_69f658767f5104dbf266271a/physics_69f658767f5104dbf266271a.json index 340f1f14d44781308be8d42e093125d957d4bfec..fec846aedd5a4611756c6847ae889fbf98ae8f31 100644 --- a/batch13/D00732 Small Cup/IsaacSim_assets_69f658767f5104dbf266271a/physics_69f658767f5104dbf266271a.json +++ b/batch13/D00732 Small Cup/IsaacSim_assets_69f658767f5104dbf266271a/physics_69f658767f5104dbf266271a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04147235864605246, - 0.04162071331386553, - 0.06434009615735961 - ], "min": [ - -0.041484955288965106, - -0.04111966307218297, - -6.997900453029218e-06 + -0.04132499918341637, + -0.04075799882411957, + 4.999998964194674e-06 + ], + "max": [ + 0.04126200079917908, + 0.04149699956178665, + 0.06503000110387802 ], "size": [ - 0.08295731393501757, - 0.0827403763860485, - 0.06434709405781264 - ] + 0.08258699998259544, + 0.08225499838590622, + 0.06502500110491383 + ], + "units": "m" }, "description": "A small, matte off-white ceramic cup without a handle.", "name": "D00732 Small Cup", "object_type": "rigid_bodies", - "total_mass": 0.058 + "total_mass": 0.057999998331069946, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00732", "parts": [ { "bounds": { - "center": [ - -5.924072507586535e-05, - 0.00017695621968801087, - 0.02997150678496711 + "min": [ + -0.04132499918341637, + -0.04075799882411957, + 4.999998964194674e-06 ], "max": [ - 0.04147235864605246, - 0.04162071331386553, - 0.06434009615735961 + 0.04126200079917908, + 0.04149699956178665, + 0.06503000110387802 ], - "min": [ - -0.041484955288965106, - -0.04111966307218297, - -6.997900453029218e-06 - ] + "size": [ + 0.08258699998259544, + 0.08225499838590622, + 0.06502500110491383 + ], + "units": "m" }, "center_of_mass": [ 5.2581794351348984e-05, @@ -59,7 +65,7 @@ 6.081024486398061e-05, 7.033992624400836e-05 ], - "mass": 0.058, + "mass": 0.057999998331069946, "material": "ceramic", "name": "D00732 Small Cup", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00732 Small Cup", "part_name": "D00732 Small Cup" }, - "volume": 7.80571204038507e-05 + "volume": 7.80571204038507e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5b05f652c71184aabb761e7afa1ec2846c405785ecd25ce160a0fd82a6d2cf80" + }, + "usd_path": "batch13/D00732 Small Cup/IsaacSim_assets_69f658767f5104dbf266271a/IsaacSim_asset_69f658767f5104dbf266271a.usd", + "usd_sha256": "0fc39adc85ed5be8213e8afb5c8076524829755130398d7f445d704a4280fd60", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.08295731393501757, - 0.0827403763860485, - 0.06434709405781264 - ] + 0.08258699998259544, + 0.08225499838590622, + 0.06502500110491383 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fc39adc85ed5be8213e8afb5c8076524829755130398d7f445d704a4280fd60", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.058 + "value_kg": 0.057999998331069946, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fc39adc85ed5be8213e8afb5c8076524829755130398d7f445d704a4280fd60", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.057999998331069946, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 67, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fc39adc85ed5be8213e8afb5c8076524829755130398d7f445d704a4280fd60", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 67, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fc39adc85ed5be8213e8afb5c8076524829755130398d7f445d704a4280fd60", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00744 Soy Sauce Bowl/IsaacSim_assets_69f65b3b7f5104dbf26939b9/physics_69f65b3b7f5104dbf26939b9.json b/batch13/D00744 Soy Sauce Bowl/IsaacSim_assets_69f65b3b7f5104dbf26939b9/physics_69f65b3b7f5104dbf26939b9.json index ace24490e67d4c17a75a88d5b3d941f27a102a9c..abb082d80eb379a36b3eedf188d1569b2febaee1 100644 --- a/batch13/D00744 Soy Sauce Bowl/IsaacSim_assets_69f65b3b7f5104dbf26939b9/physics_69f65b3b7f5104dbf26939b9.json +++ b/batch13/D00744 Soy Sauce Bowl/IsaacSim_assets_69f65b3b7f5104dbf26939b9/physics_69f65b3b7f5104dbf26939b9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.044098999351263046, - 0.04426800087094307, - 0.044450998306274414 - ], "min": [ -0.044126998633146286, -0.04394000023603439, - -3.000000106112566e-06 + 6.999696350030718e-06 + ], + "max": [ + 0.044098999351263046, + 0.04426800087094307, + 0.04446099830627442 ], "size": [ 0.08822599798440933, 0.08820800110697746, - 0.04445399830638053 - ] + 0.04445399860992438 + ], + "units": "m" }, "description": "A small speckled cream-and-brown ceramic bowl with a rounded body, thick rolled rim, and narrow foot ring. The surface appears glazed with darker unglazed or stained ceramic exposed around the rim and base.", "name": "D00744 Soy Sauce Bowl", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.3499999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00744", "parts": [ { "bounds": { - "center": [ - -7.034335144884952e-05, - 4.699380297318377e-05, - 0.02277311562177068 + "min": [ + -0.044126998633146286, + -0.04394000023603439, + 6.999696350030718e-06 ], "max": [ 0.044098999351263046, 0.04426800087094307, - 0.044450998306274414 + 0.04446099830627442 ], - "min": [ - -0.044126998633146286, - -0.04394000023603439, - -3.000000106112566e-06 - ] + "size": [ + 0.08822599798440933, + 0.08820800110697746, + 0.04445399860992438 + ], + "units": "m" }, "center_of_mass": [ 0.0003439203652718866, @@ -59,7 +65,7 @@ 0.00025804839779095277, 0.00040188354913600567 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "baked_bread", "name": "D00744 Soy Sauce Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00744 Soy Sauce Bowl", "part_name": "D00744 Soy Sauce Bowl" }, - "volume": 5.327770268991963e-05 + "volume": 5.327770268991963e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "546ff872464d1f00c68a7908906f51ddc2d9b92e4fb68e2c79be421b8975ecd9" + }, + "usd_path": "batch13/D00744 Soy Sauce Bowl/IsaacSim_assets_69f65b3b7f5104dbf26939b9/IsaacSim_asset_69f65b3b7f5104dbf26939b9.usd", + "usd_sha256": "fe939b7c314d9a1b5131fee255d43ca3f7714ffcd34c21112d9e629e0ca1b773", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -88,23 +111,57 @@ "bounds_m": [ 0.08822599798440933, 0.08820800110697746, - 0.04445399830638053 - ] + 0.04445399860992438 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe939b7c314d9a1b5131fee255d43ca3f7714ffcd34c21112d9e629e0ca1b773", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.3499999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe939b7c314d9a1b5131fee255d43ca3f7714ffcd34c21112d9e629e0ca1b773", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3499999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe939b7c314d9a1b5131fee255d43ca3f7714ffcd34c21112d9e629e0ca1b773", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe939b7c314d9a1b5131fee255d43ca3f7714ffcd34c21112d9e629e0ca1b773", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch13/D00871 Tomato/IsaacSim_assets_6a59ca780b16fd262c5789f6/physics_6a59ca780b16fd262c5789f6.json b/batch13/D00871 Tomato/IsaacSim_assets_6a59ca780b16fd262c5789f6/physics_6a59ca780b16fd262c5789f6.json index 1b07aa647fe02aa3330dc318a8be1e1a3e91af63..9e35a5054aa6a07dacb424b440188aaf163596ab 100644 --- a/batch13/D00871 Tomato/IsaacSim_assets_6a59ca780b16fd262c5789f6/physics_6a59ca780b16fd262c5789f6.json +++ b/batch13/D00871 Tomato/IsaacSim_assets_6a59ca780b16fd262c5789f6/physics_6a59ca780b16fd262c5789f6.json @@ -18,52 +18,103 @@ "rest_pose_state": "closed", "score": 1, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_tomato_body__stem", + "path": "/World/textured_mesh_6a59ca780b16fd262c5789f6/Joints/joint_tomato_body__stem", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a59ca780b16fd262c5789f6/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a59ca780b16fd262c5789f6/part_00" + ], + "authored_usd": { + "id": "joint_tomato_body__stem", + "source_prim_path": "/World/textured_mesh_6a59ca780b16fd262c5789f6/Joints/joint_tomato_body__stem", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a59ca780b16fd262c5789f6/part_01" + ], + "body1": [ + "/World/textured_mesh_6a59ca780b16fd262c5789f6/part_00" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.024493, - 0.054857, - 0.024169 - ], "min": [ - -0.024974, - 2.5e-05, - -0.025422 + -0.02499300055205822, + -0.024197999387979507, + 2.099999983329326e-05 + ], + "max": [ + 0.024512000381946564, + 0.025451000779867172, + 0.054861001670360565 ], "size": [ - 0.049467, - 0.054832000000000006, - 0.049590999999999996 - ] + 0.049505000934004784, + 0.04964900016784668, + 0.05484000167052727 + ], + "units": "m" }, "description": "A fresh red tomato with a green stem attached. Modeled as a solid rigid object.", "name": "stem", "object_type": "rigid_bodies", - "total_mass": 0.06 + "total_mass": 0.05999999842606485, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00871", "parts": [ { "bounds": { - "center": [ - -0.001272, - 0.044348, - 0.000662 + "min": [ + -0.02026600018143654, + -0.02062699943780899, + 0.03384799882769585 ], "max": [ - 0.017635, - 0.054857, - 0.020617 + 0.01755700074136257, + 0.01928200013935566, + 0.054861001670360565 ], - "min": [ - -0.02018, - 0.033839, - -0.019293 - ] + "size": [ + 0.03782300092279911, + 0.03990899957716465, + 0.02101300284266472 + ], + "units": "m" }, "center_of_mass": [ 0.00028384258914500207, @@ -78,7 +129,7 @@ 1.5383203219927433e-07, 2.480377417983064e-07 ], - "mass": 0.002, + "mass": 0.0020000000949949026, "material": "organic_plant_stem", "name": "stem", "physics_type": "rigid", @@ -86,25 +137,28 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 8.352505364401132e-06 + "volume": 8.352505364401132e-06, + "source_prim_path": "/World/textured_mesh_6a59ca780b16fd262c5789f6/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.000241, - 0.02024, - -0.000626 + "min": [ + -0.02499300055205822, + -0.024197999387979507, + 2.099999983329326e-05 ], "max": [ - 0.024493, - 0.040454, - 0.024169 + 0.024512000381946564, + 0.025451000779867172, + 0.040449999272823334 ], - "min": [ - -0.024974, - 2.5e-05, - -0.025422 - ] + "size": [ + 0.049505000934004784, + 0.04964900016784668, + 0.04042899927299004 + ], + "units": "m" }, "center_of_mass": [ -0.0001094254198665177, @@ -119,7 +173,7 @@ 1.2944423160021321e-05, 1.48393346994434e-05 ], - "mass": 0.058, + "mass": 0.057999998331069946, "material": "organic_tomato_flesh", "name": "tomato body", "physics_type": "rigid", @@ -127,10 +181,27 @@ "object_name": "part_1", "part_name": "part_1" }, - "volume": 5.7362184596041744e-05 + "volume": 5.7362184596041744e-05, + "source_prim_path": "/World/textured_mesh_6a59ca780b16fd262c5789f6/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "950c072d251403c7a37688f5edc7c15201e98c69fefb2d6ba44b2fea1171f306" + }, + "usd_path": "batch13/D00871 Tomato/IsaacSim_assets_6a59ca780b16fd262c5789f6/IsaacSim_asset_6a59ca780b16fd262c5789f6.usd", + "usd_sha256": "053e0814a82e1ca3789dcd548b7d95c1520df1807fdd9c2a66a09bb925a840b6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -148,25 +219,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.049467, - 0.054832000000000006, - 0.049590999999999996 - ] + 0.049505000934004784, + 0.04964900016784668, + 0.05484000167052727 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "053e0814a82e1ca3789dcd548b7d95c1520df1807fdd9c2a66a09bb925a840b6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.06 + "value_kg": 0.05999999842606485, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "053e0814a82e1ca3789dcd548b7d95c1520df1807fdd9c2a66a09bb925a840b6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05999999842606485, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 34, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "053e0814a82e1ca3789dcd548b7d95c1520df1807fdd9c2a66a09bb925a840b6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 34, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "053e0814a82e1ca3789dcd548b7d95c1520df1807fdd9c2a66a09bb925a840b6", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00085_Broccoli/IsaacSim_assets_6a4d2af67f41c2eb2f30f0f8/physics_6a4d2af67f41c2eb2f30f0f8.json b/batch14/D00085_Broccoli/IsaacSim_assets_6a4d2af67f41c2eb2f30f0f8/physics_6a4d2af67f41c2eb2f30f0f8.json index f74404598b5a1e300b3d814099e3e5d37dcb0af4..6b9108e781dcbddfebd5ec4112f8ab3240064594 100644 --- a/batch14/D00085_Broccoli/IsaacSim_assets_6a4d2af67f41c2eb2f30f0f8/physics_6a4d2af67f41c2eb2f30f0f8.json +++ b/batch14/D00085_Broccoli/IsaacSim_assets_6a4d2af67f41c2eb2f30f0f8/physics_6a4d2af67f41c2eb2f30f0f8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.027326133102178574, - 0.032186321914196014, - 0.029200587421655655 - ], "min": [ - -0.02737586572766304, - -0.03225767984986305, - -0.029266411438584328 + -0.027375999838113785, + -0.029201000928878784, + -0.03225800022482872 + ], + "max": [ + 0.027326000854372978, + 0.029265999794006348, + 0.03218600153923035 ], "size": [ - 0.054701998829841614, - 0.06444400176405907, - 0.05846699886023998 - ] + 0.05470200069248676, + 0.05846700072288513, + 0.06444400176405907 + ], + "units": "m" }, "description": "A green broccoli floret consisting of a thick central stalk and a densely packed, textured crown.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.22 + "total_mass": 0.2199999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00085", "parts": [ { "bounds": { - "center": [ - -3.72789573014444e-05, - 0.0063711722547875795, - -9.72398459380342e-06 + "min": [ + -0.027375999838113785, + -0.029201000928878784, + -0.03225800022482872 ], "max": [ - 0.027326133102178574, - 0.032186321914196014, - 0.029200587421655655 + 0.027326000854372978, + 0.029265999794006348, + 0.03218600153923035 ], - "min": [ - -0.02737586572766304, - -0.03225767984986305, - -0.029266411438584328 - ] + "size": [ + 0.05470200069248676, + 0.05846700072288513, + 0.06444400176405907 + ], + "units": "m" }, "center_of_mass": [ -5.476553614646745e-05, @@ -59,7 +65,7 @@ 6.785863432468567e-05, 6.873972551818642e-05 ], - "mass": 0.22, + "mass": 0.2199999988079071, "material": "organic_plant_matter", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 8.310984984914287e-05 + "volume": 8.310984984914287e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "943bca3874e3da87a1e1c725c0f5800acf767d406de5167fc5a498ccdbed6fdf" + }, + "usd_path": "batch14/D00085_Broccoli/IsaacSim_assets_6a4d2af67f41c2eb2f30f0f8/IsaacSim_asset_6a4d2af67f41c2eb2f30f0f8.usd", + "usd_sha256": "7047985add653f2d0b98123cf35ed09b44b92fc36db0d428509a572769d1e3e1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.054701998829841614, - 0.06444400176405907, - 0.05846699886023998 - ] + 0.05470200069248676, + 0.05846700072288513, + 0.06444400176405907 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7047985add653f2d0b98123cf35ed09b44b92fc36db0d428509a572769d1e3e1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.22 + "value_kg": 0.2199999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7047985add653f2d0b98123cf35ed09b44b92fc36db0d428509a572769d1e3e1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2199999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 123, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7047985add653f2d0b98123cf35ed09b44b92fc36db0d428509a572769d1e3e1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 123, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7047985add653f2d0b98123cf35ed09b44b92fc36db0d428509a572769d1e3e1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "7047985add653f2d0b98123cf35ed09b44b92fc36db0d428509a572769d1e3e1", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 10, + "skipped": 2, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:45.368764+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "574a32f1735fec1c54c69044edd726a2c9f2e7d8ef8e2a22857b47960ec698ad", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00133 Chopstick/IsaacSim_assets_69f2071e59057a93105ac49f/physics_69f2071e59057a93105ac49f.json b/batch14/D00133 Chopstick/IsaacSim_assets_69f2071e59057a93105ac49f/physics_69f2071e59057a93105ac49f.json index c091ce826ba75691929bd493ef6fa9934384d1cd..d10374dff27a952ae791bb00496ce9b7353cd730 100644 --- a/batch14/D00133 Chopstick/IsaacSim_assets_69f2071e59057a93105ac49f/physics_69f2071e59057a93105ac49f.json +++ b/batch14/D00133 Chopstick/IsaacSim_assets_69f2071e59057a93105ac49f/physics_69f2071e59057a93105ac49f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.004401, - 0.126249, - 0.010094 - ], "min": [ - -0.004844, - -0.103422, - -5.5e-05 + -0.0048500001430511475, + -0.10342299938201904, + -5.6000000768108293e-05 + ], + "max": [ + 0.004401000216603279, + 0.12625500559806824, + 0.010094000026583672 ], "size": [ - 0.009245, - 0.22967100000000001, - 0.010149 - ] + 0.009251000359654427, + 0.22967800498008728, + 0.01015000002735178 + ], + "units": "m" }, "description": "A single-piece tapered wooden dowel/needle represented as a lightweight rigid hardwood body with no internal articulation. Contacts assume a smooth polished wood surface.", "name": "tapered wooden rod", "object_type": "rigid_bodies", - "total_mass": 0.0085 + "total_mass": 0.008500000461935997, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00133", "parts": [ { "bounds": { - "center": [ - -0.000221, - 0.011414, - 0.00502 + "min": [ + -0.0048500001430511475, + -0.10342299938201904, + -5.6000000768108293e-05 ], "max": [ - 0.004401, - 0.126249, - 0.010094 + 0.004401000216603279, + 0.12625500559806824, + 0.010094000026583672 ], - "min": [ - -0.004844, - -0.103422, - -5.5e-05 - ] + "size": [ + 0.009251000359654427, + 0.22967800498008728, + 0.01015000002735178 + ], + "units": "m" }, "center_of_mass": [ 9.991723109652728e-05, @@ -59,7 +65,7 @@ 3.0136108182781354e-05, 3.0146741831290985e-05 ], - "mass": 0.0085, + "mass": 0.008500000461935997, "material": "polished_hardwood", "name": "tapered wooden rod", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 1.2841141165887964e-05 + "volume": 1.2841141165887964e-05, + "source_prim_path": "/World/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b09a401998973b9d8784d4bc283e4b9998a6d090ee74c65118583ece609862bd" + }, + "usd_path": "batch14/D00133 Chopstick/IsaacSim_assets_69f2071e59057a93105ac49f/IsaacSim_asset_69f2071e59057a93105ac49f.usd", + "usd_sha256": "d37c6eed98df4837095616095a6f5d96ae0fa55bd0811cb5881f091cddc41fcf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.009245, - 0.22967100000000001, - 0.010149 - ] + 0.009251000359654427, + 0.22967800498008728, + 0.01015000002735178 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d37c6eed98df4837095616095a6f5d96ae0fa55bd0811cb5881f091cddc41fcf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0085 + "value_kg": 0.008500000461935997, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d37c6eed98df4837095616095a6f5d96ae0fa55bd0811cb5881f091cddc41fcf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.008500000461935997, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d37c6eed98df4837095616095a6f5d96ae0fa55bd0811cb5881f091cddc41fcf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d37c6eed98df4837095616095a6f5d96ae0fa55bd0811cb5881f091cddc41fcf", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "d37c6eed98df4837095616095a6f5d96ae0fa55bd0811cb5881f091cddc41fcf", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:45.364671+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "3b10083a7be3f46b8aa003d77c77f1d8a9c44b382c1e4e5119967ed694918cc8", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00281 Doughnut/IsaacSim_assets_69f23ab159057a93105f4b89/physics_69f23ab159057a93105f4b89.json b/batch14/D00281 Doughnut/IsaacSim_assets_69f23ab159057a93105f4b89/physics_69f23ab159057a93105f4b89.json index 1af8fad41a4d8d8b1675aaa745dd45bfd85aae90..1477dffe57c5b92e3e621e5bc73ee03c5e9472c0 100644 --- a/batch14/D00281 Doughnut/IsaacSim_assets_69f23ab159057a93105f4b89/physics_69f23ab159057a93105f4b89.json +++ b/batch14/D00281 Doughnut/IsaacSim_assets_69f23ab159057a93105f4b89/physics_69f23ab159057a93105f4b89.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03521559, - 0.02759083, - 0.0334905 - ], "min": [ - -0.03357037, - 0.0, - -0.03503008 + -0.03358300030231476, + -0.033511001616716385, + -3.000000106112566e-06 + ], + "max": [ + 0.035227999091148376, + 0.03505000099539757, + 0.027594000101089478 ], "size": [ - 0.06878596000000001, - 0.02759083, - 0.06852058 - ] + 0.06881099939346313, + 0.06856100261211395, + 0.02759700010119559 + ], + "units": "m" }, "description": "A torus-shaped baked pastry with a glossy, semi-translucent glaze. The exterior has a golden-brown textured surface with slight irregularities and a central hole.", "name": "D00281 Doughnut", "object_type": "rigid_bodies", - "total_mass": 0.06 + "total_mass": 0.05999999865889549, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00281", "parts": [ { "bounds": { - "center": [ - 0.0007524667568077284, - 0.012957682686681677, - -0.0007238482877390893 + "min": [ + -0.03358300030231476, + -0.033511001616716385, + -3.000000106112566e-06 ], "max": [ - 0.03521559, - 0.02759083, - 0.0334905 + 0.035227999091148376, + 0.03505000099539757, + 0.027594000101089478 ], - "min": [ - -0.03357037, - 0.0, - -0.03503008 - ] + "size": [ + 0.06881099939346313, + 0.06856100261211395, + 0.02759700010119559 + ], + "units": "m" }, "center_of_mass": [ 0.0007249333892766465, @@ -59,7 +65,7 @@ 1.9546948079646534e-05, 3.232957209298535e-05 ], - "mass": 0.06, + "mass": 0.05999999865889549, "material": "glazed_baked_dough", "name": "D00281 Doughnut", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00281 Doughnut", "part_name": "D00281 Doughnut" }, - "volume": 9.051903358484471e-05 + "volume": 9.051903358484471e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d5b1cb16bb4b2684fa4a27ad59027958138927e6fe7ce62d9eb142f5bb89ab3e" + }, + "usd_path": "batch14/D00281 Doughnut/IsaacSim_assets_69f23ab159057a93105f4b89/IsaacSim_asset_69f23ab159057a93105f4b89.usd", + "usd_sha256": "995e54b43673fafae9821c29e0408e767ca4184bf368fd09aa9d84d7f78f8cc1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.06878596000000001, - 0.02759083, - 0.06852058 - ] + 0.06881099939346313, + 0.06856100261211395, + 0.02759700010119559 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "995e54b43673fafae9821c29e0408e767ca4184bf368fd09aa9d84d7f78f8cc1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.06 + "value_kg": 0.05999999865889549, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "995e54b43673fafae9821c29e0408e767ca4184bf368fd09aa9d84d7f78f8cc1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05999999865889549, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 16, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "995e54b43673fafae9821c29e0408e767ca4184bf368fd09aa9d84d7f78f8cc1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 16, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "995e54b43673fafae9821c29e0408e767ca4184bf368fd09aa9d84d7f78f8cc1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00305 Flower/IsaacSim_assets_6a62f756e6c9add4a9c857a5/physics_6a62f756e6c9add4a9c857a5.json b/batch14/D00305 Flower/IsaacSim_assets_6a62f756e6c9add4a9c857a5/physics_6a62f756e6c9add4a9c857a5.json index 631901bf331070ea3d5b3d11a124194a10ae79b6..38ca00a0e33b01c33a698d688d771f078ae9dedb 100644 --- a/batch14/D00305 Flower/IsaacSim_assets_6a62f756e6c9add4a9c857a5/physics_6a62f756e6c9add4a9c857a5.json +++ b/batch14/D00305 Flower/IsaacSim_assets_6a62f756e6c9add4a9c857a5/physics_6a62f756e6c9add4a9c857a5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05562334, - 0.19186003, - 0.05675799 - ], "min": [ - -0.06010823, - 0.0, - -0.05392101 + -0.0601079985499382, + -0.05675699934363365, + 0.0007477202452719212 + ], + "max": [ + 0.055622998625040054, + 0.05392000079154968, + 0.1926117241382599 ], "size": [ - 0.11573157, - 0.19186003, - 0.110679 - ] + 0.11573099717497826, + 0.11067700013518333, + 0.19186400389298797 + ], + "units": "m" }, "description": "A realistic white lily with broad, textured petals and central yellow stamens. It is supported by a smooth green stem with alternating, lance-shaped leaves.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.019 + "total_mass": 0.01899999938905239, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00305", "parts": [ { "bounds": { - "center": [ - -0.000250926143405931, - 0.14717252529827818, - -6.014264153792966e-05 + "min": [ + -0.0601079985499382, + -0.05675699934363365, + 0.0007477202452719212 ], "max": [ - 0.05562334, - 0.19186003, - 0.05675799 + 0.055622998625040054, + 0.05392000079154968, + 0.1926117241382599 ], - "min": [ - -0.06010823, - 0.0, - -0.05392101 - ] + "size": [ + 0.11573099717497826, + 0.11067700013518333, + 0.19186400389298797 + ], + "units": "m" }, "center_of_mass": [ 0.0012451296315020995, @@ -59,7 +65,7 @@ 3.586959129936352e-05, 3.8678242527197304e-05 ], - "mass": 0.019, + "mass": 0.01899999938905239, "material": "lightweight_plastic_organic_plant_material", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0007573482372084453 + "volume": 0.0007573482372084453, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "18403c846b38a6292839df08ac9c781e3a129e02265718f3ec6d6393a0d4be6a" + }, + "usd_path": "batch14/D00305 Flower/IsaacSim_assets_6a62f756e6c9add4a9c857a5/IsaacSim_asset_6a62f756e6c9add4a9c857a5.usd", + "usd_sha256": "b568cc4c476b7425bfbc40dea77305ee37bd9208737ca322b264f0d746f94d6b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.11573157, - 0.19186003, - 0.110679 - ] + 0.11573099717497826, + 0.11067700013518333, + 0.19186400389298797 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b568cc4c476b7425bfbc40dea77305ee37bd9208737ca322b264f0d746f94d6b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.019 + "value_kg": 0.01899999938905239, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b568cc4c476b7425bfbc40dea77305ee37bd9208737ca322b264f0d746f94d6b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.01899999938905239, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 66, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b568cc4c476b7425bfbc40dea77305ee37bd9208737ca322b264f0d746f94d6b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 66, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b568cc4c476b7425bfbc40dea77305ee37bd9208737ca322b264f0d746f94d6b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00307 Flower Pot/IsaacSim_assets_6a62f5ece6c9add4a9c78ae8/physics_6a62f5ece6c9add4a9c78ae8.json b/batch14/D00307 Flower Pot/IsaacSim_assets_6a62f5ece6c9add4a9c78ae8/physics_6a62f5ece6c9add4a9c78ae8.json index a699e17db495b1d8189f11d54aef0e284b2626b4..a1b8b7f509600025b82703159428e8f66eef72d9 100644 --- a/batch14/D00307 Flower Pot/IsaacSim_assets_6a62f5ece6c9add4a9c78ae8/physics_6a62f5ece6c9add4a9c78ae8.json +++ b/batch14/D00307 Flower Pot/IsaacSim_assets_6a62f5ece6c9add4a9c78ae8/physics_6a62f5ece6c9add4a9c78ae8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09610471, - 0.17212188, - 0.09532969 - ], "min": [ - -0.09655022, - 0.0, - -0.09682886 + -0.09655600041151047, + -0.0954430028796196, + 0.0008441403042525053 + ], + "max": [ + 0.096110999584198, + 0.0969420000910759, + 0.17303414642810822 ], "size": [ - 0.19265493, - 0.17212188, - 0.19215854999999998 - ] + 0.19266699999570847, + 0.1923850029706955, + 0.1721900061238557 + ], + "units": "m" }, "description": "A cylindrical terracotta flower pot with a tapered body and a thickened upper rim. The pot features a matte, earthy orange-brown surface texture.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.54 + "total_mass": 0.5400000214576721, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00307", "parts": [ { "bounds": { - "center": [ - -0.0002773212553525936, - 0.08980643085374489, - -0.00048407050377293474 + "min": [ + -0.09655600041151047, + -0.0954430028796196, + 0.0008441403042525053 ], "max": [ - 0.09610471, - 0.17212188, - 0.09532969 + 0.096110999584198, + 0.0969420000910759, + 0.17303414642810822 ], - "min": [ - -0.09655022, - 0.0, - -0.09682886 - ] + "size": [ + 0.19266699999570847, + 0.1923850029706955, + 0.1721900061238557 + ], + "units": "m" }, "center_of_mass": [ -0.00015101286531951, @@ -59,7 +65,7 @@ 0.0029383294037689327, 0.002945556323850981 ], - "mass": 0.54, + "mass": 0.5400000214576721, "material": "terracotta", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0009822161220982538 + "volume": 0.0009822161220982538, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e48c780a623518a06fc1e17b674a0b03beab86d5308c299923cb06a4af1d4736" + }, + "usd_path": "batch14/D00307 Flower Pot/IsaacSim_assets_6a62f5ece6c9add4a9c78ae8/IsaacSim_asset_6a62f5ece6c9add4a9c78ae8.usd", + "usd_sha256": "8f406b069229a93de553ef23bc994166ceb5de81b43b121d2c9b91275975233e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.19265493, - 0.17212188, - 0.19215854999999998 - ] + 0.19266699999570847, + 0.1923850029706955, + 0.1721900061238557 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8f406b069229a93de553ef23bc994166ceb5de81b43b121d2c9b91275975233e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.54 + "value_kg": 0.5400000214576721, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8f406b069229a93de553ef23bc994166ceb5de81b43b121d2c9b91275975233e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5400000214576721, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 61, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8f406b069229a93de553ef23bc994166ceb5de81b43b121d2c9b91275975233e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 61, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8f406b069229a93de553ef23bc994166ceb5de81b43b121d2c9b91275975233e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00332 Garlic/IsaacSim_assets_6a630cac9b4d8c3788120486/physics_6a630cac9b4d8c3788120486.json b/batch14/D00332 Garlic/IsaacSim_assets_6a630cac9b4d8c3788120486/physics_6a630cac9b4d8c3788120486.json index 5dabc7010edab15909b1139117801d839887d9b7..6ec636f3af970424e3c5c62e0314177ba616948d 100644 --- a/batch14/D00332 Garlic/IsaacSim_assets_6a630cac9b4d8c3788120486/physics_6a630cac9b4d8c3788120486.json +++ b/batch14/D00332 Garlic/IsaacSim_assets_6a630cac9b4d8c3788120486/physics_6a630cac9b4d8c3788120486.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.01893907, - 0.04045209, - 0.01823476 - ], "min": [ - -0.01859205, - 0.0, - -0.01928654 + -0.01856900006532669, + -0.018261000514030457, + 6.000000212225132e-06 + ], + "max": [ + 0.018915999680757523, + 0.01931300014257431, + 0.040445998311042786 ], "size": [ - 0.03753112, - 0.04045209, - 0.0375213 - ] + 0.03748499974608421, + 0.03757400065660477, + 0.04043999831083056 + ], + "units": "m" }, "description": "A single whole garlic bulb with papery white and purple-streaked skin and a small dried stem.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.07 + "total_mass": 0.07000000029802322, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00332", "parts": [ { "bounds": { - "center": [ - -0.000259781377721186, - 0.0156968216921624, - -0.00042632571811582686 + "min": [ + -0.01856900006532669, + -0.018261000514030457, + 6.000000212225132e-06 ], "max": [ - 0.01893907, - 0.04045209, - 0.01823476 + 0.018915999680757523, + 0.01931300014257431, + 0.040445998311042786 ], - "min": [ - -0.01859205, - 0.0, - -0.01928654 - ] + "size": [ + 0.03748499974608421, + 0.03757400065660477, + 0.04043999831083056 + ], + "units": "m" }, "center_of_mass": [ -0.00035862080270812125, @@ -59,7 +65,7 @@ 9.150054512226077e-06, 9.564417421216834e-06 ], - "mass": 0.07, + "mass": 0.07000000029802322, "material": "papery_organic_vegetable_matter", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 2.3347660896988762e-05 + "volume": 2.3347660896988762e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c30e34e9b33fbbf36bdf9207069467de955320ffdc336166d43b1167836bb4b2" + }, + "usd_path": "batch14/D00332 Garlic/IsaacSim_assets_6a630cac9b4d8c3788120486/IsaacSim_asset_6a630cac9b4d8c3788120486.usd", + "usd_sha256": "ca1c2ace1e59e43322d14b50ad52a3c213b543b66ab8368b839c0c58a604df38", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.03753112, - 0.04045209, - 0.0375213 - ] + 0.03748499974608421, + 0.03757400065660477, + 0.04043999831083056 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ca1c2ace1e59e43322d14b50ad52a3c213b543b66ab8368b839c0c58a604df38", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.07 + "value_kg": 0.07000000029802322, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ca1c2ace1e59e43322d14b50ad52a3c213b543b66ab8368b839c0c58a604df38", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07000000029802322, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ca1c2ace1e59e43322d14b50ad52a3c213b543b66ab8368b839c0c58a604df38", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ca1c2ace1e59e43322d14b50ad52a3c213b543b66ab8368b839c0c58a604df38", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00363 Grape/IsaacSim_assets_6a63107c9b4d8c378813b96d/physics_6a63107c9b4d8c378813b96d.json b/batch14/D00363 Grape/IsaacSim_assets_6a63107c9b4d8c378813b96d/physics_6a63107c9b4d8c378813b96d.json index d7819a5dcf5ae9ca69fe830356369db6d43dcd92..f81d9836665630a4683902c1c27310f0eb3fed1c 100644 --- a/batch14/D00363 Grape/IsaacSim_assets_6a63107c9b4d8c378813b96d/physics_6a63107c9b4d8c378813b96d.json +++ b/batch14/D00363 Grape/IsaacSim_assets_6a63107c9b4d8c378813b96d/physics_6a63107c9b4d8c378813b96d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04453414, - 0.1123385, - 0.02846065 - ], "min": [ - -0.03592474, - 0.0, - -0.0327704 + -0.03597300127148628, + -0.028488999232649803, + -1.4000000192027073e-05 + ], + "max": [ + 0.04458199813961983, + 0.03279900178313255, + 0.11235299706459045 ], "size": [ - 0.08045888, - 0.1123385, - 0.061231049999999995 - ] + 0.08055499941110611, + 0.061288001015782356, + 0.11236699706478248 + ], + "units": "m" }, "description": "A cluster of fresh, round purple grapes attached to a branching green stem. The organic fruit has a smooth, slightly matte skin texture.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00363", "parts": [ { "bounds": { - "center": [ - 6.867157316257572e-05, - 0.05054135970187248, - 0.00014727924298822155 + "min": [ + -0.03597300127148628, + -0.028488999232649803, + -1.4000000192027073e-05 ], "max": [ - 0.04453414, - 0.1123385, - 0.02846065 + 0.04458199813961983, + 0.03279900178313255, + 0.11235299706459045 ], - "min": [ - -0.03592474, - 0.0, - -0.0327704 - ] + "size": [ + 0.08055499941110611, + 0.061288001015782356, + 0.11236699706478248 + ], + "units": "m" }, "center_of_mass": [ 0.00134553014646748, @@ -59,7 +65,7 @@ 0.00014172683375829575, 0.00016036422175025818 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "organic", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.00021315511104500056 + "volume": 0.00021315511104500056, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "eaece7ca7eb6a92c67696dccb6e6c19d7757ce9d95ba00a7c2cf372c7ca3ba7a" + }, + "usd_path": "batch14/D00363 Grape/IsaacSim_assets_6a63107c9b4d8c378813b96d/IsaacSim_asset_6a63107c9b4d8c378813b96d.usd", + "usd_sha256": "10b86ed9e6cbe6e855e4889b28ff3bdf583750631c9de98163059ea57d79fd47", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.08045888, - 0.1123385, - 0.061231049999999995 - ] + 0.08055499941110611, + 0.061288001015782356, + 0.11236699706478248 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10b86ed9e6cbe6e855e4889b28ff3bdf583750631c9de98163059ea57d79fd47", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10b86ed9e6cbe6e855e4889b28ff3bdf583750631c9de98163059ea57d79fd47", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 63, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10b86ed9e6cbe6e855e4889b28ff3bdf583750631c9de98163059ea57d79fd47", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 63, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10b86ed9e6cbe6e855e4889b28ff3bdf583750631c9de98163059ea57d79fd47", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00404 Jar Juice/IsaacSim_assets_69f5c67e431507ff7cf21b2f/physics_69f5c67e431507ff7cf21b2f.json b/batch14/D00404 Jar Juice/IsaacSim_assets_69f5c67e431507ff7cf21b2f/physics_69f5c67e431507ff7cf21b2f.json index 2419373315395a606573f3d8b0c5784ab0bb0593..f3d8f3c5c473a84126505730d8d4d9ca9b9ad96a 100644 --- a/batch14/D00404 Jar Juice/IsaacSim_assets_69f5c67e431507ff7cf21b2f/physics_69f5c67e431507ff7cf21b2f.json +++ b/batch14/D00404 Jar Juice/IsaacSim_assets_69f5c67e431507ff7cf21b2f/physics_69f5c67e431507ff7cf21b2f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03632215, - 0.11436946, - 0.03704889 - ], "min": [ - -0.03668513, - 0.0, - -0.03749297 + -0.036701999604701996, + -0.037057001143693924, + 0.00045278307516127825 + ], + "max": [ + 0.03633899986743927, + 0.03750099986791611, + 0.11485378444194794 ], "size": [ - 0.07300728000000001, - 0.11436946, - 0.07454186 - ] + 0.07304099947214127, + 0.07455800101161003, + 0.11440100136678666 + ], + "units": "m" }, "description": "A transparent glass jar with a white metal lid, filled with a yellow-orange liquid.", "name": "D00404 Glass Preserve Jar", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00404", "parts": [ { "bounds": { - "center": [ - -0.0001786200435695807, - 0.055968033579455255, - -9.632602187823284e-05 + "min": [ + -0.036701999604701996, + -0.037057001143693924, + 0.00045278307516127825 ], "max": [ - 0.03632215, - 0.11436946, - 0.03704889 + 0.03633899986743927, + 0.03750099986791611, + 0.11485378444194794 ], - "min": [ - -0.03668513, - 0.0, - -0.03749297 - ] + "size": [ + 0.07304099947214127, + 0.07455800101161003, + 0.11440100136678666 + ], + "units": "m" }, "center_of_mass": [ -0.00016435962672687828, @@ -59,7 +65,7 @@ 0.001106743422207308, 0.0011157313712756686 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "glass", "name": "D00404 Jar Juice", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00404 Jar Juice", "part_name": "D00404 Jar Juice" }, - "volume": 0.0005450304058904022 + "volume": 0.0005450304058904022, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4144fe3a8e29d0d7c5f53bc7e663dc927f457a85e9e98b9eb772cd0076fe4f8e" + }, + "usd_path": "batch14/D00404 Jar Juice/IsaacSim_assets_69f5c67e431507ff7cf21b2f/IsaacSim_asset_69f5c67e431507ff7cf21b2f.usd", + "usd_sha256": "6e13cff3243bcbcde9e6c0ea834321c7fa800ad1f6b85edf7afa5dc2537875ea", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.07300728000000001, - 0.11436946, - 0.07454186 - ] + 0.07304099947214127, + 0.07455800101161003, + 0.11440100136678666 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e13cff3243bcbcde9e6c0ea834321c7fa800ad1f6b85edf7afa5dc2537875ea", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e13cff3243bcbcde9e6c0ea834321c7fa800ad1f6b85edf7afa5dc2537875ea", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e13cff3243bcbcde9e6c0ea834321c7fa800ad1f6b85edf7afa5dc2537875ea", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e13cff3243bcbcde9e6c0ea834321c7fa800ad1f6b85edf7afa5dc2537875ea", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00717 Serving Board/IsaacSim_assets_6a61774f394c4977ee83d720/physics_6a61774f394c4977ee83d720.json b/batch14/D00717 Serving Board/IsaacSim_assets_6a61774f394c4977ee83d720/physics_6a61774f394c4977ee83d720.json index f6c07dab3f8d2d32cfd0aa1312e9a74de882ca7a..9702277c98d3f3689424fec0439b84910acfd7e0 100644 --- a/batch14/D00717 Serving Board/IsaacSim_assets_6a61774f394c4977ee83d720/physics_6a61774f394c4977ee83d720.json +++ b/batch14/D00717 Serving Board/IsaacSim_assets_6a61774f394c4977ee83d720/physics_6a61774f394c4977ee83d720.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1421938, - 0.01890191, - 0.09545761 - ], "min": [ - -0.14531484, - 0.0, - -0.0949438 + -0.14532975852489471, + -0.09557253867387772, + 0.00048718208563514054 + ], + "max": [ + 0.1422153264284134, + 0.09505031257867813, + 0.0194118469953537 ], "size": [ - 0.28750864, - 0.01890191, - 0.19040141 - ] + 0.2875450849533081, + 0.19062285125255585, + 0.018924664909718558 + ], + "units": "m" }, "description": "A rectangular, light beige ceramic serving board with dark speckles, rounded edges, and a circular cutout at one end.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00717", "parts": [ { "bounds": { - "center": [ - -0.006546701956626687, - 0.009379262324997396, - -0.00012651200250985488 + "min": [ + -0.14532975852489471, + -0.09557253867387772, + 0.00048718208563514054 ], "max": [ - 0.1421938, - 0.01890191, - 0.09545761 + 0.1422153264284134, + 0.09505031257867813, + 0.0194118469953537 ], - "min": [ - -0.14531484, - 0.0, - -0.0949438 - ] + "size": [ + 0.2875450849533081, + 0.19062285125255585, + 0.018924664909718558 + ], + "units": "m" }, "center_of_mass": [ -0.008572108700504741, @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0008151210322190055 + "volume": 0.0008151210322190055, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1849d3c36a269468c28180db4df8424afeb6a89e310bfca8b7245513c883dd37" + }, + "usd_path": "batch14/D00717 Serving Board/IsaacSim_assets_6a61774f394c4977ee83d720/IsaacSim_asset_6a61774f394c4977ee83d720.usd", + "usd_sha256": "47a462cef8a3f3284ec62477130e400fd977aacbc396989935d72bb5f76fe7d1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.28750864, - 0.01890191, - 0.19040141 - ] + 0.2875450849533081, + 0.19062285125255585, + 0.018924664909718558 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47a462cef8a3f3284ec62477130e400fd977aacbc396989935d72bb5f76fe7d1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47a462cef8a3f3284ec62477130e400fd977aacbc396989935d72bb5f76fe7d1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47a462cef8a3f3284ec62477130e400fd977aacbc396989935d72bb5f76fe7d1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47a462cef8a3f3284ec62477130e400fd977aacbc396989935d72bb5f76fe7d1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00814 Storage Basket/IsaacSim_assets_6a61bb4b394c4977ee97d188/physics_6a61bb4b394c4977ee97d188.json b/batch14/D00814 Storage Basket/IsaacSim_assets_6a61bb4b394c4977ee97d188/physics_6a61bb4b394c4977ee97d188.json index 5e370f80e9a774b5c136e6d452c371f4eae9cc27..36deb440808c8ff8cb3f448d19e3a84c22065e6f 100644 --- a/batch14/D00814 Storage Basket/IsaacSim_assets_6a61bb4b394c4977ee97d188/physics_6a61bb4b394c4977ee97d188.json +++ b/batch14/D00814 Storage Basket/IsaacSim_assets_6a61bb4b394c4977ee97d188/physics_6a61bb4b394c4977ee97d188.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14674974, - 0.12591085, - 0.10806036 - ], "min": [ - -0.15077934, - 0.0, - -0.11109831 + -0.15080100297927856, + -0.10806400328874588, + 0.00039984038448892534 + ], + "max": [ + 0.14677199721336365, + 0.11110199987888336, + 0.1263328343629837 ], "size": [ - 0.29752908, - 0.12591085, - 0.21915867 - ] + 0.2975730001926422, + 0.21916600316762924, + 0.12593299397849478 + ], + "units": "m" }, "description": "A rectangular, gray plastic storage basket with an open top and integrated side handle cutouts.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.64 + "total_mass": 0.6399999856948853, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00814", "parts": [ { "bounds": { - "center": [ - -0.0020559570213862103, - 0.04631509626496968, - -0.0015081444095094516 + "min": [ + -0.15080100297927856, + -0.10806400328874588, + 0.00039984038448892534 ], "max": [ - 0.14674974, - 0.12591085, - 0.10806036 + 0.14677199721336365, + 0.11110199987888336, + 0.1263328343629837 ], - "min": [ - -0.15077934, - 0.0, - -0.11109831 - ] + "size": [ + 0.2975730001926422, + 0.21916600316762924, + 0.12593299397849478 + ], + "units": "m" }, "center_of_mass": [ -0.002146343464210724, @@ -59,7 +65,7 @@ 0.007345378846290627, 0.010133028474256645 ], - "mass": 0.64, + "mass": 0.6399999856948853, "material": "plastic", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0004956123451094665 + "volume": 0.0004956123451094665, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "cb038dec780824af879056354d5cff752ab96f6a207f28bae8662ef05f22146e" + }, + "usd_path": "batch14/D00814 Storage Basket/IsaacSim_assets_6a61bb4b394c4977ee97d188/IsaacSim_asset_6a61bb4b394c4977ee97d188.usd", + "usd_sha256": "406bcad14e23c35ce722959dc3bd3adc6d81a7eb58198b45a439f16d6478d927", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.29752908, - 0.12591085, - 0.21915867 - ] + 0.2975730001926422, + 0.21916600316762924, + 0.12593299397849478 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "406bcad14e23c35ce722959dc3bd3adc6d81a7eb58198b45a439f16d6478d927", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.64 + "value_kg": 0.6399999856948853, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "406bcad14e23c35ce722959dc3bd3adc6d81a7eb58198b45a439f16d6478d927", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6399999856948853, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 105, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "406bcad14e23c35ce722959dc3bd3adc6d81a7eb58198b45a439f16d6478d927", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 105, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "406bcad14e23c35ce722959dc3bd3adc6d81a7eb58198b45a439f16d6478d927", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00820 Storage Container Tray/IsaacSim_assets_6a61be55394c4977ee98f43f/physics_6a61be55394c4977ee98f43f.json b/batch14/D00820 Storage Container Tray/IsaacSim_assets_6a61be55394c4977ee98f43f/physics_6a61be55394c4977ee98f43f.json index f3a4894cb914a011f4410c493da5a8df16d91aa9..f5973ff170a1e0f093ba75ac230e01655a8ef402 100644 --- a/batch14/D00820 Storage Container Tray/IsaacSim_assets_6a61be55394c4977ee98f43f/physics_6a61be55394c4977ee98f43f.json +++ b/batch14/D00820 Storage Container Tray/IsaacSim_assets_6a61be55394c4977ee98f43f/physics_6a61be55394c4977ee98f43f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14980365, - 0.07993281, - 0.10672027 - ], "min": [ - -0.14520763, - 0.0, - -0.10904436 + -0.14523200690746307, + -0.10672800242900848, + 0.0003422869776841253 + ], + "max": [ + 0.1498280018568039, + 0.10905200242996216, + 0.08025528490543365 ], "size": [ - 0.29501128, - 0.07993281, - 0.21576463 - ] + 0.29506000876426697, + 0.21578000485897064, + 0.07991299792774953 + ], + "units": "m" }, "description": "A light gray plastic storage container tray with rectangular structural ribs along its exterior walls. The tray features a smooth interior cavity and a reinforced, rolled upper rim.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.6 + "total_mass": 0.6000000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00820", "parts": [ { "bounds": { - "center": [ - 0.0011556407588609145, - 0.02971455514906321, - -0.0011717941620813653 + "min": [ + -0.14523200690746307, + -0.10672800242900848, + 0.0003422869776841253 ], "max": [ - 0.14980365, - 0.07993281, - 0.10672027 + 0.1498280018568039, + 0.10905200242996216, + 0.08025528490543365 ], - "min": [ - -0.14520763, - 0.0, - -0.10904436 - ] + "size": [ + 0.29506000876426697, + 0.21578000485897064, + 0.07991299792774953 + ], + "units": "m" }, "center_of_mass": [ 0.002309554968646505, @@ -59,7 +65,7 @@ 0.004622802633288553, 0.006605114726795145 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "plastic", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.005047614492218466 + "volume": 0.005047614492218466, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4b2591d1d2991dd51cf057964962f8b989af9e041ba1b0deb8c964f886cf58f1" + }, + "usd_path": "batch14/D00820 Storage Container Tray/IsaacSim_assets_6a61be55394c4977ee98f43f/IsaacSim_asset_6a61be55394c4977ee98f43f.usd", + "usd_sha256": "ba73bf523c5401410b0b75ac801a781d17393d006634e0af524ace44bcc3712c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.29501128, - 0.07993281, - 0.21576463 - ] + 0.29506000876426697, + 0.21578000485897064, + 0.07991299792774953 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ba73bf523c5401410b0b75ac801a781d17393d006634e0af524ace44bcc3712c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6 + "value_kg": 0.6000000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ba73bf523c5401410b0b75ac801a781d17393d006634e0af524ace44bcc3712c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6000000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 124, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ba73bf523c5401410b0b75ac801a781d17393d006634e0af524ace44bcc3712c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 124, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ba73bf523c5401410b0b75ac801a781d17393d006634e0af524ace44bcc3712c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00840 Sugar Spaghetti/IsaacSim_assets_6a61c228394c4977ee9a4ae7/physics_6a61c228394c4977ee9a4ae7.json b/batch14/D00840 Sugar Spaghetti/IsaacSim_assets_6a61c228394c4977ee9a4ae7/physics_6a61c228394c4977ee9a4ae7.json index d633693d4d0503701ceff6fc6295ff468de240b2..973f136f2bc1943f418fe5a56377b0fcd34e944a 100644 --- a/batch14/D00840 Sugar Spaghetti/IsaacSim_assets_6a61c228394c4977ee9a4ae7/physics_6a61c228394c4977ee9a4ae7.json +++ b/batch14/D00840 Sugar Spaghetti/IsaacSim_assets_6a61c228394c4977ee9a4ae7/physics_6a61c228394c4977ee9a4ae7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13706585, - 0.00823786, - 0.04413411 - ], "min": [ - -0.13724208, - -0.00797885, - -0.04383076 + -0.13723300397396088, + -0.0441260002553463, + 0.00018602031923364848 + ], + "max": [ + 0.13705700635910034, + 0.04382200166583061, + 0.016479019075632095 ], "size": [ - 0.27430793, - 0.01621671, - 0.08796487 - ] + 0.2742900103330612, + 0.08794800192117691, + 0.016292998756398447 + ], + "units": "m" }, "description": "A single strand of red gelatin candy coated with coarse sugar crystals, featuring a twisted, rope-like structure.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.059 + "total_mass": 0.05900000035762787, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00840", "parts": [ { "bounds": { - "center": [ - -0.0038740104941756125, - -0.000715110728809044, - -0.003602100733003602 + "min": [ + -0.13723300397396088, + -0.0441260002553463, + 0.00018602031923364848 ], "max": [ - 0.13706585, - 0.00823786, - 0.04413411 + 0.13705700635910034, + 0.04382200166583061, + 0.016479019075632095 ], - "min": [ - -0.13724208, - -0.00797885, - -0.04383076 - ] + "size": [ + 0.2742900103330612, + 0.08794800192117691, + 0.016292998756398447 + ], + "units": "m" }, "center_of_mass": [ -0.004118267624332317, @@ -59,7 +65,7 @@ 0.0003803006177026059, 0.0003987813524257434 ], - "mass": 0.059, + "mass": 0.05900000035762787, "material": "sugar_coated_gelatin", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 4.55454915650604e-06 + "volume": 4.55454915650604e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d406a5a5e5ed588fe5b121ff6265ab7d02aec261ba4aa7933246ac0a790b7874" + }, + "usd_path": "batch14/D00840 Sugar Spaghetti/IsaacSim_assets_6a61c228394c4977ee9a4ae7/IsaacSim_asset_6a61c228394c4977ee9a4ae7.usd", + "usd_sha256": "8235ef6af3280c94d49e59d4f04f1cf527a9b8153e80f3d60bcfcbbbb92b8e09", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.27430793, - 0.01621671, - 0.08796487 - ] + 0.2742900103330612, + 0.08794800192117691, + 0.016292998756398447 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8235ef6af3280c94d49e59d4f04f1cf527a9b8153e80f3d60bcfcbbbb92b8e09", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.059 + "value_kg": 0.05900000035762787, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8235ef6af3280c94d49e59d4f04f1cf527a9b8153e80f3d60bcfcbbbb92b8e09", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05900000035762787, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 7, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8235ef6af3280c94d49e59d4f04f1cf527a9b8153e80f3d60bcfcbbbb92b8e09", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 7, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8235ef6af3280c94d49e59d4f04f1cf527a9b8153e80f3d60bcfcbbbb92b8e09", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00865 Toast/IsaacSim_assets_6a61c560394c4977ee9b84a8/physics_6a61c560394c4977ee9b84a8.json b/batch14/D00865 Toast/IsaacSim_assets_6a61c560394c4977ee9b84a8/physics_6a61c560394c4977ee9b84a8.json index 31163afb6d45634dc64d31e64fb984a442158bac..a457485811c45f40157836fe5cd0cc12d3bce8e6 100644 --- a/batch14/D00865 Toast/IsaacSim_assets_6a61c560394c4977ee9b84a8/physics_6a61c560394c4977ee9b84a8.json +++ b/batch14/D00865 Toast/IsaacSim_assets_6a61c560394c4977ee9b84a8/physics_6a61c560394c4977ee9b84a8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04712491, - 0.01344046, - 0.04845846 - ], "min": [ - -0.04762803, - 0.0, - -0.05652743 + -0.047676000744104385, + -0.048496998846530914, + 7.999999979801942e-06 + ], + "max": [ + 0.04717300087213516, + 0.05656599998474121, + 0.013431999832391739 ], "size": [ - 0.09475294000000001, - 0.01344046, - 0.10498589 - ] + 0.09484900161623955, + 0.10506299883127213, + 0.013423999832411937 + ], + "units": "m" }, "description": "A single, square slice of golden-brown toasted bread with a textured, porous surface and slightly darker crust edges.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.0375 + "total_mass": 0.03750000149011612, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00865", "parts": [ { "bounds": { - "center": [ - -0.0005019434184590674, - 0.006268171331778461, - -0.0023750069509203917 + "min": [ + -0.047676000744104385, + -0.048496998846530914, + 7.999999979801942e-06 ], "max": [ - 0.04712491, - 0.01344046, - 0.04845846 + 0.04717300087213516, + 0.05656599998474121, + 0.013431999832391739 ], - "min": [ - -0.04762803, - 0.0, - -0.05652743 - ] + "size": [ + 0.09484900161623955, + 0.10506299883127213, + 0.013423999832411937 + ], + "units": "m" }, "center_of_mass": [ -0.000561587840663684, @@ -59,7 +65,7 @@ 3.203187683566298e-05, 5.7355185026175136e-05 ], - "mass": 0.0375, + "mass": 0.03750000149011612, "material": "toasted_bread", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.00012441874646948537 + "volume": 0.00012441874646948537, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c907072ecd5a8d636d7de6a5ff6a10b8380f7c052d9bac13584b2cf0bb0e36c5" + }, + "usd_path": "batch14/D00865 Toast/IsaacSim_assets_6a61c560394c4977ee9b84a8/IsaacSim_asset_6a61c560394c4977ee9b84a8.usd", + "usd_sha256": "26f71ca4dfa2e96e4dc1255acdcc11aa691690b1d27071b7f8f9e38cce730203", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.09475294000000001, - 0.01344046, - 0.10498589 - ] + 0.09484900161623955, + 0.10506299883127213, + 0.013423999832411937 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "26f71ca4dfa2e96e4dc1255acdcc11aa691690b1d27071b7f8f9e38cce730203", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0375 + "value_kg": 0.03750000149011612, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "26f71ca4dfa2e96e4dc1255acdcc11aa691690b1d27071b7f8f9e38cce730203", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.03750000149011612, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 34, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "26f71ca4dfa2e96e4dc1255acdcc11aa691690b1d27071b7f8f9e38cce730203", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 34, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "26f71ca4dfa2e96e4dc1255acdcc11aa691690b1d27071b7f8f9e38cce730203", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00885 Tray Plate Platter/IsaacSim_assets_6a61cb51394c4977ee9d9d8e/physics_6a61cb51394c4977ee9d9d8e.json b/batch14/D00885 Tray Plate Platter/IsaacSim_assets_6a61cb51394c4977ee9d9d8e/physics_6a61cb51394c4977ee9d9d8e.json index fbde763b28f196bbeab604e3330df9e5ef758898..67ae7d49c1aaacc5b600e3da53d37909d0836a97 100644 --- a/batch14/D00885 Tray Plate Platter/IsaacSim_assets_6a61cb51394c4977ee9d9d8e/physics_6a61cb51394c4977ee9d9d8e.json +++ b/batch14/D00885 Tray Plate Platter/IsaacSim_assets_6a61cb51394c4977ee9d9d8e/physics_6a61cb51394c4977ee9d9d8e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14876953, - 0.02557146, - 0.10070768 - ], "min": [ - -0.14928168, - 0.0, - -0.10080718 + -0.1492689996957779, + -0.10081499814987183, + 0.0007330199587158859 + ], + "max": [ + 0.1487569957971573, + 0.10091400146484375, + 0.026344019919633865 ], "size": [ - 0.29805121, - 0.02557146, - 0.20151486 - ] + 0.2980259954929352, + 0.20172899961471558, + 0.02561099996091798 + ], + "units": "m" }, "description": "A flat, off-white rectangular tray with raised rounded edges. It features a smooth, glossy surface finish typical of glazed materials.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.708 + "total_mass": 0.7080000042915344, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00885", "parts": [ { "bounds": { - "center": [ - -0.0002584465974561215, - 0.010655940223084713, - -0.0003059022011689144 + "min": [ + -0.1492689996957779, + -0.10081499814987183, + 0.0007330199587158859 ], "max": [ - 0.14876953, - 0.02557146, - 0.10070768 + 0.1487569957971573, + 0.10091400146484375, + 0.026344019919633865 ], - "min": [ - -0.14928168, - 0.0, - -0.10080718 - ] + "size": [ + 0.2980259954929352, + 0.20172899961471558, + 0.02561099996091798 + ], + "units": "m" }, "center_of_mass": [ -7.552128062041674e-05, @@ -59,7 +65,7 @@ 0.005446599322887549, 0.007969841777837773 ], - "mass": 0.708, + "mass": 0.7080000042915344, "material": "ceramic", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0005606069348431831 + "volume": 0.0005606069348431831, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "35eb313e9f8f0b9c80979546a6095b8f5f81fcc5caa9cd7a6de29db83c20c272" + }, + "usd_path": "batch14/D00885 Tray Plate Platter/IsaacSim_assets_6a61cb51394c4977ee9d9d8e/IsaacSim_asset_6a61cb51394c4977ee9d9d8e.usd", + "usd_sha256": "af4a88f901c37b7a7c35dd54486450f3e97d475bb7f31ddf4c068c96060ffb8a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.29805121, - 0.02557146, - 0.20151486 - ] + 0.2980259954929352, + 0.20172899961471558, + 0.02561099996091798 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af4a88f901c37b7a7c35dd54486450f3e97d475bb7f31ddf4c068c96060ffb8a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.708 + "value_kg": 0.7080000042915344, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af4a88f901c37b7a7c35dd54486450f3e97d475bb7f31ddf4c068c96060ffb8a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.7080000042915344, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 29, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af4a88f901c37b7a7c35dd54486450f3e97d475bb7f31ddf4c068c96060ffb8a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 29, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af4a88f901c37b7a7c35dd54486450f3e97d475bb7f31ddf4c068c96060ffb8a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00886 Tray Platter/IsaacSim_assets_6a61ca91394c4977ee9d5ac5/physics_6a61ca91394c4977ee9d5ac5.json b/batch14/D00886 Tray Platter/IsaacSim_assets_6a61ca91394c4977ee9d5ac5/physics_6a61ca91394c4977ee9d5ac5.json index 54eccae3cc3935a152c849a9e4caa9e7bf2d6fb5..46d707e4de41e1bd2221c49d1cd342ba9d074a2d 100644 --- a/batch14/D00886 Tray Platter/IsaacSim_assets_6a61ca91394c4977ee9d5ac5/physics_6a61ca91394c4977ee9d5ac5.json +++ b/batch14/D00886 Tray Platter/IsaacSim_assets_6a61ca91394c4977ee9d5ac5/physics_6a61ca91394c4977ee9d5ac5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.19754595, - 0.03736512, - 0.15120954 - ], "min": [ - -0.19930519, - 0.0, - -0.1520971 + -0.19930900633335114, + -0.15122400224208832, + 0.0008113597286865115 + ], + "max": [ + 0.1975499987602234, + 0.1521109938621521, + 0.03817436099052429 ], "size": [ - 0.39685114, - 0.03736512, - 0.30330664 - ] + 0.3968590050935745, + 0.3033349961042404, + 0.03736300126183778 + ], + "units": "m" }, "description": "A white, rectangular ceramic tray platter with raised edges and a glossy finish.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 1.91 + "total_mass": 1.909999966621399, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00886", "parts": [ { "bounds": { - "center": [ - -0.0008529226336845431, - 0.011553616876047836, - -0.00043601223000376923 + "min": [ + -0.19930900633335114, + -0.15122400224208832, + 0.0008113597286865115 ], "max": [ - 0.19754595, - 0.03736512, - 0.15120954 + 0.1975499987602234, + 0.1521109938621521, + 0.03817436099052429 ], - "min": [ - -0.19930519, - 0.0, - -0.1520971 - ] + "size": [ + 0.3968590050935745, + 0.3033349961042404, + 0.03736300126183778 + ], + "units": "m" }, "center_of_mass": [ -0.0008613994716655594, @@ -59,7 +65,7 @@ 0.024183617691724498, 0.037815105858445115 ], - "mass": 1.91, + "mass": 1.909999966621399, "material": "ceramic", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.004269010103584397 + "volume": 0.004269010103584397, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b1f44493d9a62469f3158570194269a8ecec2e989c428ffeb421848582d0b28d" + }, + "usd_path": "batch14/D00886 Tray Platter/IsaacSim_assets_6a61ca91394c4977ee9d5ac5/IsaacSim_asset_6a61ca91394c4977ee9d5ac5.usd", + "usd_sha256": "e30ee969743eb66617803d932ca749b321dacc6a7557b059eaaf54f6bad6e6f1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.39685114, - 0.03736512, - 0.30330664 - ] + 0.3968590050935745, + 0.3033349961042404, + 0.03736300126183778 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e30ee969743eb66617803d932ca749b321dacc6a7557b059eaaf54f6bad6e6f1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.91 + "value_kg": 1.909999966621399, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e30ee969743eb66617803d932ca749b321dacc6a7557b059eaaf54f6bad6e6f1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.909999966621399, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e30ee969743eb66617803d932ca749b321dacc6a7557b059eaaf54f6bad6e6f1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e30ee969743eb66617803d932ca749b321dacc6a7557b059eaaf54f6bad6e6f1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00903 Vegetable/IsaacSim_assets_6a61f198394c4977eeab1726/physics_6a61f198394c4977eeab1726.json b/batch14/D00903 Vegetable/IsaacSim_assets_6a61f198394c4977eeab1726/physics_6a61f198394c4977eeab1726.json index 1f363fbb7fdab9e7f73c5d333c1c08eb012e3676..cc32b9259874aeaabf38b66c98e0de8fe8c0b147 100644 --- a/batch14/D00903 Vegetable/IsaacSim_assets_6a61f198394c4977eeab1726/physics_6a61f198394c4977eeab1726.json +++ b/batch14/D00903 Vegetable/IsaacSim_assets_6a61f198394c4977eeab1726/physics_6a61f198394c4977eeab1726.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04891228, - 0.08826631, - 0.0479888 - ], "min": [ - -0.07662048, - 0.0, - -0.04946403 + -0.07662200182676315, + -0.048020001500844955, + 0.000564630317967385 + ], + "max": [ + 0.04891299828886986, + 0.04949599876999855, + 0.08881362527608871 ], "size": [ - 0.12553276000000002, - 0.08826631, - 0.09745282999999999 - ] + 0.125535000115633, + 0.0975160002708435, + 0.08824899495812133 + ], + "units": "m" }, "description": "A fresh head of green broccoli featuring a thick, smooth stalk and dense, textured florets. The surface presents a natural organic appearance with a slightly waxy stem finish and a clustered canopy.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00903", "parts": [ { "bounds": { - "center": [ - 0.002428855182930006, - 0.04232285071375645, - 0.0002212191634145184 + "min": [ + -0.07662200182676315, + -0.048020001500844955, + 0.000564630317967385 ], "max": [ - 0.04891228, - 0.08826631, - 0.0479888 + 0.04891299828886986, + 0.04949599876999855, + 0.08881362527608871 ], - "min": [ - -0.07662048, - 0.0, - -0.04946403 - ] + "size": [ + 0.125535000115633, + 0.0975160002708435, + 0.08824899495812133 + ], + "units": "m" }, "center_of_mass": [ -0.0062792671549185535, @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.00047474914893924576 + "volume": 0.00047474914893924576, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3d919b1dd6e2c62fe9250c1cd837c13c62e6fff3c6ddb985107e31a16930adef" + }, + "usd_path": "batch14/D00903 Vegetable/IsaacSim_assets_6a61f198394c4977eeab1726/IsaacSim_asset_6a61f198394c4977eeab1726.usd", + "usd_sha256": "fcd65e622f648665aa0adb8fa14d876934188547318a0dd2b5759238ff61ad23", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.12553276000000002, - 0.08826631, - 0.09745282999999999 - ] + 0.125535000115633, + 0.0975160002708435, + 0.08824899495812133 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcd65e622f648665aa0adb8fa14d876934188547318a0dd2b5759238ff61ad23", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcd65e622f648665aa0adb8fa14d876934188547318a0dd2b5759238ff61ad23", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 119, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcd65e622f648665aa0adb8fa14d876934188547318a0dd2b5759238ff61ad23", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 119, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcd65e622f648665aa0adb8fa14d876934188547318a0dd2b5759238ff61ad23", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00938 White Mug/IsaacSim_assets_69f71a4e7f5104dbf220a319/physics_69f71a4e7f5104dbf220a319.json b/batch14/D00938 White Mug/IsaacSim_assets_69f71a4e7f5104dbf220a319/physics_69f71a4e7f5104dbf220a319.json index 2333db4caf6db7bd05306a97fb180f0b2f745a31..3e535ba364d5a96ab2f685014bea715f5092e4d0 100644 --- a/batch14/D00938 White Mug/IsaacSim_assets_69f71a4e7f5104dbf220a319/physics_69f71a4e7f5104dbf220a319.json +++ b/batch14/D00938 White Mug/IsaacSim_assets_69f71a4e7f5104dbf220a319/physics_69f71a4e7f5104dbf220a319.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "15353b17a568f21e1c39ef641db130f804b981a8c3413f85651d6933f5a17dc2" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f041c810b2cc7c4c7c967d1f92513eb29efa714688559b2c191859d56998612f" }, "usd_path": "batch14/D00938 White Mug/IsaacSim_assets_69f71a4e7f5104dbf220a319/IsaacSim_asset_69f71a4e7f5104dbf220a319.usd", - "usd_sha256": "7a5b5aabeef371a4efe22ae94046e30200dcdb72bee42604c3ed965a9ed0f9e2", + "usd_sha256": "ac774d642bdbd038016ccb0f8d69c748e5169e92fdde6bc9889da192f9d09680", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7a5b5aabeef371a4efe22ae94046e30200dcdb72bee42604c3ed965a9ed0f9e2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ac774d642bdbd038016ccb0f8d69c748e5169e92fdde6bc9889da192f9d09680", "scope": "authored_usd_dimensions", "bounds_m": [ 0.09054600074887276, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.3499999940395355, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7a5b5aabeef371a4efe22ae94046e30200dcdb72bee42604c3ed965a9ed0f9e2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ac774d642bdbd038016ccb0f8d69c748e5169e92fdde6bc9889da192f9d09680", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.3499999940395355, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 81, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7a5b5aabeef371a4efe22ae94046e30200dcdb72bee42604c3ed965a9ed0f9e2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ac774d642bdbd038016ccb0f8d69c748e5169e92fdde6bc9889da192f9d09680", "scope": "authored_usd_collision_schema", "enabled_shape_count": 81, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7a5b5aabeef371a4efe22ae94046e30200dcdb72bee42604c3ed965a9ed0f9e2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ac774d642bdbd038016ccb0f8d69c748e5169e92fdde6bc9889da192f9d09680", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00951 Wooden Board Tray/IsaacSim_assets_69f736027f5104dbf23d6b7b/physics_69f736027f5104dbf23d6b7b.json b/batch14/D00951 Wooden Board Tray/IsaacSim_assets_69f736027f5104dbf23d6b7b/physics_69f736027f5104dbf23d6b7b.json index 7c4aa424d744e66f4a84c2154feda4c552a533c0..85888eb6bd55f278134c2031e806c63f548adb8d 100644 --- a/batch14/D00951 Wooden Board Tray/IsaacSim_assets_69f736027f5104dbf23d6b7b/physics_69f736027f5104dbf23d6b7b.json +++ b/batch14/D00951 Wooden Board Tray/IsaacSim_assets_69f736027f5104dbf23d6b7b/physics_69f736027f5104dbf23d6b7b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.216948002576828, - 0.1624870002269745, - 0.06065699830651283 - ], "min": [ - -0.21614299714565277, - -0.16257399320602417, - -0.000295000005280599 + -0.22349700331687927, + -0.16394999623298645, + 4.999999418942025e-06 + ], + "max": [ + 0.2240999937057495, + 0.16496500372886658, + 0.06358300149440765 ], "size": [ - 0.4330909997224808, - 0.32506099343299866, - 0.06095199831179343 - ] + 0.4475969970226288, + 0.328914999961853, + 0.06357800149498871 + ], + "units": "m" }, "description": "A rectangular wooden serving tray featuring integrated cutout handles on the shorter sides. The object displays a natural light wood grain finish with raised edges.", "name": "D00951 Wooden Board Tray", "object_type": "rigid_bodies", - "total_mass": 0.855 + "total_mass": 0.8550000190734863, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00951", "parts": [ { "bounds": { - "center": [ - 0.00039809892668208734, - 8.076541903155838e-05, - 0.013026246211688691 + "min": [ + -0.22349700331687927, + -0.16394999623298645, + 4.999999418942025e-06 ], "max": [ - 0.216948002576828, - 0.1624870002269745, - 0.06065699830651283 + 0.2240999937057495, + 0.16496500372886658, + 0.06358300149440765 ], - "min": [ - -0.21614299714565277, - -0.16257399320602417, - -0.000295000005280599 - ] + "size": [ + 0.4475969970226288, + 0.328914999961853, + 0.06357800149498871 + ], + "units": "m" }, "center_of_mass": [ 0.0002968519026870664, @@ -59,7 +65,7 @@ 0.017054369482641784, 0.026076495726091966 ], - "mass": 0.855, + "mass": 0.8550000190734863, "material": "wood", "name": "D00951 Wooden Board Tray", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00951 Wooden Board Tray", "part_name": "D00951 Wooden Board Tray" }, - "volume": 0.0027469798565966444 + "volume": 0.0027469798565966444, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "400ff02d87aba3c347e516a9c185285ffb3a4699492f6e269441ef265a046e4e" + }, + "usd_path": "batch14/D00951 Wooden Board Tray/IsaacSim_assets_69f736027f5104dbf23d6b7b/IsaacSim_asset_69f736027f5104dbf23d6b7b.usd", + "usd_sha256": "cd217f386ff1c4958f0b6fe23da6a5e430510f221dd06cb7bc75f11b53d00241", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.4330909997224808, - 0.32506099343299866, - 0.06095199831179343 - ] + 0.4475969970226288, + 0.328914999961853, + 0.06357800149498871 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cd217f386ff1c4958f0b6fe23da6a5e430510f221dd06cb7bc75f11b53d00241", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.855 + "value_kg": 0.8550000190734863, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cd217f386ff1c4958f0b6fe23da6a5e430510f221dd06cb7bc75f11b53d00241", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8550000190734863, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 21, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cd217f386ff1c4958f0b6fe23da6a5e430510f221dd06cb7bc75f11b53d00241", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 21, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cd217f386ff1c4958f0b6fe23da6a5e430510f221dd06cb7bc75f11b53d00241", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00952 Wooden Bowl/IsaacSim_assets_6a61db6a394c4977eea364cb/physics_6a61db6a394c4977eea364cb.json b/batch14/D00952 Wooden Bowl/IsaacSim_assets_6a61db6a394c4977eea364cb/physics_6a61db6a394c4977eea364cb.json index 8d32a380174d59d66024bddc4e16df0a298cbdc8..e28b562b8bccbe6940e80bbf2e26a7f6175938db 100644 --- a/batch14/D00952 Wooden Bowl/IsaacSim_assets_6a61db6a394c4977eea364cb/physics_6a61db6a394c4977eea364cb.json +++ b/batch14/D00952 Wooden Bowl/IsaacSim_assets_6a61db6a394c4977eea364cb/physics_6a61db6a394c4977eea364cb.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09909116, - 0.08697262, - 0.09881383 - ], "min": [ - -0.09892668, - 0.0, - -0.09908466 + -0.09900099784135818, + -0.09894900023937225, + 0.0007453600410372019 + ], + "max": [ + 0.09916500002145767, + 0.09922000020742416, + 0.08802835643291473 ], "size": [ - 0.19801784, - 0.08697262, - 0.19789849 - ] + 0.19816599786281586, + 0.19816900044679642, + 0.08728299639187753 + ], + "units": "m" }, "description": "A dark brown wooden bowl with a smooth finish, visible grain patterns, and a wide, concave interior.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.133 + "total_mass": 0.13300000131130219, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00952", "parts": [ { "bounds": { - "center": [ - 0.00013770955481308297, - 0.04363243835113611, - -0.00012571413716716388 + "min": [ + -0.09900099784135818, + -0.09894900023937225, + 0.0007453600410372019 ], "max": [ - 0.09909116, - 0.08697262, - 0.09881383 + 0.09916500002145767, + 0.09922000020742416, + 0.08802835643291473 ], - "min": [ - -0.09892668, - 0.0, - -0.09908466 - ] + "size": [ + 0.19816599786281586, + 0.19816900044679642, + 0.08728299639187753 + ], + "units": "m" }, "center_of_mass": [ 0.0003601462720500665, @@ -59,7 +65,7 @@ 0.00047054357160045173, 0.0007538727170719235 ], - "mass": 0.133, + "mass": 0.13300000131130219, "material": "wood", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0005609405322396225 + "volume": 0.0005609405322396225, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "016422a9022f017e8df4ab606c218315aabe9240a854a4eb0e34b1d8259860e2" + }, + "usd_path": "batch14/D00952 Wooden Bowl/IsaacSim_assets_6a61db6a394c4977eea364cb/IsaacSim_asset_6a61db6a394c4977eea364cb.usd", + "usd_sha256": "0cb4bc2ad2e271427865e91fd49aa265a6d27f5049796131b7ba0880ef74ea55", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.19801784, - 0.08697262, - 0.19789849 - ] + 0.19816599786281586, + 0.19816900044679642, + 0.08728299639187753 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0cb4bc2ad2e271427865e91fd49aa265a6d27f5049796131b7ba0880ef74ea55", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.133 + "value_kg": 0.13300000131130219, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0cb4bc2ad2e271427865e91fd49aa265a6d27f5049796131b7ba0880ef74ea55", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.13300000131130219, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 73, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0cb4bc2ad2e271427865e91fd49aa265a6d27f5049796131b7ba0880ef74ea55", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 73, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0cb4bc2ad2e271427865e91fd49aa265a6d27f5049796131b7ba0880ef74ea55", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00966 Wooden Pedestal Cutting Board/IsaacSim_assets_6a61b9f0394c4977ee974f79/physics_6a61b9f0394c4977ee974f79.json b/batch14/D00966 Wooden Pedestal Cutting Board/IsaacSim_assets_6a61b9f0394c4977ee974f79/physics_6a61b9f0394c4977ee974f79.json index 6c8b7073c4899730f96e6542ceeb0d5a32a3fd33..401a35fb6c7881740950ca41947615979cf25b32 100644 --- a/batch14/D00966 Wooden Pedestal Cutting Board/IsaacSim_assets_6a61b9f0394c4977ee974f79/physics_6a61b9f0394c4977ee974f79.json +++ b/batch14/D00966 Wooden Pedestal Cutting Board/IsaacSim_assets_6a61b9f0394c4977ee974f79/physics_6a61b9f0394c4977ee974f79.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14790446, - 0.09739073, - 0.14765637 - ], "min": [ - -0.14833145, - 0.0, - -0.14856315 + -0.14832499623298645, + -0.14764800667762756, + 0.0013571493327617645 + ], + "max": [ + 0.14789800345897675, + 0.1485549956560135, + 0.09874814748764038 ], "size": [ - 0.29623591, - 0.09739073, - 0.29621952 - ] + 0.2962229996919632, + 0.29620300233364105, + 0.09739099815487862 + ], + "units": "m" }, "description": "A circular wooden cutting board mounted on a flared pedestal base, featuring a smooth, natural light wood grain finish.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00966", "parts": [ { "bounds": { - "center": [ - -0.000226429433978124, - 0.07849663117286436, - -0.0004814305466556879 + "min": [ + -0.14832499623298645, + -0.14764800667762756, + 0.0013571493327617645 ], "max": [ - 0.14790446, - 0.09739073, - 0.14765637 + 0.14789800345897675, + 0.1485549956560135, + 0.09874814748764038 ], - "min": [ - -0.14833145, - 0.0, - -0.14856315 - ] + "size": [ + 0.2962229996919632, + 0.29620300233364105, + 0.09739099815487862 + ], + "units": "m" }, "center_of_mass": [ -0.00021333983555068804, @@ -59,7 +65,7 @@ 0.0063892085779262255, 0.010716841467313703 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "wood", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0012708541058994713 + "volume": 0.0012708541058994713, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e9c8858b51d42f3cd27e13c5cb24891d7d8b58219bd33f22a8e243eacaee15c8" + }, + "usd_path": "batch14/D00966 Wooden Pedestal Cutting Board/IsaacSim_assets_6a61b9f0394c4977ee974f79/IsaacSim_asset_6a61b9f0394c4977ee974f79.usd", + "usd_sha256": "2c8a457d7d512bc87d4b55e686097625a59f30e91f5a251a62caa33bc790feef", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.29623591, - 0.09739073, - 0.29621952 - ] + 0.2962229996919632, + 0.29620300233364105, + 0.09739099815487862 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2c8a457d7d512bc87d4b55e686097625a59f30e91f5a251a62caa33bc790feef", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2c8a457d7d512bc87d4b55e686097625a59f30e91f5a251a62caa33bc790feef", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2c8a457d7d512bc87d4b55e686097625a59f30e91f5a251a62caa33bc790feef", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2c8a457d7d512bc87d4b55e686097625a59f30e91f5a251a62caa33bc790feef", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00978 Wooden Spoon Ladle/IsaacSim_assets_69f79609d09344200fedd980/physics_69f79609d09344200fedd980.json b/batch14/D00978 Wooden Spoon Ladle/IsaacSim_assets_69f79609d09344200fedd980/physics_69f79609d09344200fedd980.json index ce580dc43e126a7011dca8bc7f386f6f7197517e..7515538d177fc0e5028b5fc2436347d81a4510a8 100644 --- a/batch14/D00978 Wooden Spoon Ladle/IsaacSim_assets_69f79609d09344200fedd980/physics_69f79609d09344200fedd980.json +++ b/batch14/D00978 Wooden Spoon Ladle/IsaacSim_assets_69f79609d09344200fedd980/physics_69f79609d09344200fedd980.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "78fc80c20541ff07d0ee4e414c91831c09ea468380f8469f6bd6dd6bad6adaba" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f2401c57f0f3d42502d81bafd1aaa8bda81513f349c0760228a57769c92ed3df" }, "usd_path": "batch14/D00978 Wooden Spoon Ladle/IsaacSim_assets_69f79609d09344200fedd980/IsaacSim_asset_69f79609d09344200fedd980.usd", - "usd_sha256": "f9aad8f5ef8c1df378d943c48ad4de0ecc61e55806b2c409d3446f71653e9c77", + "usd_sha256": "30b4ff011eb128261b8d3f71f8646133b66a7aeac27e1710001ea0bd6905ec8f", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f9aad8f5ef8c1df378d943c48ad4de0ecc61e55806b2c409d3446f71653e9c77", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30b4ff011eb128261b8d3f71f8646133b66a7aeac27e1710001ea0bd6905ec8f", "scope": "authored_usd_dimensions", "bounds_m": [ 0.26243000477552414, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.04699999839067459, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f9aad8f5ef8c1df378d943c48ad4de0ecc61e55806b2c409d3446f71653e9c77", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30b4ff011eb128261b8d3f71f8646133b66a7aeac27e1710001ea0bd6905ec8f", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.04699999839067459, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 20, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f9aad8f5ef8c1df378d943c48ad4de0ecc61e55806b2c409d3446f71653e9c77", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30b4ff011eb128261b8d3f71f8646133b66a7aeac27e1710001ea0bd6905ec8f", "scope": "authored_usd_collision_schema", "enabled_shape_count": 20, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f9aad8f5ef8c1df378d943c48ad4de0ecc61e55806b2c409d3446f71653e9c77", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30b4ff011eb128261b8d3f71f8646133b66a7aeac27e1710001ea0bd6905ec8f", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00979 Wooden Spoon Rest/IsaacSim_assets_69f79884d09344200ff1dde7/physics_69f79884d09344200ff1dde7.json b/batch14/D00979 Wooden Spoon Rest/IsaacSim_assets_69f79884d09344200ff1dde7/physics_69f79884d09344200ff1dde7.json index 94e5f4c994c396609f2ca2446e6fb21e04188b67..aae3d6a983fdb96c53f0cf9c7d951fe9dcc35fa4 100644 --- a/batch14/D00979 Wooden Spoon Rest/IsaacSim_assets_69f79884d09344200ff1dde7/physics_69f79884d09344200ff1dde7.json +++ b/batch14/D00979 Wooden Spoon Rest/IsaacSim_assets_69f79884d09344200ff1dde7/physics_69f79884d09344200ff1dde7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05131310597062111, - 0.01716766506433487, - 0.07863087952136993 - ], "min": [ - -0.05145089328289032, - -3.0335684641613625e-05, - -0.07760011404752731 + -0.03965599834918976, + -0.06394000351428986, + 0.0002143801684724167 + ], + "max": [ + 0.039531998336315155, + 0.0640759989619255, + 0.01490337960422039 ], "size": [ - 0.10276399925351143, - 0.017198000748976483, - 0.15623099356889725 - ] + 0.07918799668550491, + 0.12801600247621536, + 0.014688999435747974 + ], + "units": "m" }, "description": "A carved wooden spoon rest with an oval shape and a shallow central depression. The wood features a natural medium-brown grain pattern.", "name": "D00979 Oval Wooden Serving Tray", "object_type": "rigid_bodies", - "total_mass": 0.1 + "total_mass": 0.10000000149011612, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00979", "parts": [ { "bounds": { - "center": [ - 0.0003083783278731041, - 0.0070818431970109865, - 0.00034827079230276324 + "min": [ + -0.03965599834918976, + -0.06394000351428986, + 0.0002143801684724167 ], "max": [ - 0.05131310597062111, - 0.01716766506433487, - 0.07863087952136993 + 0.039531998336315155, + 0.0640759989619255, + 0.01490337960422039 ], - "min": [ - -0.05145089328289032, - -3.0335684641613625e-05, - -0.07760011404752731 - ] + "size": [ + 0.07918799668550491, + 0.12801600247621536, + 0.014688999435747974 + ], + "units": "m" }, "center_of_mass": [ 0.00014562110224559057, @@ -59,7 +65,7 @@ 8.762890585642888e-05, 0.00012038857962020478 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "wood", "name": "D00979 Wooden Spoon Rest", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00979 Wooden Spoon Rest", "part_name": "D00979 Wooden Spoon Rest" }, - "volume": 9.728104267782325e-05 + "volume": 9.728104267782325e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5406e02c6b726f6b1f89a760c36c68bd369481d7a57c850e5622db543a3d75af" + }, + "usd_path": "batch14/D00979 Wooden Spoon Rest/IsaacSim_assets_69f79884d09344200ff1dde7/IsaacSim_asset_69f79884d09344200ff1dde7.usd", + "usd_sha256": "c63c188e95c6d4f776a2528a33aaabec30f12cdcf59d434f31d990ffeca811ef", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.10276399925351143, - 0.017198000748976483, - 0.15623099356889725 - ] + 0.07918799668550491, + 0.12801600247621536, + 0.014688999435747974 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c63c188e95c6d4f776a2528a33aaabec30f12cdcf59d434f31d990ffeca811ef", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.1 + "value_kg": 0.10000000149011612, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c63c188e95c6d4f776a2528a33aaabec30f12cdcf59d434f31d990ffeca811ef", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.10000000149011612, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 39, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c63c188e95c6d4f776a2528a33aaabec30f12cdcf59d434f31d990ffeca811ef", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 39, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c63c188e95c6d4f776a2528a33aaabec30f12cdcf59d434f31d990ffeca811ef", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00980 Wooden Spoon Rolling Pin/IsaacSim_assets_69f798b1d09344200ff22e46/physics_69f798b1d09344200ff22e46.json b/batch14/D00980 Wooden Spoon Rolling Pin/IsaacSim_assets_69f798b1d09344200ff22e46/physics_69f798b1d09344200ff22e46.json index 54bcbb05cb0893f4e704dcb628cb59f8f2e75e97..82c1671e412370a4c6804ac7d4b8eee0f2bd4777 100644 --- a/batch14/D00980 Wooden Spoon Rolling Pin/IsaacSim_assets_69f798b1d09344200ff22e46/physics_69f798b1d09344200ff22e46.json +++ b/batch14/D00980 Wooden Spoon Rolling Pin/IsaacSim_assets_69f798b1d09344200ff22e46/physics_69f798b1d09344200ff22e46.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02943776734173298, - 0.061821822077035904, - 0.22845304012298584 - ], "min": [ - -0.029616232961416245, - -3.117786400252953e-05, - -0.23174595832824707 + -0.02942200005054474, + -0.23009799420833588, + -9.999999974752427e-07 + ], + "max": [ + 0.02918500080704689, + 0.23074600100517273, + 0.06158600002527237 ], "size": [ - 0.05905400030314922, - 0.06185299994103843, - 0.4601989984512329 - ] + 0.05860700085759163, + 0.4608439952135086, + 0.061587000025269845 + ], + "units": "m" }, "description": "A solid wooden rolling pin with rounded handles on both ends. It features a light natural wood grain finish with minor signs of wear.", "name": "D00980 Wooden Rolling Pin", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00980", "parts": [ { "bounds": { - "center": [ - -5.0802653359456516e-05, - 0.030771570546225303, - -0.0026974264176771634 + "min": [ + -0.02942200005054474, + -0.23009799420833588, + -9.999999974752427e-07 ], "max": [ - 0.02943776734173298, - 0.061821822077035904, - 0.22845304012298584 + 0.02918500080704689, + 0.23074600100517273, + 0.06158600002527237 ], - "min": [ - -0.029616232961416245, - -3.117786400252953e-05, - -0.23174595832824707 - ] + "size": [ + 0.05860700085759163, + 0.4608439952135086, + 0.061587000025269845 + ], + "units": "m" }, "center_of_mass": [ -0.00013622452150171977, @@ -67,10 +73,27 @@ "object_name": "D00980 Wooden Spoon Rolling Pin", "part_name": "D00980 Wooden Spoon Rolling Pin" }, - "volume": 0.0010128196570605137 + "volume": 0.0010128196570605137, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "38a9e3021f17704e24ca8a7ed1658773aef0ff6c3fc26e6cfadd2808997ca42e" + }, + "usd_path": "batch14/D00980 Wooden Spoon Rolling Pin/IsaacSim_assets_69f798b1d09344200ff22e46/IsaacSim_asset_69f798b1d09344200ff22e46.usd", + "usd_sha256": "1cd434f5b17cc44df46112ff70b8aac6b4329cf6c0056e7e44ac19ab3755649a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.05905400030314922, - 0.06185299994103843, - 0.4601989984512329 - ] + 0.05860700085759163, + 0.4608439952135086, + 0.061587000025269845 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1cd434f5b17cc44df46112ff70b8aac6b4329cf6c0056e7e44ac19ab3755649a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1cd434f5b17cc44df46112ff70b8aac6b4329cf6c0056e7e44ac19ab3755649a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1cd434f5b17cc44df46112ff70b8aac6b4329cf6c0056e7e44ac19ab3755649a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1cd434f5b17cc44df46112ff70b8aac6b4329cf6c0056e7e44ac19ab3755649a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00984 Wooden Tray/IsaacSim_assets_6a4b6602a91d78f0f3f11b1f/physics_6a4b6602a91d78f0f3f11b1f.json b/batch14/D00984 Wooden Tray/IsaacSim_assets_6a4b6602a91d78f0f3f11b1f/physics_6a4b6602a91d78f0f3f11b1f.json index 379ac390a6682a1634c04b88054fe963eee40f1c..20094adca45dfa387fed8426c6b393f1acc7d423 100644 --- a/batch14/D00984 Wooden Tray/IsaacSim_assets_6a4b6602a91d78f0f3f11b1f/physics_6a4b6602a91d78f0f3f11b1f.json +++ b/batch14/D00984 Wooden Tray/IsaacSim_assets_6a4b6602a91d78f0f3f11b1f/physics_6a4b6602a91d78f0f3f11b1f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15567627549171448, - 0.0629461333155632, - 0.19355303049087524 - ], "min": [ - -0.15611672401428223, - -9.186794341076165e-05, - -0.19542096555233002 + -0.1564989984035492, + -0.19370000064373016, + -1.9263479298856883e-18 + ], + "max": [ + 0.15449999272823334, + 0.19586500525474548, + 0.0637969970703125 ], "size": [ - 0.3117929995059967, - 0.06303800125897396, - 0.38897399604320526 - ] + 0.31099899113178253, + 0.38956500589847565, + 0.0637969970703125 + ], + "units": "m" }, "description": "A rectangular dark wood serving tray with raised edges and cut-out handles.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.65 + "total_mass": 0.6499999761581421, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00984", "parts": [ { "bounds": { - "center": [ - -0.0002343675916233996, - 0.019985769239766308, - -0.000927924639150629 + "min": [ + -0.1564989984035492, + -0.19370000064373016, + -1.9263479298856883e-18 ], "max": [ - 0.15567627549171448, - 0.0629461333155632, - 0.19355303049087524 + 0.15449999272823334, + 0.19586500525474548, + 0.0637969970703125 ], - "min": [ - -0.15611672401428223, - -9.186794341076165e-05, - -0.19542096555233002 - ] + "size": [ + 0.31099899113178253, + 0.38956500589847565, + 0.0637969970703125 + ], + "units": "m" }, "center_of_mass": [ -0.00113711811367429, @@ -59,7 +65,7 @@ 0.009871461466498326, 0.016506337402294534 ], - "mass": 0.65, + "mass": 0.6499999761581421, "material": "wood", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0028662631609120736 + "volume": 0.0028662631609120736, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5bdb40ab8c36d73f614d2220c8bb9623bac51e93905ad8c638e3e1427d07972f" + }, + "usd_path": "batch14/D00984 Wooden Tray/IsaacSim_assets_6a4b6602a91d78f0f3f11b1f/IsaacSim_asset_6a4b6602a91d78f0f3f11b1f.usd", + "usd_sha256": "9a56bad073634e050ea02bf4fc12c1711944fde63cd4bb04de0fd621835a81bb", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3117929995059967, - 0.06303800125897396, - 0.38897399604320526 - ] + 0.31099899113178253, + 0.38956500589847565, + 0.0637969970703125 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9a56bad073634e050ea02bf4fc12c1711944fde63cd4bb04de0fd621835a81bb", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.65 + "value_kg": 0.6499999761581421, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9a56bad073634e050ea02bf4fc12c1711944fde63cd4bb04de0fd621835a81bb", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6499999761581421, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 69, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9a56bad073634e050ea02bf4fc12c1711944fde63cd4bb04de0fd621835a81bb", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 69, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9a56bad073634e050ea02bf4fc12c1711944fde63cd4bb04de0fd621835a81bb", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch14/D00986 Wooden Utensil/IsaacSim_assets_69f7993bd09344200ff301d0/physics_69f7993bd09344200ff301d0.json b/batch14/D00986 Wooden Utensil/IsaacSim_assets_69f7993bd09344200ff301d0/physics_69f7993bd09344200ff301d0.json index 3d0c7be97492ea2aee258d6507b01e3bbe4e458b..56cfc00a4ee8901f06fa4ed8ea1def15d0c4b136 100644 --- a/batch14/D00986 Wooden Utensil/IsaacSim_assets_69f7993bd09344200ff301d0/physics_69f7993bd09344200ff301d0.json +++ b/batch14/D00986 Wooden Utensil/IsaacSim_assets_69f7993bd09344200ff301d0/physics_69f7993bd09344200ff301d0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03787398710846901, - 0.14803805947303772, - 0.08434293419122696 - ], "min": [ - -0.041740015149116516, - -8.936413905757945e-06, - -0.12397406250238419 + -0.09855499863624573, + -0.04427799955010414, + 0.0008824099786579609 + ], + "max": [ + 0.2148289978504181, + 0.04470200091600418, + 0.025874409824609756 ], "size": [ - 0.07961400225758553, - 0.14804699588694348, - 0.20831699669361115 - ] + 0.3133839964866638, + 0.08898000046610832, + 0.024991999845951796 + ], + "units": "m" }, "description": "A light brown wooden spoon with a long cylindrical handle and a shallow, rounded bowl.", "name": "D00986 Wooden Utensil", "object_type": "rigid_bodies", - "total_mass": 0.0568 + "total_mass": 0.0568000003695488, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00986", "parts": [ { "bounds": { - "center": [ - -0.0011598550384475804, - 0.054860877934453475, - 0.004104089406716529 + "min": [ + -0.09855499863624573, + -0.04427799955010414, + 0.0008824099786579609 ], "max": [ - 0.03787398710846901, - 0.14803805947303772, - 0.08434293419122696 + 0.2148289978504181, + 0.04470200091600418, + 0.025874409824609756 ], - "min": [ - -0.041740015149116516, - -8.936413905757945e-06, - -0.12397406250238419 - ] + "size": [ + 0.3133839964866638, + 0.08898000046610832, + 0.024991999845951796 + ], + "units": "m" }, "center_of_mass": [ 0.023528520647100194, @@ -59,7 +65,7 @@ 0.0003927132916117319, 0.0004069906291405697 ], - "mass": 0.0568, + "mass": 0.0568000003695488, "material": "wood", "name": "D00986 Wooden Utensil", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00986 Wooden Utensil", "part_name": "D00986 Wooden Utensil" }, - "volume": 0.00010628967856418246 + "volume": 0.00010628967856418246, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a79f2a1af69e5c67cbb43caa1c6f79dd25116ed6dd23afbeb96aa32e7f5ff222" + }, + "usd_path": "batch14/D00986 Wooden Utensil/IsaacSim_assets_69f7993bd09344200ff301d0/IsaacSim_asset_69f7993bd09344200ff301d0.usd", + "usd_sha256": "793a61443d6a150004d9e773ee75a3698d7064e9367b500460a008ac85b45a59", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.07961400225758553, - 0.14804699588694348, - 0.20831699669361115 - ] + 0.3133839964866638, + 0.08898000046610832, + 0.024991999845951796 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "793a61443d6a150004d9e773ee75a3698d7064e9367b500460a008ac85b45a59", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0568 + "value_kg": 0.0568000003695488, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "793a61443d6a150004d9e773ee75a3698d7064e9367b500460a008ac85b45a59", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0568000003695488, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 14, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "793a61443d6a150004d9e773ee75a3698d7064e9367b500460a008ac85b45a59", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 14, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "793a61443d6a150004d9e773ee75a3698d7064e9367b500460a008ac85b45a59", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00005_bagel/IsaacSim_assets_6a5f180bbeb159ad854124a9/physics_6a5f180bbeb159ad854124a9.json b/batch15/D00005_bagel/IsaacSim_assets_6a5f180bbeb159ad854124a9/physics_6a5f180bbeb159ad854124a9.json index 2a6b0d4cdc88e07aea1e1b377669a39dd3d00786..36e39c10bccac44581f6d490ff887a33b2dc77ee 100644 --- a/batch15/D00005_bagel/IsaacSim_assets_6a5f180bbeb159ad854124a9/physics_6a5f180bbeb159ad854124a9.json +++ b/batch15/D00005_bagel/IsaacSim_assets_6a5f180bbeb159ad854124a9/physics_6a5f180bbeb159ad854124a9.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "9a4418c723a72ea07b7dd5b185e68d32967b239ff3c673f397f114e4af9a3eb0" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "df637301af87363136f03842874030acd8a8cf62ac74d22016e5344a100e3a26" }, "usd_path": "batch15/D00005_bagel/IsaacSim_assets_6a5f180bbeb159ad854124a9/IsaacSim_asset_6a5f180bbeb159ad854124a9.usd", - "usd_sha256": "7737eb0a8e8b6f7266207897a6519806d7a0374d6cc6a07c4c799557df25cae0", + "usd_sha256": "a680b804af229b34fc889eeab18abb40838239e14a8bb5d0b96e7289a56efea5", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -115,9 +115,9 @@ 0.10996200144290924, 0.03500000014901162 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7737eb0a8e8b6f7266207897a6519806d7a0374d6cc6a07c4c799557df25cae0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a680b804af229b34fc889eeab18abb40838239e14a8bb5d0b96e7289a56efea5", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.07944725453853607, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7737eb0a8e8b6f7266207897a6519806d7a0374d6cc6a07c4c799557df25cae0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a680b804af229b34fc889eeab18abb40838239e14a8bb5d0b96e7289a56efea5", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.07944725453853607, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 1, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7737eb0a8e8b6f7266207897a6519806d7a0374d6cc6a07c4c799557df25cae0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a680b804af229b34fc889eeab18abb40838239e14a8bb5d0b96e7289a56efea5", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "approximations": [ @@ -151,18 +151,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7737eb0a8e8b6f7266207897a6519806d7a0374d6cc6a07c4c799557df25cae0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a680b804af229b34fc889eeab18abb40838239e14a8bb5d0b96e7289a56efea5", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "a680b804af229b34fc889eeab18abb40838239e14a8bb5d0b96e7289a56efea5", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:21.769173+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "cf05fac2871e4175d36641aa833f5021c9d82850ee0645285d4694080f98298e", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00145_Coaster/IsaacSim_assets_6a48fe3b4a7a99d888176d38/physics_6a48fe3b4a7a99d888176d38.json b/batch15/D00145_Coaster/IsaacSim_assets_6a48fe3b4a7a99d888176d38/physics_6a48fe3b4a7a99d888176d38.json index 861647add648cf67f3525a81038db90b31942a87..2f7551c50b5e903706aceac4551a23bf2f4006d3 100644 --- a/batch15/D00145_Coaster/IsaacSim_assets_6a48fe3b4a7a99d888176d38/physics_6a48fe3b4a7a99d888176d38.json +++ b/batch15/D00145_Coaster/IsaacSim_assets_6a48fe3b4a7a99d888176d38/physics_6a48fe3b4a7a99d888176d38.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04972920939326286, - 0.009494115598499775, - 0.04981839284300804 - ], "min": [ - -0.05015379190444946, - 1.115707846111036e-06, - -0.04997560754418373 + -0.05015400052070618, + -0.0498180016875267, + 9.999999974752427e-07 + ], + "max": [ + 0.04972900077700615, + 0.04997599869966507, + 0.009494000114500523 ], "size": [ 0.09988300129771233, - 0.009492999890653664, - 0.09979400038719177 - ] + 0.09979400038719177, + 0.009493000114503047 + ], + "units": "m" }, "description": "A square coaster made of natural granular cork with rounded corners and flat surfaces.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.012 + "total_mass": 0.012000000104308128, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00145", "parts": [ { "bounds": { - "center": [ - -0.0002488806983943871, - 0.0045717357871094075, - -7.772551325130443e-05 + "min": [ + -0.05015400052070618, + -0.0498180016875267, + 9.999999974752427e-07 ], "max": [ - 0.04972920939326286, - 0.009494115598499775, - 0.04981839284300804 + 0.04972900077700615, + 0.04997599869966507, + 0.009494000114500523 ], - "min": [ - -0.05015379190444946, - 1.115707846111036e-06, - -0.04997560754418373 - ] + "size": [ + 0.09988300129771233, + 0.09979400038719177, + 0.009493000114503047 + ], + "units": "m" }, "center_of_mass": [ -0.00023666914665000196, @@ -59,7 +65,7 @@ 9.693121860862772e-06, 1.9159957903819807e-05 ], - "mass": 0.012, + "mass": 0.012000000104308128, "material": "cork", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 9.1148028410426e-05 + "volume": 9.1148028410426e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2cdeeb0e7268774ed33d53d18a4e1528479c21acf7096a41eb35c333ba057e8c" + }, + "usd_path": "batch15/D00145_Coaster/IsaacSim_assets_6a48fe3b4a7a99d888176d38/IsaacSim_asset_6a48fe3b4a7a99d888176d38.usd", + "usd_sha256": "d023f7a20662ab8c929850ca09d2f9d7c91752772435f3703973b354c43a25fa", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,75 @@ "up_axis": "Z", "bounds_m": [ 0.09988300129771233, - 0.009492999890653664, - 0.09979400038719177 - ] + 0.09979400038719177, + 0.009493000114503047 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d023f7a20662ab8c929850ca09d2f9d7c91752772435f3703973b354c43a25fa", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.012 + "value_kg": 0.012000000104308128, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d023f7a20662ab8c929850ca09d2f9d7c91752772435f3703973b354c43a25fa", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.012000000104308128, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d023f7a20662ab8c929850ca09d2f9d7c91752772435f3703973b354c43a25fa", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d023f7a20662ab8c929850ca09d2f9d7c91752772435f3703973b354c43a25fa", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "d023f7a20662ab8c929850ca09d2f9d7c91752772435f3703973b354c43a25fa", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:16:00.871967+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "787ea0c2c045b72b021bc113721869aa87b0bb88753124f7af020b92c8ede696", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00180_Ceramic_Mug/IsaacSim_assets_6a4bc8dda91d78f0f3ff8dcf/physics_6a4bc8dda91d78f0f3ff8dcf.json b/batch15/D00180_Ceramic_Mug/IsaacSim_assets_6a4bc8dda91d78f0f3ff8dcf/physics_6a4bc8dda91d78f0f3ff8dcf.json index b4d31c4592fd7e1aae54ff665a4fd3cf68e73254..a61dce98f7ca38dbb36842aaa31651ce3a348683 100644 --- a/batch15/D00180_Ceramic_Mug/IsaacSim_assets_6a4bc8dda91d78f0f3ff8dcf/physics_6a4bc8dda91d78f0f3ff8dcf.json +++ b/batch15/D00180_Ceramic_Mug/IsaacSim_assets_6a4bc8dda91d78f0f3ff8dcf/physics_6a4bc8dda91d78f0f3ff8dcf.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05605093762278557, - 0.08151595294475555, - 0.03506023436784744 - ], "min": [ - -0.040072061121463776, - -2.804762334562838e-05, - -0.03499176353216171 + -0.040072001516819, + -0.03505999967455864, + -2.8000000384054147e-05 + ], + "max": [ + 0.05605100095272064, + 0.034991998225450516, + 0.08151599764823914 ], "size": [ - 0.09612299874424934, - 0.08154400056810118, - 0.07005199790000916 - ] + 0.09612300246953964, + 0.07005199790000916, + 0.08154399764862319 + ], + "units": "m" }, "description": "A solid blue ceramic mug with a cylindrical body that tapers slightly towards the base. It features a curved handle on one side and a smooth, glossy finish.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.3499999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00180", "parts": [ { "bounds": { - "center": [ - -0.002105171531594278, - 0.0417484979958216, - -2.0825985215237905e-05 + "min": [ + -0.040072001516819, + -0.03505999967455864, + -2.8000000384054147e-05 ], "max": [ - 0.05605093762278557, - 0.08151595294475555, - 0.03506023436784744 + 0.05605100095272064, + 0.034991998225450516, + 0.08151599764823914 ], - "min": [ - -0.040072061121463776, - -2.804762334562838e-05, - -0.03499176353216171 - ] + "size": [ + 0.09612300246953964, + 0.07005199790000916, + 0.08154399764862319 + ], + "units": "m" }, "center_of_mass": [ -0.0019432481272865915, @@ -59,7 +65,7 @@ 0.00035120239361752595, 0.00039800478285089715 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "ceramic", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 6.403137664220978e-05 + "volume": 6.403137664220978e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0c5c43d2b3537702f64b8107c58a07b30c44fef4e1be4b253fc92fac7ae30892" + }, + "usd_path": "batch15/D00180_Ceramic_Mug/IsaacSim_assets_6a4bc8dda91d78f0f3ff8dcf/IsaacSim_asset_6a4bc8dda91d78f0f3ff8dcf.usd", + "usd_sha256": "ce3de2f9ab623555acaf5f67c8bf45ab1cd6d51e9b76d7e1a4e86391360c8cde", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.09612299874424934, - 0.08154400056810118, - 0.07005199790000916 - ] + 0.09612300246953964, + 0.07005199790000916, + 0.08154399764862319 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ce3de2f9ab623555acaf5f67c8bf45ab1cd6d51e9b76d7e1a4e86391360c8cde", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.3499999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ce3de2f9ab623555acaf5f67c8bf45ab1cd6d51e9b76d7e1a4e86391360c8cde", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3499999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ce3de2f9ab623555acaf5f67c8bf45ab1cd6d51e9b76d7e1a4e86391360c8cde", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ce3de2f9ab623555acaf5f67c8bf45ab1cd6d51e9b76d7e1a4e86391360c8cde", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "ce3de2f9ab623555acaf5f67c8bf45ab1cd6d51e9b76d7e1a4e86391360c8cde", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:05.843652+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "a8379ae0d0dd52740d079056fd50ee79579563c80b2d6fba8acf49f2f106fbf9", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00196 Cooking Knife/IsaacSim_assets_69f2239959057a93105caaa2/physics_69f2239959057a93105caaa2.json b/batch15/D00196 Cooking Knife/IsaacSim_assets_69f2239959057a93105caaa2/physics_69f2239959057a93105caaa2.json index 4fa2c486dde7c0ada79671fd2386a217af6b9087..dc9c5e4da87f6afae5e276ea4c5207be4a6a8bc3 100644 --- a/batch15/D00196 Cooking Knife/IsaacSim_assets_69f2239959057a93105caaa2/physics_69f2239959057a93105caaa2.json +++ b/batch15/D00196 Cooking Knife/IsaacSim_assets_69f2239959057a93105caaa2/physics_69f2239959057a93105caaa2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13916103541851044, - 0.017792658880352974, - 0.030545266345143318 - ], "min": [ - -0.20116497576236725, - 1.565822822158225e-05, - -0.02078673429787159 + -0.20116500556468964, + -0.030544999986886978, + 1.5999999959603883e-05 + ], + "max": [ + 0.13916100561618805, + 0.02078700065612793, + 0.017792999744415283 ], "size": [ 0.3403260111808777, - 0.01777700065213139, - 0.05133200064301491 - ] + 0.05133200064301491, + 0.01777699974445568 + ], + "units": "m" }, "description": "A chef's knife featuring a brushed stainless steel blade and a dark wooden handle secured with three silver rivets.", "name": "D00196 Cooking Knife", "object_type": "rigid_bodies", - "total_mass": 0.22 + "total_mass": 0.2199999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00196", "parts": [ { "bounds": { - "center": [ - -0.01863026316167115, - 0.009165875220038191, - -0.00021585284214238184 + "min": [ + -0.20116500556468964, + -0.030544999986886978, + 1.5999999959603883e-05 ], "max": [ - 0.13916103541851044, - 0.017792658880352974, - 0.030545266345143318 + 0.13916100561618805, + 0.02078700065612793, + 0.017792999744415283 ], - "min": [ - -0.20116497576236725, - 1.565822822158225e-05, - -0.02078673429787159 - ] + "size": [ + 0.3403260111808777, + 0.05133200064301491, + 0.01777699974445568 + ], + "units": "m" }, "center_of_mass": [ 0.01422509892435583, @@ -59,7 +65,7 @@ 0.0012825483123746362, 0.001310144614396127 ], - "mass": 0.22, + "mass": 0.2199999988079071, "material": "steel", "name": "D00196 Cooking Knife", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00196 Cooking Knife", "part_name": "D00196 Cooking Knife" }, - "volume": 0.0001449180525474186 + "volume": 0.0001449180525474186, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "081a285d11d5caf09e6dfc837b707fbfaf6a7b32bacc2cd125111aac6d8ed1ad" + }, + "usd_path": "batch15/D00196 Cooking Knife/IsaacSim_assets_69f2239959057a93105caaa2/IsaacSim_asset_69f2239959057a93105caaa2.usd", + "usd_sha256": "90bc3e3cd595e4f95c09d60efc3dd1974041f5846f55157c79c22dada6873c8f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,75 @@ "up_axis": "Z", "bounds_m": [ 0.3403260111808777, - 0.01777700065213139, - 0.05133200064301491 - ] + 0.05133200064301491, + 0.01777699974445568 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90bc3e3cd595e4f95c09d60efc3dd1974041f5846f55157c79c22dada6873c8f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.22 + "value_kg": 0.2199999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90bc3e3cd595e4f95c09d60efc3dd1974041f5846f55157c79c22dada6873c8f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2199999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90bc3e3cd595e4f95c09d60efc3dd1974041f5846f55157c79c22dada6873c8f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90bc3e3cd595e4f95c09d60efc3dd1974041f5846f55157c79c22dada6873c8f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "90bc3e3cd595e4f95c09d60efc3dd1974041f5846f55157c79c22dada6873c8f", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:01.062216+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "4c644b877a68ba1d4f256641add6ace7f19c025cb51468a6bab4b17ab339d668", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00208 Cookware Bowl/IsaacSim_assets_69f2265559057a93105cf568/physics_69f2265559057a93105cf568.json b/batch15/D00208 Cookware Bowl/IsaacSim_assets_69f2265559057a93105cf568/physics_69f2265559057a93105cf568.json index 2e10ed9e3af938408ed6764b930774bab6139d74..50dde2381ee68481aeff78282df0a05f2c306276 100644 --- a/batch15/D00208 Cookware Bowl/IsaacSim_assets_69f2265559057a93105cf568/physics_69f2265559057a93105cf568.json +++ b/batch15/D00208 Cookware Bowl/IsaacSim_assets_69f2265559057a93105cf568/physics_69f2265559057a93105cf568.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15627112984657288, - 0.12660621106624603, - 0.12332095950841904 - ], "min": [ - -0.15579287707805634, - -1.5783605704200454e-05, - -0.12131304293870926 + -0.1557929962873459, + -0.12332099676132202, + -1.5999999959603883e-05 + ], + "max": [ + 0.15627099573612213, + 0.12131299823522568, + 0.12660600244998932 ], "size": [ - 0.3120640069246292, - 0.12662199467195023, - 0.2446340024471283 - ] + 0.312063992023468, + 0.2446339949965477, + 0.12662200244994892 + ], + "units": "m" }, "description": "A brushed stainless steel mixing bowl with two riveted side handles and a pouring spout.", "name": "D00208 Stainless Steel Saucepan", "object_type": "rigid_bodies", - "total_mass": 4.46 + "total_mass": 4.460000038146973, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00208", "parts": [ { "bounds": { - "center": [ - 0.00014789454577257655, - 0.060640209019357176, - -0.0006050985396358809 + "min": [ + -0.1557929962873459, + -0.12332099676132202, + -1.5999999959603883e-05 ], "max": [ - 0.15627112984657288, - 0.12660621106624603, - 0.12332095950841904 + 0.15627099573612213, + 0.12131299823522568, + 0.12660600244998932 ], - "min": [ - -0.15579287707805634, - -1.5783605704200454e-05, - -0.12131304293870926 - ] + "size": [ + 0.312063992023468, + 0.2446339949965477, + 0.12662200244994892 + ], + "units": "m" }, "center_of_mass": [ 0.00022487918810294984, @@ -59,7 +65,7 @@ 0.022299744041005282, 0.029738977490548893 ], - "mass": 4.46, + "mass": 4.460000038146973, "material": "stainless_steel", "name": "D00208 Cookware Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00208 Cookware Bowl", "part_name": "D00208 Cookware Bowl" }, - "volume": 0.0048028720532020935 + "volume": 0.0048028720532020935, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ecb6850f2724d5536405f54d019448138afa176507bba436cbad6ddd6ba44338" + }, + "usd_path": "batch15/D00208 Cookware Bowl/IsaacSim_assets_69f2265559057a93105cf568/IsaacSim_asset_69f2265559057a93105cf568.usd", + "usd_sha256": "13e7ef50d829e6203a4ee0c1e17fd4064bc756221b2972b1ac4e3272a49f9f50", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3120640069246292, - 0.12662199467195023, - 0.2446340024471283 - ] + 0.312063992023468, + 0.2446339949965477, + 0.12662200244994892 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "13e7ef50d829e6203a4ee0c1e17fd4064bc756221b2972b1ac4e3272a49f9f50", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.46 + "value_kg": 4.460000038146973, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "13e7ef50d829e6203a4ee0c1e17fd4064bc756221b2972b1ac4e3272a49f9f50", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.460000038146973, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 88, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "13e7ef50d829e6203a4ee0c1e17fd4064bc756221b2972b1ac4e3272a49f9f50", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 88, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "13e7ef50d829e6203a4ee0c1e17fd4064bc756221b2972b1ac4e3272a49f9f50", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00224 Cup Cake/IsaacSim_assets_69f229cf59057a93105d5175/physics_69f229cf59057a93105d5175.json b/batch15/D00224 Cup Cake/IsaacSim_assets_69f229cf59057a93105d5175/physics_69f229cf59057a93105d5175.json index 4c7fd2a196fb616384878ebdd8e69471195a523f..4eabf2eafdc45f1b1f774a8663435e685d193859 100644 --- a/batch15/D00224 Cup Cake/IsaacSim_assets_69f229cf59057a93105d5175/physics_69f229cf59057a93105d5175.json +++ b/batch15/D00224 Cup Cake/IsaacSim_assets_69f229cf59057a93105d5175/physics_69f229cf59057a93105d5175.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02822732739150524, - 0.06314688175916672, - 0.026675721630454063 - ], "min": [ - -0.028137672692537308, - 3.884041689161677e-06, - -0.02890627831220627 + -0.028138000518083572, + -0.0266759991645813, + 3.999999989900971e-06 + ], + "max": [ + 0.028226999565958977, + 0.028906000778079033, + 0.06314700096845627 ], "size": [ 0.05636500008404255, - 0.06314299771747756, - 0.05558199994266033 - ] + 0.05558199994266033, + 0.06314300096846637 + ], + "units": "m" }, "description": "A decorative ceramic object shaped like a cupcake with pink frosting and colorful sprinkles. It features a textured, ribbed base resembling a cupcake liner.", "name": "D00224 Cup Cake", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.30000001192092896, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00224", "parts": [ { "bounds": { - "center": [ - 2.700869221459065e-05, - 0.027289913898367518, - -0.001037461660210635 + "min": [ + -0.028138000518083572, + -0.0266759991645813, + 3.999999989900971e-06 ], "max": [ - 0.02822732739150524, - 0.06314688175916672, - 0.026675721630454063 + 0.028226999565958977, + 0.028906000778079033, + 0.06314700096845627 ], - "min": [ - -0.028137672692537308, - 3.884041689161677e-06, - -0.02890627831220627 - ] + "size": [ + 0.05636500008404255, + 0.05558199994266033, + 0.06314300096846637 + ], + "units": "m" }, "center_of_mass": [ 5.038356001930314e-05, @@ -59,7 +65,7 @@ 0.0001058599224205734, 0.000107126733319739 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "ceramic", "name": "D00224 Cup Cake", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00224 Cup Cake", "part_name": "D00224 Cup Cake" }, - "volume": 9.729907283423721e-05 + "volume": 9.729907283423721e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2d78603450c1182d44e5c6cbce779b1afdef2d502ccff9a51d3e63f8a4b8efe2" + }, + "usd_path": "batch15/D00224 Cup Cake/IsaacSim_assets_69f229cf59057a93105d5175/IsaacSim_asset_69f229cf59057a93105d5175.usd", + "usd_sha256": "c30529c3ad0b9d46c88c48c0b5ede53a8e269dfc588d34f76bc5e902e9191edf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,75 @@ "up_axis": "Z", "bounds_m": [ 0.05636500008404255, - 0.06314299771747756, - 0.05558199994266033 - ] + 0.05558199994266033, + 0.06314300096846637 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c30529c3ad0b9d46c88c48c0b5ede53a8e269dfc588d34f76bc5e902e9191edf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.30000001192092896, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c30529c3ad0b9d46c88c48c0b5ede53a8e269dfc588d34f76bc5e902e9191edf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.30000001192092896, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 22, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c30529c3ad0b9d46c88c48c0b5ede53a8e269dfc588d34f76bc5e902e9191edf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 22, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c30529c3ad0b9d46c88c48c0b5ede53a8e269dfc588d34f76bc5e902e9191edf", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "c30529c3ad0b9d46c88c48c0b5ede53a8e269dfc588d34f76bc5e902e9191edf", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:08.831937+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "ac596907ddf8360baa6c8e0d91c83b1c66e54bf1d752f12cb5f665c099fceeaf", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00244 Cupcake Stand/IsaacSim_assets_69f22f9d59057a93105df9f8/physics_69f22f9d59057a93105df9f8.json b/batch15/D00244 Cupcake Stand/IsaacSim_assets_69f22f9d59057a93105df9f8/physics_69f22f9d59057a93105df9f8.json index c7fcca6e733d9c1c1278d87f4676b1f0bc4c72e6..d004c8089c72769649059f07aff7e844368b5f36 100644 --- a/batch15/D00244 Cupcake Stand/IsaacSim_assets_69f22f9d59057a93105df9f8/physics_69f22f9d59057a93105df9f8.json +++ b/batch15/D00244 Cupcake Stand/IsaacSim_assets_69f22f9d59057a93105df9f8/physics_69f22f9d59057a93105df9f8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13373932242393494, - 0.3224140405654907, - 0.13249705731868744 - ], "min": [ - -0.13329067826271057, - -4.294859172659926e-05, - -0.13151094317436218 + -0.13329100608825684, + -0.13249699771404266, + -4.3000000005122274e-05 + ], + "max": [ + 0.13373899459838867, + 0.13151100277900696, + 0.32241401076316833 ], "size": [ 0.2670300006866455, - 0.3224569891572173, - 0.2640080004930496 - ] + 0.2640080004930496, + 0.32245701076317346 + ], + "units": "m" }, "description": "A three-tiered, circular stand constructed from brushed silver metal. It features a central supporting pillar that culminates in a top ring handle.", "name": "D00244 Cupcake Stand", "object_type": "rigid_bodies", - "total_mass": 1.99 + "total_mass": 1.9900000095367432, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00244", "parts": [ { "bounds": { - "center": [ - 0.0002287435372780501, - 0.08613371727945514, - 0.0004986953621265174 + "min": [ + -0.13329100608825684, + -0.13249699771404266, + -4.3000000005122274e-05 ], "max": [ - 0.13373932242393494, - 0.3224140405654907, - 0.13249705731868744 + 0.13373899459838867, + 0.13151100277900696, + 0.32241401076316833 ], - "min": [ - -0.13329067826271057, - -4.294859172659926e-05, - -0.13151094317436218 - ] + "size": [ + 0.2670300006866455, + 0.2640080004930496, + 0.32245701076317346 + ], + "units": "m" }, "center_of_mass": [ 0.00022956889321868642, @@ -59,7 +65,7 @@ 0.015939420632068366, 0.016074439228077636 ], - "mass": 1.99, + "mass": 1.9900000095367432, "material": "aluminum", "name": "D00244 Cupcake Stand", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00244 Cupcake Stand", "part_name": "D00244 Cupcake Stand" }, - "volume": 0.009145149028745617 + "volume": 0.009145149028745617, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "726ab62dfbbce8c0adc61f6ad873d9d343273e5bc2ebfd1a2d58774f2e5a06e3" + }, + "usd_path": "batch15/D00244 Cupcake Stand/IsaacSim_assets_69f22f9d59057a93105df9f8/IsaacSim_asset_69f22f9d59057a93105df9f8.usd", + "usd_sha256": "10914010df1a19cc2f484378cbc7f9ae295fa88b05488263c5432f7f9f9ab2f7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.2670300006866455, - 0.3224569891572173, - 0.2640080004930496 - ] + 0.2640080004930496, + 0.32245701076317346 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10914010df1a19cc2f484378cbc7f9ae295fa88b05488263c5432f7f9f9ab2f7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.99 + "value_kg": 1.9900000095367432, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10914010df1a19cc2f484378cbc7f9ae295fa88b05488263c5432f7f9f9ab2f7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.9900000095367432, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 173, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10914010df1a19cc2f484378cbc7f9ae295fa88b05488263c5432f7f9f9ab2f7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 173, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10914010df1a19cc2f484378cbc7f9ae295fa88b05488263c5432f7f9f9ab2f7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00251 Cutter Board/IsaacSim_assets_69f2310d59057a93105e2ae6/physics_69f2310d59057a93105e2ae6.json b/batch15/D00251 Cutter Board/IsaacSim_assets_69f2310d59057a93105e2ae6/physics_69f2310d59057a93105e2ae6.json index 76f6a07827802d0106a371efb1954e9b63f274b6..3ef698e370637f98441708974ffb3cdbaea54122 100644 --- a/batch15/D00251 Cutter Board/IsaacSim_assets_69f2310d59057a93105e2ae6/physics_69f2310d59057a93105e2ae6.json +++ b/batch15/D00251 Cutter Board/IsaacSim_assets_69f2310d59057a93105e2ae6/physics_69f2310d59057a93105e2ae6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.24543057, - 0.06225228, - 0.19205325 - ], "min": [ - -0.24654842, - 0.0, - -0.19107978 + -0.24654200673103333, + -0.19204500317573547, + -2.5999999706982635e-05 + ], + "max": [ + 0.24542400240898132, + 0.1910720020532608, + 0.06227799877524376 ], "size": [ - 0.49197899, - 0.06225228, - 0.38313303 - ] + 0.49196600914001465, + 0.3831170052289963, + 0.06230399877495074 + ], + "units": "m" }, "description": "A thick, rectangular edge-grain wooden cutting board featuring a perimeter juice groove and small dark feet.", "name": "D00251 Cutter Board", "object_type": "rigid_bodies", - "total_mass": 8.2 + "total_mass": 8.199999809265137, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00251", "parts": [ { "bounds": { - "center": [ - -0.000323934940055741, - 0.035050387494646874, - 0.0010473562087193664 + "min": [ + -0.24654200673103333, + -0.19204500317573547, + -2.5999999706982635e-05 ], "max": [ - 0.24543057, - 0.06225228, - 0.19205325 + 0.24542400240898132, + 0.1910720020532608, + 0.06227799877524376 ], - "min": [ - -0.24654842, - 0.0, - -0.19107978 - ] + "size": [ + 0.49196600914001465, + 0.3831170052289963, + 0.06230399877495074 + ], + "units": "m" }, "center_of_mass": [ -0.0005698870551827988, @@ -59,7 +65,7 @@ 0.16644149467453062, 0.2630837183601786 ], - "mass": 8.2, + "mass": 8.199999809265137, "material": "wood", "name": "D00251 Cutter Board", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00251 Cutter Board", "part_name": "D00251 Cutter Board" }, - "volume": 0.011631253994264778 + "volume": 0.011631253994264778, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "686a7a50a1a59834bf9d422a7d9ee98b73d49b8e085850298ac72d3db3c13ad8" + }, + "usd_path": "batch15/D00251 Cutter Board/IsaacSim_assets_69f2310d59057a93105e2ae6/IsaacSim_asset_69f2310d59057a93105e2ae6.usd", + "usd_sha256": "0eead20375bc5af79b73266bb4ba95cc3dcc2b4ee9665e321e826b1f0005d853", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.49197899, - 0.06225228, - 0.38313303 - ] + 0.49196600914001465, + 0.3831170052289963, + 0.06230399877495074 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0eead20375bc5af79b73266bb4ba95cc3dcc2b4ee9665e321e826b1f0005d853", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 8.2 + "value_kg": 8.199999809265137, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0eead20375bc5af79b73266bb4ba95cc3dcc2b4ee9665e321e826b1f0005d853", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 8.199999809265137, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0eead20375bc5af79b73266bb4ba95cc3dcc2b4ee9665e321e826b1f0005d853", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0eead20375bc5af79b73266bb4ba95cc3dcc2b4ee9665e321e826b1f0005d853", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "0eead20375bc5af79b73266bb4ba95cc3dcc2b4ee9665e321e826b1f0005d853", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:04.020675+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "d783243980135d990cb3c35ca4a6e187ef09545b31cdec969fe2abe213a9ede8", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00255 Cutting Board Place/IsaacSim_assets_69f2325a59057a93105e5212/physics_69f2325a59057a93105e5212.json b/batch15/D00255 Cutting Board Place/IsaacSim_assets_69f2325a59057a93105e5212/physics_69f2325a59057a93105e5212.json index b49bf56dfd5e157adcd4a5b28a3425cfc0c4e192..4491b19e3d7579e0d55cf2c678320f3db43b6692 100644 --- a/batch15/D00255 Cutting Board Place/IsaacSim_assets_69f2325a59057a93105e5212/physics_69f2325a59057a93105e5212.json +++ b/batch15/D00255 Cutting Board Place/IsaacSim_assets_69f2325a59057a93105e5212/physics_69f2325a59057a93105e5212.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2214884, - 0.05601643, - 0.16610568 - ], "min": [ - -0.22091702, - 0.0, - -0.16616982 + -0.22091099619865417, + -0.16608299314975739, + 3.000000106112566e-06 + ], + "max": [ + 0.22148199379444122, + 0.16614699363708496, + 0.05601400136947632 ], "size": [ - 0.44240542, - 0.05601643, - 0.3322755 - ] + 0.4423929899930954, + 0.33222998678684235, + 0.056011001369370206 + ], + "units": "m" }, "description": "A thick, rectangular wooden cutting board with rounded corners and a carved juice groove around the perimeter.", "name": "D00255 Wooden Butcher-Block Cutting Board", "object_type": "rigid_bodies", - "total_mass": 5.74 + "total_mass": 5.739999771118164, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00255", "parts": [ { "bounds": { - "center": [ - 0.00038132461286486264, - 0.02834629005358636, - 1.9652310059540828e-05 + "min": [ + -0.22091099619865417, + -0.16608299314975739, + 3.000000106112566e-06 ], "max": [ - 0.2214884, - 0.05601643, - 0.16610568 + 0.22148199379444122, + 0.16614699363708496, + 0.05601400136947632 ], - "min": [ - -0.22091702, - 0.0, - -0.16616982 - ] + "size": [ + 0.4423929899930954, + 0.33222998678684235, + 0.056011001369370206 + ], + "units": "m" }, "center_of_mass": [ 0.00034869342936661845, @@ -59,7 +65,7 @@ 0.09448832647057345, 0.14544226466281585 ], - "mass": 5.74, + "mass": 5.739999771118164, "material": "wood", "name": "D00255 Cutting Board Place", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00255 Cutting Board Place", "part_name": "D00255 Cutting Board Place" }, - "volume": 0.00818577474350838 + "volume": 0.00818577474350838, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b7716a62ad48f6e69620d4df8246a8809ccf6ae2c9b31d692e8a48deffdca0f9" + }, + "usd_path": "batch15/D00255 Cutting Board Place/IsaacSim_assets_69f2325a59057a93105e5212/IsaacSim_asset_69f2325a59057a93105e5212.usd", + "usd_sha256": "0936bd498dd7cd32feefcf9eccd713c98d08b8ab967dd0e7f19036bc6a68253a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.44240542, - 0.05601643, - 0.3322755 - ] + 0.4423929899930954, + 0.33222998678684235, + 0.056011001369370206 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0936bd498dd7cd32feefcf9eccd713c98d08b8ab967dd0e7f19036bc6a68253a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 5.74 + "value_kg": 5.739999771118164, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0936bd498dd7cd32feefcf9eccd713c98d08b8ab967dd0e7f19036bc6a68253a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 5.739999771118164, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 22, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0936bd498dd7cd32feefcf9eccd713c98d08b8ab967dd0e7f19036bc6a68253a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 22, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0936bd498dd7cd32feefcf9eccd713c98d08b8ab967dd0e7f19036bc6a68253a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "0936bd498dd7cd32feefcf9eccd713c98d08b8ab967dd0e7f19036bc6a68253a", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:04.250726+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "cc3781aea3f2cab9b9ca61031062bbffa292d6b19513a4f8627a20e15b4aad0c", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00256 Cutting Board Plate/IsaacSim_assets_69f2328159057a93105e57df/physics_69f2328159057a93105e57df.json b/batch15/D00256 Cutting Board Plate/IsaacSim_assets_69f2328159057a93105e57df/physics_69f2328159057a93105e57df.json index 7e3a3b8503e8c6c4900bf812df753777a20301d0..ae1bea5a5190498a4362babd4fe97e9f6d37df30 100644 --- a/batch15/D00256 Cutting Board Plate/IsaacSim_assets_69f2328159057a93105e57df/physics_69f2328159057a93105e57df.json +++ b/batch15/D00256 Cutting Board Plate/IsaacSim_assets_69f2328159057a93105e57df/physics_69f2328159057a93105e57df.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.22060165, - 0.05771717, - 0.16789555 - ], "min": [ - -0.21984141, - 0.0, - -0.16821706 + -0.2198449969291687, + -0.1681710034608841, + 9.999999747378752e-06 + ], + "max": [ + 0.2206050008535385, + 0.16849300265312195, + 0.05770700052380562 ], "size": [ - 0.44044306, - 0.05771717, - 0.33611261000000003 - ] + 0.4404499977827072, + 0.33666400611400604, + 0.05769700052405824 + ], + "units": "m" }, "description": "A thick, rectangular wooden cutting board featuring an end-grain pattern of alternating light and dark brown blocks. It includes a recessed juice groove along the top perimeter and indented hand holds on the shorter sides.", "name": "D00256 End-Grain Cutting Board", "object_type": "rigid_bodies", - "total_mass": 5.57 + "total_mass": 5.570000171661377, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00256", "parts": [ { "bounds": { - "center": [ - 0.00034429004994941827, - 0.028867977414821392, - -0.00018206299542213923 + "min": [ + -0.2198449969291687, + -0.1681710034608841, + 9.999999747378752e-06 ], "max": [ - 0.22060165, - 0.05771717, - 0.16789555 + 0.2206050008535385, + 0.16849300265312195, + 0.05770700052380562 ], - "min": [ - -0.21984141, - 0.0, - -0.16821706 - ] + "size": [ + 0.4404499977827072, + 0.33666400611400604, + 0.05769700052405824 + ], + "units": "m" }, "center_of_mass": [ 0.0003874828345613741, @@ -59,7 +65,7 @@ 0.09073510758312187, 0.1411460399768224 ], - "mass": 5.57, + "mass": 5.570000171661377, "material": "wood", "name": "D00256 Cutting Board Plate", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00256 Cutting Board Plate", "part_name": "D00256 Cutting Board Plate" }, - "volume": 0.00845287891240444 + "volume": 0.00845287891240444, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "aacf39d4d149615a4f4809376effb17ba5afb4fa6db69391315593a8fb6c2846" + }, + "usd_path": "batch15/D00256 Cutting Board Plate/IsaacSim_assets_69f2328159057a93105e57df/IsaacSim_asset_69f2328159057a93105e57df.usd", + "usd_sha256": "a8ebbbf495103f8f3339eb1dac989d79c7c6fd4606d9773ab130f3acc626c573", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.44044306, - 0.05771717, - 0.33611261000000003 - ] + 0.4404499977827072, + 0.33666400611400604, + 0.05769700052405824 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a8ebbbf495103f8f3339eb1dac989d79c7c6fd4606d9773ab130f3acc626c573", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 5.57 + "value_kg": 5.570000171661377, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a8ebbbf495103f8f3339eb1dac989d79c7c6fd4606d9773ab130f3acc626c573", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 5.570000171661377, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 48, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a8ebbbf495103f8f3339eb1dac989d79c7c6fd4606d9773ab130f3acc626c573", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 48, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a8ebbbf495103f8f3339eb1dac989d79c7c6fd4606d9773ab130f3acc626c573", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00258 Cutting Board Wooden/IsaacSim_assets_69f2335d59057a93105e7108/physics_69f2335d59057a93105e7108.json b/batch15/D00258 Cutting Board Wooden/IsaacSim_assets_69f2335d59057a93105e7108/physics_69f2335d59057a93105e7108.json index 0c0ad03383825625cceec1826226063fd52304e9..4c9f2d1afc1b949803bb9a11a029d0942ef74b04 100644 --- a/batch15/D00258 Cutting Board Wooden/IsaacSim_assets_69f2335d59057a93105e7108/physics_69f2335d59057a93105e7108.json +++ b/batch15/D00258 Cutting Board Wooden/IsaacSim_assets_69f2335d59057a93105e7108/physics_69f2335d59057a93105e7108.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16601401, - 0.09174087, - 0.22135888 - ], "min": [ - -0.16707224, - 0.0, - -0.23949934 + -0.16705800592899323, + -0.22135600447654724, + -3.000000106112566e-06 + ], + "max": [ + 0.16599999368190765, + 0.23949599266052246, + 0.09174399822950363 ], "size": [ - 0.33308625000000003, - 0.09174087, - 0.46085822 - ] + 0.3330579996109009, + 0.4608519971370697, + 0.09174699822960974 + ], + "units": "m" }, "description": "A thick, rectangular wooden cutting board featuring a stainless steel handle on one end.", "name": "D00258 Cutting Board Wooden", "object_type": "rigid_bodies", - "total_mass": 4.5 + "total_mass": 4.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00258", "parts": [ { "bounds": { - "center": [ - -0.0005405051444015434, - 0.031206864224423172, - -0.006839044128302275 + "min": [ + -0.16705800592899323, + -0.22135600447654724, + -3.000000106112566e-06 ], "max": [ - 0.16601401, - 0.09174087, - 0.22135888 + 0.16599999368190765, + 0.23949599266052246, + 0.09174399822950363 ], - "min": [ - -0.16707224, - 0.0, - -0.23949934 - ] + "size": [ + 0.3330579996109009, + 0.4608519971370697, + 0.09174699822960974 + ], + "units": "m" }, "center_of_mass": [ -0.00052938953602499, @@ -67,10 +73,27 @@ "object_name": "D00258 Cutting Board Wooden", "part_name": "D00258 Cutting Board Wooden" }, - "volume": 0.010709081735361345 + "volume": 0.010709081735361345, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c129406329972abe97f0ad3e2318720a45983409441eddf0396c90756e87d17f" + }, + "usd_path": "batch15/D00258 Cutting Board Wooden/IsaacSim_assets_69f2335d59057a93105e7108/IsaacSim_asset_69f2335d59057a93105e7108.usd", + "usd_sha256": "6860a73e2fae0fbfa39ebc8da84949bdd2c90b36f93c47ca12255afd560b4ab7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.33308625000000003, - 0.09174087, - 0.46085822 - ] + 0.3330579996109009, + 0.4608519971370697, + 0.09174699822960974 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6860a73e2fae0fbfa39ebc8da84949bdd2c90b36f93c47ca12255afd560b4ab7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.5 + "value_kg": 4.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6860a73e2fae0fbfa39ebc8da84949bdd2c90b36f93c47ca12255afd560b4ab7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 22, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6860a73e2fae0fbfa39ebc8da84949bdd2c90b36f93c47ca12255afd560b4ab7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 22, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6860a73e2fae0fbfa39ebc8da84949bdd2c90b36f93c47ca12255afd560b4ab7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00259_Cutting_Board_Wooden_Tray/IsaacSim_assets_6a4506493c18d617d721d0d3/physics_6a4506493c18d617d721d0d3.json b/batch15/D00259_Cutting_Board_Wooden_Tray/IsaacSim_assets_6a4506493c18d617d721d0d3/physics_6a4506493c18d617d721d0d3.json index 3b77d7863cdb8b9aa04514943e17435bd6d4a697..cf80fbd3a781c8ee186d0e3b8fa617b5a552dcfa 100644 --- a/batch15/D00259_Cutting_Board_Wooden_Tray/IsaacSim_assets_6a4506493c18d617d721d0d3/physics_6a4506493c18d617d721d0d3.json +++ b/batch15/D00259_Cutting_Board_Wooden_Tray/IsaacSim_assets_6a4506493c18d617d721d0d3/physics_6a4506493c18d617d721d0d3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.20925915, - 0.0258596, - 0.14906446 - ], "min": [ - -0.1905271, - 0.0, - -0.15074048 + -0.19051900506019592, + -0.14926500618457794, + -1.2000000424450263e-05 + ], + "max": [ + 0.20925100147724152, + 0.15094099938869476, + 0.025870999321341515 ], "size": [ - 0.39978625, - 0.0258596, - 0.29980494 - ] + 0.39977000653743744, + 0.3002060055732727, + 0.025882999321765965 + ], + "units": "m" }, "description": "A rectangular wooden cutting board with rounded corners, featuring a perimeter juice groove and an integrated cutout handle. The board has a light-colored bamboo or hardwood grain finish.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 1.68 + "total_mass": 1.6799999475479126, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00259", "parts": [ { "bounds": { - "center": [ - 0.00909705401786372, - 0.012943783415739112, - -0.0008423837107861302 + "min": [ + -0.19051900506019592, + -0.14926500618457794, + -1.2000000424450263e-05 ], "max": [ - 0.20925915, - 0.0258596, - 0.14906446 + 0.20925100147724152, + 0.15094099938869476, + 0.025870999321341515 ], - "min": [ - -0.1905271, - 0.0, - -0.15074048 - ] + "size": [ + 0.39977000653743744, + 0.3002060055732727, + 0.025882999321765965 + ], + "units": "m" }, "center_of_mass": [ 0.009312054662019297, @@ -59,7 +65,7 @@ 0.02228533727998921, 0.03467284967354632 ], - "mass": 1.68, + "mass": 1.6799999475479126, "material": "wood", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0030792276108449865 + "volume": 0.0030792276108449865, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "101017c12cdf50965bcb7fda6b695f6d41d338dbd04274073544b9b036838520" + }, + "usd_path": "batch15/D00259_Cutting_Board_Wooden_Tray/IsaacSim_assets_6a4506493c18d617d721d0d3/IsaacSim_asset_6a4506493c18d617d721d0d3.usd", + "usd_sha256": "31e4509433a51b736d42e3df7114aa263a0fd9bbdc45a30e099cbe2d086a5b93", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.39978625, - 0.0258596, - 0.29980494 - ] + 0.39977000653743744, + 0.3002060055732727, + 0.025882999321765965 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31e4509433a51b736d42e3df7114aa263a0fd9bbdc45a30e099cbe2d086a5b93", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.68 + "value_kg": 1.6799999475479126, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31e4509433a51b736d42e3df7114aa263a0fd9bbdc45a30e099cbe2d086a5b93", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.6799999475479126, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31e4509433a51b736d42e3df7114aa263a0fd9bbdc45a30e099cbe2d086a5b93", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31e4509433a51b736d42e3df7114aa263a0fd9bbdc45a30e099cbe2d086a5b93", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "31e4509433a51b736d42e3df7114aa263a0fd9bbdc45a30e099cbe2d086a5b93", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:04.456834+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "e97bf6aeb966cc9bdd70e95759fa5f1c425f46fe6a5e71592dd2793c0e96883e", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00271 Dish Frying Pan/IsaacSim_assets_69f2373c59057a93105ee901/physics_69f2373c59057a93105ee901.json b/batch15/D00271 Dish Frying Pan/IsaacSim_assets_69f2373c59057a93105ee901/physics_69f2373c59057a93105ee901.json index 3f06283bde8a809d3d50d0d4344f36c5d5c17471..428e27ebe0eab64c4af0a28ceec63b30d9c42385 100644 --- a/batch15/D00271 Dish Frying Pan/IsaacSim_assets_69f2373c59057a93105ee901/physics_69f2373c59057a93105ee901.json +++ b/batch15/D00271 Dish Frying Pan/IsaacSim_assets_69f2373c59057a93105ee901/physics_69f2373c59057a93105ee901.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.25993689, - 0.08234499, - 0.1287021 - ], "min": [ - -0.15756309, - 0.0, - -0.12813496 + -0.1575630009174347, + -0.12875300645828247, + -1.4000000192027073e-05 + ], + "max": [ + 0.25993698835372925, + 0.12818600237369537, + 0.08235900104045868 ], "size": [ - 0.41749998, - 0.08234499, - 0.25683706 - ] + 0.41749998927116394, + 0.25693900883197784, + 0.0823730010406507 + ], + "units": "m" }, "description": "A stainless steel frying pan with a circular, slightly tapered cooking vessel and an elongated, riveted metal handle.", "name": "D00271 Nonstick Frying Pan", "object_type": "rigid_bodies", - "total_mass": 4.24 + "total_mass": 4.239999771118164, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00271", "parts": [ { "bounds": { - "center": [ - -0.009047772096925132, - 0.020330077116146282, - 0.00028747337812856985 + "min": [ + -0.1575630009174347, + -0.12875300645828247, + -1.4000000192027073e-05 ], "max": [ - 0.25993689, - 0.08234499, - 0.1287021 + 0.25993698835372925, + 0.12818600237369537, + 0.08235900104045868 ], - "min": [ - -0.15756309, - 0.0, - -0.12813496 - ] + "size": [ + 0.41749998927116394, + 0.25693900883197784, + 0.0823730010406507 + ], + "units": "m" }, "center_of_mass": [ 0.007802396882346815, @@ -59,7 +65,7 @@ 0.03160168993691265, 0.04377227668961027 ], - "mass": 4.24, + "mass": 4.239999771118164, "material": "stainless_steel", "name": "D00271 Dish Frying Pan", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00271 Dish Frying Pan", "part_name": "D00271 Dish Frying Pan" }, - "volume": 0.003365343919251707 + "volume": 0.003365343919251707, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8aaabb94156cfc04134e0cffd974d8507d1fb6389aa31487cda96296b10956f3" + }, + "usd_path": "batch15/D00271 Dish Frying Pan/IsaacSim_assets_69f2373c59057a93105ee901/IsaacSim_asset_69f2373c59057a93105ee901.usd", + "usd_sha256": "5bd1ab8b4844c7202e84868dc6a3363070d5229bb4f962973196b5bcafed1a0e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.41749998, - 0.08234499, - 0.25683706 - ] + 0.41749998927116394, + 0.25693900883197784, + 0.0823730010406507 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5bd1ab8b4844c7202e84868dc6a3363070d5229bb4f962973196b5bcafed1a0e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.24 + "value_kg": 4.239999771118164, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5bd1ab8b4844c7202e84868dc6a3363070d5229bb4f962973196b5bcafed1a0e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.239999771118164, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 32, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5bd1ab8b4844c7202e84868dc6a3363070d5229bb4f962973196b5bcafed1a0e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 32, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5bd1ab8b4844c7202e84868dc6a3363070d5229bb4f962973196b5bcafed1a0e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00272 Dish Hand Soap/IsaacSim_assets_69f2378859057a93105ef12b/physics_69f2378859057a93105ef12b.json b/batch15/D00272 Dish Hand Soap/IsaacSim_assets_69f2378859057a93105ef12b/physics_69f2378859057a93105ef12b.json index 9c833c1090b0735f51e90952e9099534de70c1c5..4861077569a77c40fbfda2a76b9cc714b7a0fe42 100644 --- a/batch15/D00272 Dish Hand Soap/IsaacSim_assets_69f2378859057a93105ef12b/physics_69f2378859057a93105ef12b.json +++ b/batch15/D00272 Dish Hand Soap/IsaacSim_assets_69f2378859057a93105ef12b/physics_69f2378859057a93105ef12b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03244831, - 0.2150992, - 0.03372937 - ], "min": [ - -0.03480371, - 0.0, - -0.03401163 + -0.0348070003092289, + -0.033695999532938004, + 6.000000212225132e-06 + ], + "max": [ + 0.03245199844241142, + 0.03397800028324127, + 0.2150930017232895 ], "size": [ - 0.06725202, - 0.2150992, - 0.067741 - ] + 0.06725899875164032, + 0.06767399981617928, + 0.21508700172307726 + ], + "units": "m" }, "description": "A cylindrical brown plastic bottle with a green flip-top cap and a printed label.", "name": "D00272 Dish Hand Soap", "object_type": "rigid_bodies", - "total_mass": 0.55 + "total_mass": 0.550000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00272", "parts": [ { "bounds": { - "center": [ - -0.00045217683182783354, - 0.09879247261097279, - -0.00014210203426300022 + "min": [ + -0.0348070003092289, + -0.033695999532938004, + 6.000000212225132e-06 ], "max": [ - 0.03244831, - 0.2150992, - 0.03372937 + 0.03245199844241142, + 0.03397800028324127, + 0.2150930017232895 ], - "min": [ - -0.03480371, - 0.0, - -0.03401163 - ] + "size": [ + 0.06725899875164032, + 0.06767399981617928, + 0.21508700172307726 + ], + "units": "m" }, "center_of_mass": [ -0.0005144699050070016, @@ -59,7 +65,7 @@ 0.0019429916165186324, 0.001945107061389398 ], - "mass": 0.55, + "mass": 0.550000011920929, "material": "plastic", "name": "D00272 Dish Hand Soap", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00272 Dish Hand Soap", "part_name": "D00272 Dish Hand Soap" }, - "volume": 0.0006950664440508865 + "volume": 0.0006950664440508865, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "88aeacfca66848f4206248b52489938ce3af8fc38d158836bd86bd8a5374ab5e" + }, + "usd_path": "batch15/D00272 Dish Hand Soap/IsaacSim_assets_69f2378859057a93105ef12b/IsaacSim_asset_69f2378859057a93105ef12b.usd", + "usd_sha256": "5ce84ca7bfe5d476f41852d62bc76f6485ce53a870f6722118791fa5c4030a1d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.06725202, - 0.2150992, - 0.067741 - ] + 0.06725899875164032, + 0.06767399981617928, + 0.21508700172307726 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ce84ca7bfe5d476f41852d62bc76f6485ce53a870f6722118791fa5c4030a1d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.55 + "value_kg": 0.550000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ce84ca7bfe5d476f41852d62bc76f6485ce53a870f6722118791fa5c4030a1d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.550000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ce84ca7bfe5d476f41852d62bc76f6485ce53a870f6722118791fa5c4030a1d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ce84ca7bfe5d476f41852d62bc76f6485ce53a870f6722118791fa5c4030a1d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00276 Dish Soap/IsaacSim_assets_69f239a859057a93105f2ff9/physics_69f239a859057a93105f2ff9.json b/batch15/D00276 Dish Soap/IsaacSim_assets_69f239a859057a93105f2ff9/physics_69f239a859057a93105f2ff9.json index fb987cc9152f5869e0d1d9553671d0939c344f71..98ed8b231dd08748629239789cc0c11cc6743106 100644 --- a/batch15/D00276 Dish Soap/IsaacSim_assets_69f239a859057a93105f2ff9/physics_69f239a859057a93105f2ff9.json +++ b/batch15/D00276 Dish Soap/IsaacSim_assets_69f239a859057a93105f2ff9/physics_69f239a859057a93105f2ff9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04537414, - 0.23144188, - 0.02888257 - ], "min": [ - -0.04397307, - 0.0, - -0.03601025 + -0.044126998633146286, + -0.028891000896692276, + 2.0874413541803905e-18 + ], + "max": [ + 0.045527998358011246, + 0.036017999053001404, + 0.23144200444221497 ], "size": [ - 0.08934721000000001, - 0.23144188, - 0.06489282 - ] + 0.08965499699115753, + 0.06490899994969368, + 0.23144200444221497 + ], + "units": "m" }, "description": "A white plastic bottle with a grey plastic flip-top cap and a paper label. The body features ergonomic indentations on the sides for grip.", "name": "D00276 Dish Soap", "object_type": "rigid_bodies", - "total_mass": 0.55 + "total_mass": 0.550000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00276", "parts": [ { "bounds": { - "center": [ - 0.00020159357112511735, - 0.10138256071215822, - 0.0005325289228594695 + "min": [ + -0.044126998633146286, + -0.028891000896692276, + 2.0874413541803905e-18 ], "max": [ - 0.04537414, - 0.23144188, - 0.02888257 + 0.045527998358011246, + 0.036017999053001404, + 0.23144200444221497 ], - "min": [ - -0.04397307, - 0.0, - -0.03601025 - ] + "size": [ + 0.08965499699115753, + 0.06490899994969368, + 0.23144200444221497 + ], + "units": "m" }, "center_of_mass": [ -0.0003212803352240017, @@ -59,7 +65,7 @@ 0.0020587328340202723, 0.0021912886786976792 ], - "mass": 0.55, + "mass": 0.550000011920929, "material": "plastic", "name": "D00276 Dish Soap", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00276 Dish Soap", "part_name": "D00276 Dish Soap" }, - "volume": 0.0008200657138539496 + "volume": 0.0008200657138539496, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a3a2edb59a4927f906d85eaf7655264036ee99907e949173b2ac5204c833f770" + }, + "usd_path": "batch15/D00276 Dish Soap/IsaacSim_assets_69f239a859057a93105f2ff9/IsaacSim_asset_69f239a859057a93105f2ff9.usd", + "usd_sha256": "fc4cdc02425acbd852939d5f79de8885606f503913caac37cc898cb74a49a0de", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.08934721000000001, - 0.23144188, - 0.06489282 - ] + 0.08965499699115753, + 0.06490899994969368, + 0.23144200444221497 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fc4cdc02425acbd852939d5f79de8885606f503913caac37cc898cb74a49a0de", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.55 + "value_kg": 0.550000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fc4cdc02425acbd852939d5f79de8885606f503913caac37cc898cb74a49a0de", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.550000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fc4cdc02425acbd852939d5f79de8885606f503913caac37cc898cb74a49a0de", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fc4cdc02425acbd852939d5f79de8885606f503913caac37cc898cb74a49a0de", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00322 Fruit/IsaacSim_assets_6a60b53537bfc8641e39d17a/physics_6a60b53537bfc8641e39d17a.json b/batch15/D00322 Fruit/IsaacSim_assets_6a60b53537bfc8641e39d17a/physics_6a60b53537bfc8641e39d17a.json index e69191e7267cda7759ae3d4bb7e0cdede307ee04..f163b3ad6501cdc5439927aa5dcf9b55d2ad2fdb 100644 --- a/batch15/D00322 Fruit/IsaacSim_assets_6a60b53537bfc8641e39d17a/physics_6a60b53537bfc8641e39d17a.json +++ b/batch15/D00322 Fruit/IsaacSim_assets_6a60b53537bfc8641e39d17a/physics_6a60b53537bfc8641e39d17a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02773216, - 0.05584023, - 0.02754774 - ], "min": [ - -0.02802363, - 0.0, - -0.02768528 + -0.028154000639915466, + -0.02754800021648407, + 0.0002077501267194748 + ], + "max": [ + 0.027862999588251114, + 0.027684999629855156, + 0.056109748780727386 ], "size": [ - 0.05575579, - 0.05584023, - 0.05523302 - ] + 0.05601700022816658, + 0.055232999846339226, + 0.05590199865400791 + ], + "units": "m" }, "description": "A realistic red apple with a smooth, slightly glossy surface and a small brown stem at the top.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.22 + "total_mass": 0.2199999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00322", "parts": [ { "bounds": { - "center": [ - -2.6572707716523073e-05, - 0.02638518736727239, - -0.00011811817145925808 + "min": [ + -0.028154000639915466, + -0.02754800021648407, + 0.0002077501267194748 ], "max": [ - 0.02773216, - 0.05584023, - 0.02754774 + 0.027862999588251114, + 0.027684999629855156, + 0.056109748780727386 ], - "min": [ - -0.02802363, - 0.0, - -0.02768528 - ] + "size": [ + 0.05601700022816658, + 0.055232999846339226, + 0.05590199865400791 + ], + "units": "m" }, "center_of_mass": [ -7.874042780164815e-05, @@ -59,7 +65,7 @@ 6.909955873980709e-05, 6.955321708815423e-05 ], - "mass": 0.22, + "mass": 0.2199999988079071, "material": "waxed_skin", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 9.115443354633513e-05 + "volume": 9.115443354633513e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4496f6ade2ce2a4d0bf4edd6cd70e9e2a50a2a238fd7fd5af1c7d01af0bf5ff6" + }, + "usd_path": "batch15/D00322 Fruit/IsaacSim_assets_6a60b53537bfc8641e39d17a/IsaacSim_asset_6a60b53537bfc8641e39d17a.usd", + "usd_sha256": "870460a535775ed1b8bf61912dd68ef99e1e8b0665731870a0be0b824df2280b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.05575579, - 0.05584023, - 0.05523302 - ] + 0.05601700022816658, + 0.055232999846339226, + 0.05590199865400791 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "870460a535775ed1b8bf61912dd68ef99e1e8b0665731870a0be0b824df2280b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.22 + "value_kg": 0.2199999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "870460a535775ed1b8bf61912dd68ef99e1e8b0665731870a0be0b824df2280b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2199999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "870460a535775ed1b8bf61912dd68ef99e1e8b0665731870a0be0b824df2280b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "870460a535775ed1b8bf61912dd68ef99e1e8b0665731870a0be0b824df2280b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00367 Green Beans/IsaacSim_assets_69f5bf4d431507ff7cefad87/physics_69f5bf4d431507ff7cefad87.json b/batch15/D00367 Green Beans/IsaacSim_assets_69f5bf4d431507ff7cefad87/physics_69f5bf4d431507ff7cefad87.json index fcca677ce3a739624b400e1f332a1eaf6d5ef947..ac1a47849dcd0cc01b6b58594e85ed360ec9b568 100644 --- a/batch15/D00367 Green Beans/IsaacSim_assets_69f5bf4d431507ff7cefad87/physics_69f5bf4d431507ff7cefad87.json +++ b/batch15/D00367 Green Beans/IsaacSim_assets_69f5bf4d431507ff7cefad87/physics_69f5bf4d431507ff7cefad87.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07985173, - 0.051657, - 0.00966587 - ], "min": [ - -0.06535694, - 0.0, - -0.01007274 + -0.0653809979557991, + -0.009701999835669994, + 0.0002030804199594444 + ], + "max": [ + 0.07987599819898605, + 0.010108999907970428, + 0.05192807800187351 ], "size": [ - 0.14520866999999998, - 0.051657, - 0.01973861 - ] + 0.14525699615478516, + 0.019810999743640423, + 0.05172499758191407 + ], + "units": "m" }, "description": "A single fresh green bean with a curved, elongated body and a small stem attached at one end.", "name": "D00367 Green Beans", "object_type": "rigid_bodies", - "total_mass": 0.0087 + "total_mass": 0.008700000122189522, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00367", "parts": [ { "bounds": { - "center": [ - 0.0022031521642254487, - 0.01579369362854985, - -4.2247124156270284e-05 + "min": [ + -0.0653809979557991, + -0.009701999835669994, + 0.0002030804199594444 ], "max": [ - 0.07985173, - 0.051657, - 0.00966587 + 0.07987599819898605, + 0.010108999907970428, + 0.05192807800187351 ], - "min": [ - -0.06535694, - 0.0, - -0.01007274 - ] + "size": [ + 0.14525699615478516, + 0.019810999743640423, + 0.05172499758191407 + ], + "units": "m" }, "center_of_mass": [ -0.0018714109132132227, @@ -59,7 +65,7 @@ 1.042336658075917e-05, 1.0875566022248572e-05 ], - "mass": 0.0087, + "mass": 0.008700000122189522, "material": "organic_plant_matter", "name": "D00367 Green Beans", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00367 Green Beans", "part_name": "D00367 Green Beans" }, - "volume": 6.051427162183501e-05 + "volume": 6.051427162183501e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "cf00df0832ce596a4474a18a3c945ebef421a1bdbf159b142effa79fcd4bafe2" + }, + "usd_path": "batch15/D00367 Green Beans/IsaacSim_assets_69f5bf4d431507ff7cefad87/IsaacSim_asset_69f5bf4d431507ff7cefad87.usd", + "usd_sha256": "0ee1f298cfe4a7c731931813d5f8210065cecf3dfb499e52e5bcf2b95ff35ca0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.14520866999999998, - 0.051657, - 0.01973861 - ] + 0.14525699615478516, + 0.019810999743640423, + 0.05172499758191407 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ee1f298cfe4a7c731931813d5f8210065cecf3dfb499e52e5bcf2b95ff35ca0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0087 + "value_kg": 0.008700000122189522, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ee1f298cfe4a7c731931813d5f8210065cecf3dfb499e52e5bcf2b95ff35ca0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.008700000122189522, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ee1f298cfe4a7c731931813d5f8210065cecf3dfb499e52e5bcf2b95ff35ca0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ee1f298cfe4a7c731931813d5f8210065cecf3dfb499e52e5bcf2b95ff35ca0", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00630 Plate Pan/IsaacSim_assets_6a60a642ccf0a8051a831933/physics_6a60a642ccf0a8051a831933.json b/batch15/D00630 Plate Pan/IsaacSim_assets_6a60a642ccf0a8051a831933/physics_6a60a642ccf0a8051a831933.json index 7a73e6d12ec4473ab1adc0b4a313b729060aea5c..0edde1e374449809d2bf7149afb20e082a74283b 100644 --- a/batch15/D00630 Plate Pan/IsaacSim_assets_6a60a642ccf0a8051a831933/physics_6a60a642ccf0a8051a831933.json +++ b/batch15/D00630 Plate Pan/IsaacSim_assets_6a60a642ccf0a8051a831933/physics_6a60a642ccf0a8051a831933.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14832223, - 0.05164209, - 0.14942323 - ], "min": [ - -0.15139957, - 0.0, - -0.15047522 + -0.15140199661254883, + -0.14942599833011627, + 0.0006085556196268813 + ], + "max": [ + 0.14832399785518646, + 0.15047800540924072, + 0.05219455423860216 ], "size": [ - 0.29972180000000004, - 0.05164209, - 0.29989845 - ] + 0.2997259944677353, + 0.299904003739357, + 0.05158599861897528 + ], + "units": "m" }, "description": "A square aluminum pan with a flat base, rounded corners, and shallow, raised walls.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 1.44 + "total_mass": 1.440000057220459, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00630", "parts": [ { "bounds": { - "center": [ - -0.0015635704730068852, - 0.015487471505854316, - -0.0001758662606513915 + "min": [ + -0.15140199661254883, + -0.14942599833011627, + 0.0006085556196268813 ], "max": [ - 0.14832223, - 0.05164209, - 0.14942323 + 0.14832399785518646, + 0.15047800540924072, + 0.05219455423860216 ], - "min": [ - -0.15139957, - 0.0, - -0.15047522 - ] + "size": [ + 0.2997259944677353, + 0.299904003739357, + 0.05158599861897528 + ], + "units": "m" }, "center_of_mass": [ -0.001646859409407807, @@ -59,7 +65,7 @@ 0.013031526833175586, 0.02518581260989121 ], - "mass": 1.44, + "mass": 1.440000057220459, "material": "aluminum", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0007405280296841484 + "volume": 0.0007405280296841484, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3a6c0c349bfe3bee8ecf95c72ed5f3aa18b7f0224b1ed894e45f8010cad43d69" + }, + "usd_path": "batch15/D00630 Plate Pan/IsaacSim_assets_6a60a642ccf0a8051a831933/IsaacSim_asset_6a60a642ccf0a8051a831933.usd", + "usd_sha256": "ff577b42008acde96c7c012a6c63eb7a6aa2b3c2d6728e963de91393a01bcde2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.29972180000000004, - 0.05164209, - 0.29989845 - ] + 0.2997259944677353, + 0.299904003739357, + 0.05158599861897528 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ff577b42008acde96c7c012a6c63eb7a6aa2b3c2d6728e963de91393a01bcde2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.44 + "value_kg": 1.440000057220459, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ff577b42008acde96c7c012a6c63eb7a6aa2b3c2d6728e963de91393a01bcde2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.440000057220459, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 38, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ff577b42008acde96c7c012a6c63eb7a6aa2b3c2d6728e963de91393a01bcde2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 38, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ff577b42008acde96c7c012a6c63eb7a6aa2b3c2d6728e963de91393a01bcde2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00631 Plate Salad Bowl/IsaacSim_assets_6a60c11a9ef3a1c2bf36b24e/physics_6a60c11a9ef3a1c2bf36b24e.json b/batch15/D00631 Plate Salad Bowl/IsaacSim_assets_6a60c11a9ef3a1c2bf36b24e/physics_6a60c11a9ef3a1c2bf36b24e.json index ae27567a22ca50e88352e0ca700b22a88e9f7983..a845d4d383abbac321467521507aba541f029fe0 100644 --- a/batch15/D00631 Plate Salad Bowl/IsaacSim_assets_6a60c11a9ef3a1c2bf36b24e/physics_6a60c11a9ef3a1c2bf36b24e.json +++ b/batch15/D00631 Plate Salad Bowl/IsaacSim_assets_6a60c11a9ef3a1c2bf36b24e/physics_6a60c11a9ef3a1c2bf36b24e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12381049, - 0.08303101, - 0.12343183 - ], "min": [ - -0.12370953, - 0.0, - -0.12391253 + -0.12374600023031235, + -0.12343599647283554, + 0.0003831437788903713 + ], + "max": [ + 0.12384600192308426, + 0.12391699850559235, + 0.08349214494228363 ], "size": [ - 0.24752002, - 0.08303101, - 0.24734436 - ] + 0.2475920021533966, + 0.2473529949784279, + 0.08310900116339326 + ], + "units": "m" }, "description": "A white ceramic bowl with a deep central basin and a wide, flat outer rim. The surface features a smooth, uniform finish consistent with glazed tableware.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.717 + "total_mass": 0.7170000076293945, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00631", "parts": [ { "bounds": { - "center": [ - 2.6211672958973476e-05, - 0.04485007544706337, - -0.0002275604382566996 + "min": [ + -0.12374600023031235, + -0.12343599647283554, + 0.0003831437788903713 ], "max": [ - 0.12381049, - 0.08303101, - 0.12343183 + 0.12384600192308426, + 0.12391699850559235, + 0.08349214494228363 ], - "min": [ - -0.12370953, - 0.0, - -0.12391253 - ] + "size": [ + 0.2475920021533966, + 0.2473529949784279, + 0.08310900116339326 + ], + "units": "m" }, "center_of_mass": [ -0.00010896965114892587, @@ -59,7 +65,7 @@ 0.0033260454342405104, 0.005511410630520165 ], - "mass": 0.717, + "mass": 0.7170000076293945, "material": "ceramic", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.00038960369714209045 + "volume": 0.00038960369714209045, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d742270e9c1b7aea54ed23eb5022e0224c9adf0f399151021ab5953efaa024eb" + }, + "usd_path": "batch15/D00631 Plate Salad Bowl/IsaacSim_assets_6a60c11a9ef3a1c2bf36b24e/IsaacSim_asset_6a60c11a9ef3a1c2bf36b24e.usd", + "usd_sha256": "05d03e668b566f59d93434a314d2a56873f36ed2d15dbcc286672ea9172ee2ac", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.24752002, - 0.08303101, - 0.24734436 - ] + 0.2475920021533966, + 0.2473529949784279, + 0.08310900116339326 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05d03e668b566f59d93434a314d2a56873f36ed2d15dbcc286672ea9172ee2ac", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.717 + "value_kg": 0.7170000076293945, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05d03e668b566f59d93434a314d2a56873f36ed2d15dbcc286672ea9172ee2ac", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.7170000076293945, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 134, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05d03e668b566f59d93434a314d2a56873f36ed2d15dbcc286672ea9172ee2ac", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 134, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05d03e668b566f59d93434a314d2a56873f36ed2d15dbcc286672ea9172ee2ac", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00677 S/IsaacSim_assets_6a60b81937bfc8641e3af681/physics_6a60b81937bfc8641e3af681.json b/batch15/D00677 S/IsaacSim_assets_6a60b81937bfc8641e3af681/physics_6a60b81937bfc8641e3af681.json index b625a63a6104aa99f71fe1b823b47f1008ba71b4..bc186d33edaea59d2aa73cd8a91a52c040d50a5e 100644 --- a/batch15/D00677 S/IsaacSim_assets_6a60b81937bfc8641e3af681/physics_6a60b81937bfc8641e3af681.json +++ b/batch15/D00677 S/IsaacSim_assets_6a60b81937bfc8641e3af681/physics_6a60b81937bfc8641e3af681.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05894711, - 0.13248946, - 0.01654837 - ], "min": [ - -0.06165629, - 0.0, - -0.01662513 + -0.06165200099349022, + -0.01654900051653385, + 0.000595640332903713 + ], + "max": [ + 0.0589429996907711, + 0.01662600040435791, + 0.13307763636112213 ], "size": [ - 0.1206034, - 0.13248946, - 0.033173499999999995 - ] + 0.12059500068426132, + 0.03317500092089176, + 0.13248199602821842 + ], + "units": "m" }, "description": "A solid, matte white 3D block letter S.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.041 + "total_mass": 0.04100000113248825, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00677", "parts": [ { "bounds": { - "center": [ - 6.279245309447815e-05, - 0.06592472808681556, - -3.192461081981705e-05 + "min": [ + -0.06165200099349022, + -0.01654900051653385, + 0.000595640332903713 ], "max": [ - 0.05894711, - 0.13248946, - 0.01654837 + 0.0589429996907711, + 0.01662600040435791, + 0.13307763636112213 ], - "min": [ - -0.06165629, - 0.0, - -0.01662513 - ] + "size": [ + 0.12059500068426132, + 0.03317500092089176, + 0.13248199602821842 + ], + "units": "m" }, "center_of_mass": [ -0.0006393594498873972, @@ -59,7 +65,7 @@ 5.459169226488248e-05, 9.196574920072471e-05 ], - "mass": 0.041, + "mass": 0.04100000113248825, "material": "plastic", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0004607163580300064 + "volume": 0.0004607163580300064, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8903b60ea0a2fa4286f70a3e13a4a95f49ab7bf930b7a839078aac7fac43240f" + }, + "usd_path": "batch15/D00677 S/IsaacSim_assets_6a60b81937bfc8641e3af681/IsaacSim_asset_6a60b81937bfc8641e3af681.usd", + "usd_sha256": "1d8934f713c8e3a9847833f6b7ac6401a6b592fceb55c2520e3de3a3c0e633eb", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1206034, - 0.13248946, - 0.033173499999999995 - ] + 0.12059500068426132, + 0.03317500092089176, + 0.13248199602821842 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d8934f713c8e3a9847833f6b7ac6401a6b592fceb55c2520e3de3a3c0e633eb", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.041 + "value_kg": 0.04100000113248825, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d8934f713c8e3a9847833f6b7ac6401a6b592fceb55c2520e3de3a3c0e633eb", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04100000113248825, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d8934f713c8e3a9847833f6b7ac6401a6b592fceb55c2520e3de3a3c0e633eb", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d8934f713c8e3a9847833f6b7ac6401a6b592fceb55c2520e3de3a3c0e633eb", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00698 Saucepan Bowl/IsaacSim_assets_6a60b4cd37bfc8641e39aa69/physics_6a60b4cd37bfc8641e39aa69.json b/batch15/D00698 Saucepan Bowl/IsaacSim_assets_6a60b4cd37bfc8641e39aa69/physics_6a60b4cd37bfc8641e39aa69.json index 8e82a57e609fa48a9b0d8e0fc35efb76b0d882c8..b368b0fdc8036266931eb52eecc47befab9fb360 100644 --- a/batch15/D00698 Saucepan Bowl/IsaacSim_assets_6a60b4cd37bfc8641e39aa69/physics_6a60b4cd37bfc8641e39aa69.json +++ b/batch15/D00698 Saucepan Bowl/IsaacSim_assets_6a60b4cd37bfc8641e39aa69/physics_6a60b4cd37bfc8641e39aa69.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.19496983, - 0.08877633, - 0.08152371 - ], "min": [ - -0.10010492, - 0.0, - -0.08092996 + -0.10011299699544907, + -0.08152399957180023, + -8.685220945214844e-12 + ], + "max": [ + 0.1949779987335205, + 0.08093000203371048, + 0.08882000168382592 ], "size": [ - 0.29507475, - 0.08877633, - 0.16245367 - ] + 0.2950909957289696, + 0.1624540016055107, + 0.08882000169251114 + ], + "units": "m" }, "description": "A stainless steel saucepan with a cylindrical body and a flat base. It features an elongated, slightly curved black plastic handle attached to one side.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00698", "parts": [ { "bounds": { - "center": [ - -0.005805194500892549, - 0.03568759819348234, - 0.00031195582081651235 + "min": [ + -0.10011299699544907, + -0.08152399957180023, + -8.685220945214844e-12 ], "max": [ - 0.19496983, - 0.08877633, - 0.08152371 + 0.1949779987335205, + 0.08093000203371048, + 0.08882000168382592 ], - "min": [ - -0.10010492, - 0.0, - -0.08092996 - ] + "size": [ + 0.2950909957289696, + 0.1624540016055107, + 0.08882000169251114 + ], + "units": "m" }, "center_of_mass": [ 0.009991552812992594, @@ -59,7 +65,7 @@ 0.005113658674343495, 0.006092376406914036 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "stainless_steel", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.002067854913217621 + "volume": 0.002067854913217621, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8ef33a5c5069e463fbb0134757e94693e2de3554a168beb8303ed67aab7b5739" + }, + "usd_path": "batch15/D00698 Saucepan Bowl/IsaacSim_assets_6a60b4cd37bfc8641e39aa69/IsaacSim_asset_6a60b4cd37bfc8641e39aa69.usd", + "usd_sha256": "c1c6355cb7fa2c4bc71722b22bfcb225d98b369c6c212f471375e6a901c12983", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.29507475, - 0.08877633, - 0.16245367 - ] + 0.2950909957289696, + 0.1624540016055107, + 0.08882000169251114 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1c6355cb7fa2c4bc71722b22bfcb225d98b369c6c212f471375e6a901c12983", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1c6355cb7fa2c4bc71722b22bfcb225d98b369c6c212f471375e6a901c12983", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 45, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1c6355cb7fa2c4bc71722b22bfcb225d98b369c6c212f471375e6a901c12983", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 45, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1c6355cb7fa2c4bc71722b22bfcb225d98b369c6c212f471375e6a901c12983", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00719 Serving Platter/IsaacSim_assets_69f655a97f5104dbf264a746/physics_69f655a97f5104dbf264a746.json b/batch15/D00719 Serving Platter/IsaacSim_assets_69f655a97f5104dbf264a746/physics_69f655a97f5104dbf264a746.json index eb49c7e4556fd77ba2b4a43b832b2487b299ade6..f4e5183d08be9d2b7a6bf70bfa68e0b0b28cec32 100644 --- a/batch15/D00719 Serving Platter/IsaacSim_assets_69f655a97f5104dbf264a746/physics_69f655a97f5104dbf264a746.json +++ b/batch15/D00719 Serving Platter/IsaacSim_assets_69f655a97f5104dbf264a746/physics_69f655a97f5104dbf264a746.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11065942, - 0.02589456, - 0.11091907 - ], "min": [ - -0.11045552, - 0.0, - -0.11008439 + -0.11047399789094925, + -0.1109049990773201, + 0.00020566987222991884 + ], + "max": [ + 0.11067800223827362, + 0.11007100343704224, + 0.026164671406149864 ], "size": [ - 0.22111493999999998, - 0.02589456, - 0.22100345999999998 - ] + 0.22115200012922287, + 0.22097600251436234, + 0.025959001533919945 + ], + "units": "m" }, "description": "A white, round serving platter made of ceramic with a slightly raised rim and small feet on the base.", "name": "D00719 Serving Platter", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00719", "parts": [ { "bounds": { - "center": [ - -0.0001597903318976046, - 0.011115264033394929, - 0.00029669730331896365 + "min": [ + -0.11047399789094925, + -0.1109049990773201, + 0.00020566987222991884 ], "max": [ - 0.11065942, - 0.02589456, - 0.11091907 + 0.11067800223827362, + 0.11007100343704224, + 0.026164671406149864 ], - "min": [ - -0.11045552, - 0.0, - -0.11008439 - ] + "size": [ + 0.22115200012922287, + 0.22097600251436234, + 0.025959001533919945 + ], + "units": "m" }, "center_of_mass": [ 8.764383354503103e-05, @@ -59,7 +65,7 @@ 0.0025528734347542693, 0.005056528599357672 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "ceramic", "name": "D00719 Serving Platter", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00719 Serving Platter", "part_name": "D00719 Serving Platter" }, - "volume": 0.0002682156525837231 + "volume": 0.0002682156525837231, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fe294bf4bb02e08d3615ffbee94695919382e3acc6daa1273a4761ab5da9addb" + }, + "usd_path": "batch15/D00719 Serving Platter/IsaacSim_assets_69f655a97f5104dbf264a746/IsaacSim_asset_69f655a97f5104dbf264a746.usd", + "usd_sha256": "7a49b835de7524b0d62506fc395b15e508d0e1e0932f8ed95c0cede42badeb9a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.22111493999999998, - 0.02589456, - 0.22100345999999998 - ] + 0.22115200012922287, + 0.22097600251436234, + 0.025959001533919945 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7a49b835de7524b0d62506fc395b15e508d0e1e0932f8ed95c0cede42badeb9a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7a49b835de7524b0d62506fc395b15e508d0e1e0932f8ed95c0cede42badeb9a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 30, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7a49b835de7524b0d62506fc395b15e508d0e1e0932f8ed95c0cede42badeb9a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 30, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7a49b835de7524b0d62506fc395b15e508d0e1e0932f8ed95c0cede42badeb9a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00720 Serving Tray/IsaacSim_assets_69f655ac7f5104dbf264a7ff/physics_69f655ac7f5104dbf264a7ff.json b/batch15/D00720 Serving Tray/IsaacSim_assets_69f655ac7f5104dbf264a7ff/physics_69f655ac7f5104dbf264a7ff.json index 727c1ff42c854da22dc6f15a24d180afcc942b3e..b144f9fdde6ded9d224509b31d223c6336d92a3b 100644 --- a/batch15/D00720 Serving Tray/IsaacSim_assets_69f655ac7f5104dbf264a7ff/physics_69f655ac7f5104dbf264a7ff.json +++ b/batch15/D00720 Serving Tray/IsaacSim_assets_69f655ac7f5104dbf264a7ff/physics_69f655ac7f5104dbf264a7ff.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.18277433, - 0.03854288, - 0.12064501 - ], "min": [ - -0.18249667, - 0.0, - -0.12264508 + -0.1824990063905716, + -0.12064699828624725, + 0.0003597451306921601 + ], + "max": [ + 0.18277700245380402, + 0.1226470023393631, + 0.03894274427351031 ], "size": [ - 0.365271, - 0.03854288, - 0.24329009000000001 - ] + 0.3652760088443756, + 0.24329400062561035, + 0.03858299914281815 + ], + "units": "m" }, "description": "A rectangular serving tray with a shallow depth and rounded corners. It features a smooth, matte white ceramic finish.", "name": "D00720 Serving Tray", "object_type": "rigid_bodies", - "total_mass": 1.34 + "total_mass": 1.340000033378601, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00720", "parts": [ { "bounds": { - "center": [ - 0.0002507813937230896, - 0.013187801341613025, - -0.001072942505501325 + "min": [ + -0.1824990063905716, + -0.12064699828624725, + 0.0003597451306921601 ], "max": [ - 0.18277433, - 0.03854288, - 0.12064501 + 0.18277700245380402, + 0.1226470023393631, + 0.03894274427351031 ], - "min": [ - -0.18249667, - 0.0, - -0.12264508 - ] + "size": [ + 0.3652760088443756, + 0.24329400062561035, + 0.03858299914281815 + ], + "units": "m" }, "center_of_mass": [ 0.0020634594840550162, @@ -59,7 +65,7 @@ 0.0158207535391594, 0.022791683812510368 ], - "mass": 1.34, + "mass": 1.340000033378601, "material": "ceramic", "name": "D00720 Serving Tray", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00720 Serving Tray", "part_name": "D00720 Serving Tray" }, - "volume": 0.0016426685675266762 + "volume": 0.0016426685675266762, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7d922763191a863d3d0d7b79b4a7715be599d354558d8216aac30f0cb55ef625" + }, + "usd_path": "batch15/D00720 Serving Tray/IsaacSim_assets_69f655ac7f5104dbf264a7ff/IsaacSim_asset_69f655ac7f5104dbf264a7ff.usd", + "usd_sha256": "638f8534e9e0b50c4eb08e7b8c66b624c8df068bb059d7b746b04a5acac7289e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.365271, - 0.03854288, - 0.24329009000000001 - ] + 0.3652760088443756, + 0.24329400062561035, + 0.03858299914281815 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "638f8534e9e0b50c4eb08e7b8c66b624c8df068bb059d7b746b04a5acac7289e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.34 + "value_kg": 1.340000033378601, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "638f8534e9e0b50c4eb08e7b8c66b624c8df068bb059d7b746b04a5acac7289e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.340000033378601, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "638f8534e9e0b50c4eb08e7b8c66b624c8df068bb059d7b746b04a5acac7289e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "638f8534e9e0b50c4eb08e7b8c66b624c8df068bb059d7b746b04a5acac7289e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00754 Spatula Wooden/IsaacSim_assets_69f65d077f5104dbf26b6a63/physics_69f65d077f5104dbf26b6a63.json b/batch15/D00754 Spatula Wooden/IsaacSim_assets_69f65d077f5104dbf26b6a63/physics_69f65d077f5104dbf26b6a63.json index bcb1b6521b93f578ea221f1372c4f163f12911a1..75fc93c30b994fea7757b183c82bcf88a7953753 100644 --- a/batch15/D00754 Spatula Wooden/IsaacSim_assets_69f65d077f5104dbf26b6a63/physics_69f65d077f5104dbf26b6a63.json +++ b/batch15/D00754 Spatula Wooden/IsaacSim_assets_69f65d077f5104dbf26b6a63/physics_69f65d077f5104dbf26b6a63.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16612836, - 0.03150346, - 0.03771408 - ], "min": [ - -0.13034142, - 0.0, - -0.03806035 + -0.13037900626659393, + -0.03773700073361397, + 0.0013555206824094057 + ], + "max": [ + 0.16616599261760712, + 0.0380840003490448, + 0.03284852206707001 ], "size": [ - 0.29646978, - 0.03150346, - 0.07577443 - ] + 0.29654499888420105, + 0.07582100108265877, + 0.0314930013846606 + ], + "units": "m" }, "description": "A single-piece solid wooden spatula with a flat, squared blade and a contoured, ergonomic handle.", "name": "D00754 Spatula Wooden", "object_type": "rigid_bodies", - "total_mass": 0.052 + "total_mass": 0.052000001072883606, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00754", "parts": [ { "bounds": { - "center": [ - -0.006070672141917934, - 0.011827464144089656, - -0.00010353275329074049 + "min": [ + -0.13037900626659393, + -0.03773700073361397, + 0.0013555206824094057 ], "max": [ - 0.16612836, - 0.03150346, - 0.03771408 + 0.16616599261760712, + 0.0380840003490448, + 0.03284852206707001 ], - "min": [ - -0.13034142, - 0.0, - -0.03806035 - ] + "size": [ + 0.29654499888420105, + 0.07582100108265877, + 0.0314930013846606 + ], + "units": "m" }, "center_of_mass": [ 0.009493622325490312, @@ -59,7 +65,7 @@ 0.00029573315774562923, 0.0003080388577401401 ], - "mass": 0.052, + "mass": 0.052000001072883606, "material": "wood", "name": "D00754 Spatula Wooden", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00754 Spatula Wooden", "part_name": "D00754 Spatula Wooden" }, - "volume": 0.00032180879172148143 + "volume": 0.00032180879172148143, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "61210b489662cd5d979cb4494cfac318cf101780694dc1be17553b9602ade235" + }, + "usd_path": "batch15/D00754 Spatula Wooden/IsaacSim_assets_69f65d077f5104dbf26b6a63/IsaacSim_asset_69f65d077f5104dbf26b6a63.usd", + "usd_sha256": "a9b5a4c883f2423b8a960ceb49afc8267352ee2b1fe9e964b86bf34433d45830", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.29646978, - 0.03150346, - 0.07577443 - ] + 0.29654499888420105, + 0.07582100108265877, + 0.0314930013846606 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a9b5a4c883f2423b8a960ceb49afc8267352ee2b1fe9e964b86bf34433d45830", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.052 + "value_kg": 0.052000001072883606, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a9b5a4c883f2423b8a960ceb49afc8267352ee2b1fe9e964b86bf34433d45830", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.052000001072883606, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a9b5a4c883f2423b8a960ceb49afc8267352ee2b1fe9e964b86bf34433d45830", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a9b5a4c883f2423b8a960ceb49afc8267352ee2b1fe9e964b86bf34433d45830", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch15/D00780 Spoon Ladle/IsaacSim_assets_69f666827f5104dbf2754fdb/physics_69f666827f5104dbf2754fdb.json b/batch15/D00780 Spoon Ladle/IsaacSim_assets_69f666827f5104dbf2754fdb/physics_69f666827f5104dbf2754fdb.json index 6900be379cda064cfa158081b546e53ee1f728e6..926f82049d743bdc00baaf688429c3ac0cd9fa71 100644 --- a/batch15/D00780 Spoon Ladle/IsaacSim_assets_69f666827f5104dbf2754fdb/physics_69f666827f5104dbf2754fdb.json +++ b/batch15/D00780 Spoon Ladle/IsaacSim_assets_69f666827f5104dbf2754fdb/physics_69f666827f5104dbf2754fdb.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.19948036, - 0.05545147, - 0.05134307 - ], "min": [ - -0.09004771, - 0.0, - -0.05203847 + -0.09013999998569489, + -0.051339998841285706, + 3.0180513931554742e-05 + ], + "max": [ + 0.19957299530506134, + 0.052035000175237656, + 0.05563318356871605 ], "size": [ - 0.28952807, - 0.05545147, - 0.10338154 - ] + 0.2897129952907562, + 0.10337499901652336, + 0.055603003054784494 + ], + "units": "m" }, "description": "A stainless steel ladle featuring a deep bowl with a pouring spout and a riveted wooden handle.", "name": "D00780 Spoon Ladle", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00780", "parts": [ { "bounds": { - "center": [ - 0.0015973640213210068, - 0.027526720003942864, - -0.00018808813999642766 + "min": [ + -0.09013999998569489, + -0.051339998841285706, + 3.0180513931554742e-05 ], "max": [ - 0.19948036, - 0.05545147, - 0.05134307 + 0.19957299530506134, + 0.052035000175237656, + 0.05563318356871605 ], - "min": [ - -0.09004771, - 0.0, - -0.05203847 - ] + "size": [ + 0.2897129952907562, + 0.10337499901652336, + 0.055603003054784494 + ], + "units": "m" }, "center_of_mass": [ 0.01609788983480571, @@ -59,7 +65,7 @@ 0.0009006143699491787, 0.0009490536957963001 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "stainless_steel", "name": "D00780 Spoon Ladle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00780 Spoon Ladle", "part_name": "D00780 Spoon Ladle" }, - "volume": 0.0006442805824675271 + "volume": 0.0006442805824675271, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5a8e4517c51d01276121c96fa8ff9b936cea8c22a50117514cd59d80f6b5754d" + }, + "usd_path": "batch15/D00780 Spoon Ladle/IsaacSim_assets_69f666827f5104dbf2754fdb/IsaacSim_asset_69f666827f5104dbf2754fdb.usd", + "usd_sha256": "9e93b64fb77a11b73546b40ca0e8f3a84db1dbd5a9c770408e2633420318e162", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.28952807, - 0.05545147, - 0.10338154 - ] + 0.2897129952907562, + 0.10337499901652336, + 0.055603003054784494 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e93b64fb77a11b73546b40ca0e8f3a84db1dbd5a9c770408e2633420318e162", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e93b64fb77a11b73546b40ca0e8f3a84db1dbd5a9c770408e2633420318e162", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 23, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e93b64fb77a11b73546b40ca0e8f3a84db1dbd5a9c770408e2633420318e162", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 23, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e93b64fb77a11b73546b40ca0e8f3a84db1dbd5a9c770408e2633420318e162", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00127 Chocolate/IsaacSim_assets_69f2063959057a93105ab17b/physics_69f2063959057a93105ab17b.json b/batch16/D00127 Chocolate/IsaacSim_assets_69f2063959057a93105ab17b/physics_69f2063959057a93105ab17b.json index c63cec7a565a1381908588db42269a7e913e15b5..8b58bec39a7b400d29f3eadfae6a5194228bef61 100644 --- a/batch16/D00127 Chocolate/IsaacSim_assets_69f2063959057a93105ab17b/physics_69f2063959057a93105ab17b.json +++ b/batch16/D00127 Chocolate/IsaacSim_assets_69f2063959057a93105ab17b/physics_69f2063959057a93105ab17b.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "e31f8e72fab6886363fe8b14043ced1bed21e2e88d25f09dd709e15bb2204cfa" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "38d4abfc88501e9b360a70611077617bbd2f231667eb98b447232c453bf6f114" }, "usd_path": "batch16/D00127 Chocolate/IsaacSim_assets_69f2063959057a93105ab17b/IsaacSim_asset_69f2063959057a93105ab17b.usd", - "usd_sha256": "a7d726489ae4e7d5e426672d4d86d0041a8478b02887cbdc906453dcd3f923ff", + "usd_sha256": "90ef02f2eae8a4436e9f3fa3af5079ab53122d988c176e9d47c25f4627b52407", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a7d726489ae4e7d5e426672d4d86d0041a8478b02887cbdc906453dcd3f923ff", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90ef02f2eae8a4436e9f3fa3af5079ab53122d988c176e9d47c25f4627b52407", "scope": "authored_usd_dimensions", "bounds_m": [ 0.09983900189399719, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.10000000149011612, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a7d726489ae4e7d5e426672d4d86d0041a8478b02887cbdc906453dcd3f923ff", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90ef02f2eae8a4436e9f3fa3af5079ab53122d988c176e9d47c25f4627b52407", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.10000000149011612, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 25, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a7d726489ae4e7d5e426672d4d86d0041a8478b02887cbdc906453dcd3f923ff", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90ef02f2eae8a4436e9f3fa3af5079ab53122d988c176e9d47c25f4627b52407", "scope": "authored_usd_collision_schema", "enabled_shape_count": 25, "approximations": [ @@ -151,18 +151,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a7d726489ae4e7d5e426672d4d86d0041a8478b02887cbdc906453dcd3f923ff", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90ef02f2eae8a4436e9f3fa3af5079ab53122d988c176e9d47c25f4627b52407", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "90ef02f2eae8a4436e9f3fa3af5079ab53122d988c176e9d47c25f4627b52407", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:11:00.064948+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "f03e4c5f7bfce335c2ffd313d379dd31a45d3e6dfee92536fdf8632593145225", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00327 Frying Pan/IsaacSim_assets_6a6308de9b4d8c3788105bd7/physics_6a6308de9b4d8c3788105bd7.json b/batch16/D00327 Frying Pan/IsaacSim_assets_6a6308de9b4d8c3788105bd7/physics_6a6308de9b4d8c3788105bd7.json index a573d6f4e56121212ce1f69a3bce3c94cca75b8f..eaf196f5f1d4099594edf5204356f2eaa8d7fcd2 100644 --- a/batch16/D00327 Frying Pan/IsaacSim_assets_6a6308de9b4d8c3788105bd7/physics_6a6308de9b4d8c3788105bd7.json +++ b/batch16/D00327 Frying Pan/IsaacSim_assets_6a6308de9b4d8c3788105bd7/physics_6a6308de9b4d8c3788105bd7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10079902, - 0.04564037, - 0.13155983 - ], "min": [ - -0.10061103, - 0.0, - -0.25484545 + -0.10061100125312805, + -0.1315860003232956, + 0.0024840738624334335 + ], + "max": [ + 0.10079900175333023, + 0.25487199425697327, + 0.048166073858737946 ], "size": [ - 0.20141005, - 0.04564037, - 0.38640527999999996 - ] + 0.20141000300645828, + 0.38645799458026886, + 0.04568199999630451 + ], + "units": "m" }, "description": "A metallic frying pan with a brushed silver exterior and a dark, non-stick cooking surface. It features a long, wood-grained handle attached to the main body with two visible rivets.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00327", "parts": [ { "bounds": { - "center": [ - 0.0001019889246386407, - 0.014715729648026926, - 0.008404413635839804 + "min": [ + -0.10061100125312805, + -0.1315860003232956, + 0.0024840738624334335 ], "max": [ - 0.10079902, - 0.04564037, - 0.13155983 + 0.10079900175333023, + 0.25487199425697327, + 0.048166073858737946 ], - "min": [ - -0.10061103, - 0.0, - -0.25484545 - ] + "size": [ + 0.20141000300645828, + 0.38645799458026886, + 0.04568199999630451 + ], + "units": "m" }, "center_of_mass": [ 0.00010033320784579861, @@ -59,7 +65,7 @@ 0.008010435046213581, 0.010158359227886306 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "metal", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0015729144008606417 + "volume": 0.0015729144008606417, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "84fedf338307d26a70f57c1e8ae9e3a05faa705491851d2eda464eeb314d1e27" + }, + "usd_path": "batch16/D00327 Frying Pan/IsaacSim_assets_6a6308de9b4d8c3788105bd7/IsaacSim_asset_6a6308de9b4d8c3788105bd7.usd", + "usd_sha256": "c48cb9fb0ccf7c0d848408ab3ceff8b49c30a02e9c8d26ebaa0523833557b2b6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.20141005, - 0.04564037, - 0.38640527999999996 - ] + 0.20141000300645828, + 0.38645799458026886, + 0.04568199999630451 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c48cb9fb0ccf7c0d848408ab3ceff8b49c30a02e9c8d26ebaa0523833557b2b6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c48cb9fb0ccf7c0d848408ab3ceff8b49c30a02e9c8d26ebaa0523833557b2b6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 46, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c48cb9fb0ccf7c0d848408ab3ceff8b49c30a02e9c8d26ebaa0523833557b2b6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 46, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c48cb9fb0ccf7c0d848408ab3ceff8b49c30a02e9c8d26ebaa0523833557b2b6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00369 Green Onion Sesame Seeds/IsaacSim_assets_6a6311799b4d8c37881433fe/physics_6a6311799b4d8c37881433fe.json b/batch16/D00369 Green Onion Sesame Seeds/IsaacSim_assets_6a6311799b4d8c37881433fe/physics_6a6311799b4d8c37881433fe.json index 45eab37fcf2eaabc60910a14321039bfbdc5abb9..c2583d45388d592f86562474170f77ada5bf0427 100644 --- a/batch16/D00369 Green Onion Sesame Seeds/IsaacSim_assets_6a6311799b4d8c37881433fe/physics_6a6311799b4d8c37881433fe.json +++ b/batch16/D00369 Green Onion Sesame Seeds/IsaacSim_assets_6a6311799b4d8c37881433fe/physics_6a6311799b4d8c37881433fe.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03957389, - 0.03765054, - 0.03960778 - ], "min": [ - -0.04000331, - 0.0, - -0.03997007 + -0.040015000849962234, + -0.03960999846458435, + 1.9999999949504854e-06 + ], + "max": [ + 0.03958500176668167, + 0.03997199982404709, + 0.0376489982008934 ], "size": [ - 0.0795772, - 0.03765054, - 0.07957785 - ] + 0.0796000026166439, + 0.07958199828863144, + 0.03764699820089845 + ], + "units": "m" }, "description": "A small terracotta bowl filled with chopped green onions and sprinkled with black sesame seeds.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00369", "parts": [ { "bounds": { - "center": [ - -0.0001375875608859929, - 0.02362059409327406, - -0.00012626126353837896 + "min": [ + -0.040015000849962234, + -0.03960999846458435, + 1.9999999949504854e-06 ], "max": [ - 0.03957389, - 0.03765054, - 0.03960778 + 0.03958500176668167, + 0.03997199982404709, + 0.0376489982008934 ], - "min": [ - -0.04000331, - 0.0, - -0.03997007 - ] + "size": [ + 0.0796000026166439, + 0.07958199828863144, + 0.03764699820089845 + ], + "units": "m" }, "center_of_mass": [ -0.00020717296220651102, @@ -59,7 +65,7 @@ 2.165443099395841e-05, 3.29212744271599e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "ceramic", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.00014596809651809035 + "volume": 0.00014596809651809035, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bc8ffcfa659f8d64b1c477a2f93c809be15515ddda6a1754117e07428c8873b9" + }, + "usd_path": "batch16/D00369 Green Onion Sesame Seeds/IsaacSim_assets_6a6311799b4d8c37881433fe/IsaacSim_asset_6a6311799b4d8c37881433fe.usd", + "usd_sha256": "374e3075cf5bb3d6c239e0106faec6be5b1af117c3c333387a22dc21aaaa8153", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.0795772, - 0.03765054, - 0.07957785 - ] + 0.0796000026166439, + 0.07958199828863144, + 0.03764699820089845 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "374e3075cf5bb3d6c239e0106faec6be5b1af117c3c333387a22dc21aaaa8153", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "374e3075cf5bb3d6c239e0106faec6be5b1af117c3c333387a22dc21aaaa8153", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 48, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "374e3075cf5bb3d6c239e0106faec6be5b1af117c3c333387a22dc21aaaa8153", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 48, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "374e3075cf5bb3d6c239e0106faec6be5b1af117c3c333387a22dc21aaaa8153", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00385 Il Holder/IsaacSim_assets_69f82a8fd09344200f1bfa10/physics_69f82a8fd09344200f1bfa10.json b/batch16/D00385 Il Holder/IsaacSim_assets_69f82a8fd09344200f1bfa10/physics_69f82a8fd09344200f1bfa10.json index 8212af3a5fe479386311ba09c2fb98b39df547a9..7d6f9cc9e139f5e41fcab2a0471c6d05f6769d5d 100644 --- a/batch16/D00385 Il Holder/IsaacSim_assets_69f82a8fd09344200f1bfa10/physics_69f82a8fd09344200f1bfa10.json +++ b/batch16/D00385 Il Holder/IsaacSim_assets_69f82a8fd09344200f1bfa10/physics_69f82a8fd09344200f1bfa10.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15237615, - 0.21634523, - 0.11108527 - ], "min": [ - -0.15492683, - 0.0, - -0.11051827 + -0.15493400394916534, + -0.11109200119972229, + 5.8000001445179805e-05 + ], + "max": [ + 0.1523829996585846, + 0.11052499711513519, + 0.21648700535297394 ], "size": [ - 0.30730298, - 0.21634523, - 0.22160354 - ] + 0.30731700360774994, + 0.22161699831485748, + 0.21642900535152876 + ], + "units": "m" }, "description": "A white rectangular wire-and-plastic caddy with rounded corners, vertical grid bars, and a shallow lower tray.", "name": "D00385 Il Holder", "object_type": "rigid_bodies", - "total_mass": 0.755 + "total_mass": 0.7549999952316284, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00385", "parts": [ { "bounds": { - "center": [ - -0.0012537734486835902, - 0.06778862660126767, - 0.0003188355386784905 + "min": [ + -0.15493400394916534, + -0.11109200119972229, + 5.8000001445179805e-05 ], "max": [ - 0.15237615, - 0.21634523, - 0.11108527 + 0.1523829996585846, + 0.11052499711513519, + 0.21648700535297394 ], - "min": [ - -0.15492683, - 0.0, - -0.11051827 - ] + "size": [ + 0.30731700360774994, + 0.22161699831485748, + 0.21642900535152876 + ], + "units": "m" }, "center_of_mass": [ -0.0012757430326156385, @@ -59,7 +65,7 @@ 0.00843970154414107, 0.008442273054040151 ], - "mass": 0.755, + "mass": 0.7549999952316284, "material": "plastic", "name": "D00385 Il Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00385 Il Holder", "part_name": "D00385 Il Holder" }, - "volume": 0.013966905538720148 + "volume": 0.013966905538720148, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3f6023ef0ca2f08c05ed71789122d84024f0c5cf1bc537ed3f5d3b78984e0c84" + }, + "usd_path": "batch16/D00385 Il Holder/IsaacSim_assets_69f82a8fd09344200f1bfa10/IsaacSim_asset_69f82a8fd09344200f1bfa10.usd", + "usd_sha256": "0cb94cc3f99091c0251369c6e8a44f68241e2804a0a2ef6d346012164d801af5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.30730298, - 0.21634523, - 0.22160354 - ] + 0.30731700360774994, + 0.22161699831485748, + 0.21642900535152876 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0cb94cc3f99091c0251369c6e8a44f68241e2804a0a2ef6d346012164d801af5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.755 + "value_kg": 0.7549999952316284, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0cb94cc3f99091c0251369c6e8a44f68241e2804a0a2ef6d346012164d801af5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.7549999952316284, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 256, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0cb94cc3f99091c0251369c6e8a44f68241e2804a0a2ef6d346012164d801af5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 256, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0cb94cc3f99091c0251369c6e8a44f68241e2804a0a2ef6d346012164d801af5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00391 Ing Pan Pot/IsaacSim_assets_69f82bcdd09344200f1ce5f6/physics_69f82bcdd09344200f1ce5f6.json b/batch16/D00391 Ing Pan Pot/IsaacSim_assets_69f82bcdd09344200f1ce5f6/physics_69f82bcdd09344200f1ce5f6.json index fba09f25edc33fdb57c27cd8236ebc840e9d859b..eabf443c170c1c082bee6290269027cd5daf00e3 100644 --- a/batch16/D00391 Ing Pan Pot/IsaacSim_assets_69f82bcdd09344200f1ce5f6/physics_69f82bcdd09344200f1ce5f6.json +++ b/batch16/D00391 Ing Pan Pot/IsaacSim_assets_69f82bcdd09344200f1ce5f6/physics_69f82bcdd09344200f1ce5f6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.304744690656662, - 0.11730773746967316, - 0.14882875978946686 - ], "min": [ - -0.1977963149547577, - -7.2610473580425605e-06, - -0.1489812433719635 + -0.18594799935817719, + -0.14327199757099152, + 2.9999998787388904e-06 + ], + "max": [ + 0.2943350076675415, + 0.14233900606632233, + 0.1195409968495369 ], "size": [ - 0.5025410056114197, - 0.1173149985170312, - 0.29781000316143036 - ] + 0.4802830070257187, + 0.28561100363731384, + 0.11953799684965816 + ], + "units": "m" }, "description": "A dark grey metallic wok with a large curved bowl, a long wooden handle, and a small metal helper loop on the opposite side.", "name": "D00391 Carbon Steel Wok", "object_type": "rigid_bodies", - "total_mass": 6.04 + "total_mass": 6.039999961853027, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00391", "parts": [ { "bounds": { - "center": [ - -0.0027827681375769096, - 0.03342938086667887, - -7.846690615119442e-05 + "min": [ + -0.18594799935817719, + -0.14327199757099152, + 2.9999998787388904e-06 ], "max": [ - 0.304744690656662, - 0.11730773746967316, - 0.14882875978946686 + 0.2943350076675415, + 0.14233900606632233, + 0.1195409968495369 ], - "min": [ - -0.1977963149547577, - -7.2610473580425605e-06, - -0.1489812433719635 - ] + "size": [ + 0.4802830070257187, + 0.28561100363731384, + 0.11953799684965816 + ], + "units": "m" }, "center_of_mass": [ 0.03343051635270398, @@ -59,7 +65,7 @@ 0.09955152760007033, 0.1212630327178324 ], - "mass": 6.04, + "mass": 6.039999961853027, "material": "steel", "name": "D00391 Ing Pan Pot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00391 Ing Pan Pot", "part_name": "D00391 Ing Pan Pot" }, - "volume": 0.00044340379133518074 + "volume": 0.00044340379133518074, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "06bac887a920532de19c084f59a240f09c3238ec5871362110b79dfb3e3951b7" + }, + "usd_path": "batch16/D00391 Ing Pan Pot/IsaacSim_assets_69f82bcdd09344200f1ce5f6/IsaacSim_asset_69f82bcdd09344200f1ce5f6.usd", + "usd_sha256": "f59a3369331b357752629aecd6ef4a3cc655f552344814ca4986c75f87892430", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.5025410056114197, - 0.1173149985170312, - 0.29781000316143036 - ] + 0.4802830070257187, + 0.28561100363731384, + 0.11953799684965816 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f59a3369331b357752629aecd6ef4a3cc655f552344814ca4986c75f87892430", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 6.04 + "value_kg": 6.039999961853027, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f59a3369331b357752629aecd6ef4a3cc655f552344814ca4986c75f87892430", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 6.039999961853027, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 38, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f59a3369331b357752629aecd6ef4a3cc655f552344814ca4986c75f87892430", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 38, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f59a3369331b357752629aecd6ef4a3cc655f552344814ca4986c75f87892430", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00440 Kitchen Board/IsaacSim_assets_6a6329df9b4d8c37881f44f1/physics_6a6329df9b4d8c37881f44f1.json b/batch16/D00440 Kitchen Board/IsaacSim_assets_6a6329df9b4d8c37881f44f1/physics_6a6329df9b4d8c37881f44f1.json index 9101c1f5fb38e94796c9b936eb665f203e203424..f82168f3219614b3abae76ad2ac5cccdcd6e9137 100644 --- a/batch16/D00440 Kitchen Board/IsaacSim_assets_6a6329df9b4d8c37881f44f1/physics_6a6329df9b4d8c37881f44f1.json +++ b/batch16/D00440 Kitchen Board/IsaacSim_assets_6a6329df9b4d8c37881f44f1/physics_6a6329df9b4d8c37881f44f1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14529045, - 0.02045927, - 0.10627723 - ], "min": [ - -0.14494153, - 0.0, - -0.10758953 + -0.1451209932565689, + -0.1062680035829544, + 0.0013323499588295817 + ], + "max": [ + 0.14546999335289001, + 0.10757999867200851, + 0.021767351776361465 ], "size": [ - 0.29023198, - 0.02045927, - 0.21386676 - ] + 0.2905909866094589, + 0.21384800225496292, + 0.020435001817531884 + ], + "units": "m" }, "description": "A rectangular dark wood cutting board with rounded corners and edges. It features a smooth finish and a prominent natural wood grain pattern.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.78 + "total_mass": 0.7799999713897705, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00440", "parts": [ { "bounds": { - "center": [ - 0.000182121072273065, - 0.01024302501150988, - -0.0006544640432906831 + "min": [ + -0.1451209932565689, + -0.1062680035829544, + 0.0013323499588295817 ], "max": [ - 0.14529045, - 0.02045927, - 0.10627723 + 0.14546999335289001, + 0.10757999867200851, + 0.021767351776361465 ], - "min": [ - -0.14494153, - 0.0, - -0.10758953 - ] + "size": [ + 0.2905909866094589, + 0.21384800225496292, + 0.020435001817531884 + ], + "units": "m" }, "center_of_mass": [ -2.5098996271202017e-05, @@ -59,7 +65,7 @@ 0.005427597038529523, 0.008328832491123716 ], - "mass": 0.78, + "mass": 0.7799999713897705, "material": "wood", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0012528590004331833 + "volume": 0.0012528590004331833, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9820db846d91fb8a18d3c49edcc4f6655b6dc59f0aa7d5442c6a8d9065d39d6c" + }, + "usd_path": "batch16/D00440 Kitchen Board/IsaacSim_assets_6a6329df9b4d8c37881f44f1/IsaacSim_asset_6a6329df9b4d8c37881f44f1.usd", + "usd_sha256": "d22570202f0880412da6cee02202bc0072be675f626a8e88e2b67b26f9b0efc2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.29023198, - 0.02045927, - 0.21386676 - ] + 0.2905909866094589, + 0.21384800225496292, + 0.020435001817531884 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d22570202f0880412da6cee02202bc0072be675f626a8e88e2b67b26f9b0efc2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.78 + "value_kg": 0.7799999713897705, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d22570202f0880412da6cee02202bc0072be675f626a8e88e2b67b26f9b0efc2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.7799999713897705, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d22570202f0880412da6cee02202bc0072be675f626a8e88e2b67b26f9b0efc2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d22570202f0880412da6cee02202bc0072be675f626a8e88e2b67b26f9b0efc2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00485 Ladle Spoon/IsaacSim_assets_69f5df1a431507ff7cf9db4b/physics_69f5df1a431507ff7cf9db4b.json b/batch16/D00485 Ladle Spoon/IsaacSim_assets_69f5df1a431507ff7cf9db4b/physics_69f5df1a431507ff7cf9db4b.json index d884261503162534ddbb8b884fe2e583cb35cc10..98cf24a6dbc1fdb5c3cd759735b23154c8da8eeb 100644 --- a/batch16/D00485 Ladle Spoon/IsaacSim_assets_69f5df1a431507ff7cf9db4b/physics_69f5df1a431507ff7cf9db4b.json +++ b/batch16/D00485 Ladle Spoon/IsaacSim_assets_69f5df1a431507ff7cf9db4b/physics_69f5df1a431507ff7cf9db4b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.20652161538600922, - 0.046806372702121735, - 0.06361595541238785 - ], "min": [ - -0.09328801184892654, - -0.047742750495672226, - 4.431642810232006e-05 + -0.09328799694776535, + -0.04774300009012222, + 4.399999670567922e-05 + ], + "max": [ + 0.20652200281620026, + 0.04680600017309189, + 0.06361600011587143 ], "size": [ - 0.29980962723493576, - 0.09454912319779396, - 0.06357163898428553 - ] + 0.2998099997639656, + 0.09454900026321411, + 0.06357200011916575 + ], + "units": "m" }, "description": "A silver metal ladle with a rounded bowl and a long, curved handle featuring a hanging hole at the end.", "name": "D00485 Ladle Spoon", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00485", "parts": [ { "bounds": { - "center": [ - 0.0013858065718453155, - 9.821745852721848e-05, - 0.027439168511116194 + "min": [ + -0.09328799694776535, + -0.04774300009012222, + 4.399999670567922e-05 ], "max": [ - 0.20652161538600922, - 0.046806372702121735, - 0.06361595541238785 + 0.20652200281620026, + 0.04680600017309189, + 0.06361600011587143 ], - "min": [ - -0.09328801184892654, - -0.047742750495672226, - 4.431642810232006e-05 - ] + "size": [ + 0.2998099997639656, + 0.09454900026321411, + 0.06357200011916575 + ], + "units": "m" }, "center_of_mass": [ 0.05224634622615077, @@ -59,7 +65,7 @@ 0.001839864314767595, 0.0018763056830589375 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "stainless_steel", "name": "D00485 Ladle Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00485 Ladle Spoon", "part_name": "D00485 Ladle Spoon" }, - "volume": 9.051252567545285e-05 + "volume": 9.051252567545285e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0731161e865a102df3ef9b08b5e80746a351ff9fdcff498705edce43d9395d1e" + }, + "usd_path": "batch16/D00485 Ladle Spoon/IsaacSim_assets_69f5df1a431507ff7cf9db4b/IsaacSim_asset_69f5df1a431507ff7cf9db4b.usd", + "usd_sha256": "d2a607877edd1c0a7d15a21296311aaed95af8bd09ff9075629d4fefd27a14ef", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.29980962723493576, - 0.09454912319779396, - 0.06357163898428553 - ] + 0.2998099997639656, + 0.09454900026321411, + 0.06357200011916575 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d2a607877edd1c0a7d15a21296311aaed95af8bd09ff9075629d4fefd27a14ef", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d2a607877edd1c0a7d15a21296311aaed95af8bd09ff9075629d4fefd27a14ef", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 42, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d2a607877edd1c0a7d15a21296311aaed95af8bd09ff9075629d4fefd27a14ef", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 42, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d2a607877edd1c0a7d15a21296311aaed95af8bd09ff9075629d4fefd27a14ef", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00497 Loaf/IsaacSim_assets_69f5e4f5431507ff7cfb87e1/physics_69f5e4f5431507ff7cfb87e1.json b/batch16/D00497 Loaf/IsaacSim_assets_69f5e4f5431507ff7cfb87e1/physics_69f5e4f5431507ff7cfb87e1.json index fd0421aef33cd94ae69d72a3f24b9a76a52ad2bf..ee9fdc2ef89924a57b7033cb4f6100fbfacb5b10 100644 --- a/batch16/D00497 Loaf/IsaacSim_assets_69f5e4f5431507ff7cfb87e1/physics_69f5e4f5431507ff7cfb87e1.json +++ b/batch16/D00497 Loaf/IsaacSim_assets_69f5e4f5431507ff7cfb87e1/physics_69f5e4f5431507ff7cfb87e1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { + "min": [ + -0.10669200122356415, + -0.07515300065279007, + 5.999617769703036e-06 + ], "max": [ 0.11467999964952469, - 0.08526109158992767, - 0.10914261639118195 - ], - "min": [ - -0.10669197887182236, - -0.07515301555395126, - -5.43489441042766e-05 + 0.08526100218296051, + 0.10920299589633942 ], "size": [ - 0.22137197852134705, - 0.16041410714387894, - 0.10919696533528622 - ] + 0.22137200087308884, + 0.16041400283575058, + 0.10919699627856971 + ], + "units": "m" }, "description": "A rustic, oval-shaped loaf of baked bread featuring a deeply browned, textured crust with prominent scores and a light dusting of flour.", "name": "D00497 Loaf", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00497", "parts": [ { "bounds": { - "center": [ - 0.002652505635754568, - 0.0054602109338947645, - 0.03927301491667195 + "min": [ + -0.10669200122356415, + -0.07515300065279007, + 5.999617769703036e-06 ], "max": [ 0.11467999964952469, - 0.08526109158992767, - 0.10914261639118195 + 0.08526100218296051, + 0.10920299589633942 ], - "min": [ - -0.10669197887182236, - -0.07515301555395126, - -5.43489441042766e-05 - ] + "size": [ + 0.22137200087308884, + 0.16041400283575058, + 0.10919699627856971 + ], + "units": "m" }, "center_of_mass": [ 0.0031695989627707833, @@ -59,7 +65,7 @@ 0.002883448415137036, 0.003560446740195451 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "baked_crust", "name": "D00497 Loaf", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00497 Loaf", "part_name": "D00497 Loaf" }, - "volume": 0.0022686983043125717 + "volume": 0.0022686983043125717, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a468f367b41ac6be0560e690502948a33bd04be80eea796443169e2f959273ee" + }, + "usd_path": "batch16/D00497 Loaf/IsaacSim_assets_69f5e4f5431507ff7cfb87e1/IsaacSim_asset_69f5e4f5431507ff7cfb87e1.usd", + "usd_sha256": "cbfb37a7bd6b803b576448acb74f2956639c883dd0291a49f710d73e6e555c5e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.22137197852134705, - 0.16041410714387894, - 0.10919696533528622 - ] + 0.22137200087308884, + 0.16041400283575058, + 0.10919699627856971 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cbfb37a7bd6b803b576448acb74f2956639c883dd0291a49f710d73e6e555c5e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cbfb37a7bd6b803b576448acb74f2956639c883dd0291a49f710d73e6e555c5e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 56, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cbfb37a7bd6b803b576448acb74f2956639c883dd0291a49f710d73e6e555c5e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 56, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cbfb37a7bd6b803b576448acb74f2956639c883dd0291a49f710d73e6e555c5e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00500 Mango Pieces/IsaacSim_assets_69f5e618431507ff7cfbd336/physics_69f5e618431507ff7cfbd336.json b/batch16/D00500 Mango Pieces/IsaacSim_assets_69f5e618431507ff7cfbd336/physics_69f5e618431507ff7cfbd336.json index c6269396ac4833ff23dbf88fd361f6687cb7404d..fc83630ce5269ff8aa0f57d25fe571466dd63b44 100644 --- a/batch16/D00500 Mango Pieces/IsaacSim_assets_69f5e618431507ff7cfbd336/physics_69f5e618431507ff7cfbd336.json +++ b/batch16/D00500 Mango Pieces/IsaacSim_assets_69f5e618431507ff7cfbd336/physics_69f5e618431507ff7cfbd336.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { + "min": [ + -0.05528600141406059, + -0.031021999195218086, + 3.600000127335079e-05 + ], "max": [ - 0.05440174415707588, - 0.03460538759827614, + 0.054402001202106476, + 0.03460400179028511, 0.052692998200654984 ], - "min": [ - -0.055286914110183716, - -0.03102174773812294, - 3.6003220884595066e-05 - ], "size": [ - 0.1096886582672596, - 0.06562713533639908, - 0.05265699497977039 - ] + 0.10968800261616707, + 0.0656260009855032, + 0.05265699819938163 + ], + "units": "m" }, "description": "A wedge-shaped slice of a mango with bright orange flesh and a thin, multi-colored skin. The exposed flesh has a slightly fibrous and juicy texture.", "name": "D00500 Mango Pieces", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00500", "parts": [ { "bounds": { - "center": [ - -0.00032659225076479555, - 0.00019268742450864764, - 0.025359681798166816 + "min": [ + -0.05528600141406059, + -0.031021999195218086, + 3.600000127335079e-05 ], "max": [ - 0.05440174415707588, - 0.03460538759827614, + 0.054402001202106476, + 0.03460400179028511, 0.052692998200654984 ], - "min": [ - -0.055286914110183716, - -0.03102174773812294, - 3.6003220884595066e-05 - ] + "size": [ + 0.10968800261616707, + 0.0656260009855032, + 0.05265699819938163 + ], + "units": "m" }, "center_of_mass": [ -0.0002583588361238165, @@ -59,7 +65,7 @@ 3.7870137795202544e-05, 4.03693435097909e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "organic_flesh_mango", "name": "D00500 Mango Pieces", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00500 Mango Pieces", "part_name": "D00500 Mango Pieces" }, - "volume": 0.0001410108732795387 + "volume": 0.0001410108732795387, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6eead29edc7ee92d31318269edec0fab0fb62b24e642858e4e99decdc20a483a" + }, + "usd_path": "batch16/D00500 Mango Pieces/IsaacSim_assets_69f5e618431507ff7cfbd336/IsaacSim_asset_69f5e618431507ff7cfbd336.usd", + "usd_sha256": "d6a4840b1d3ec32c43f65c3fb20f409c4208d2ecb1498d19434c59464c92880a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1096886582672596, - 0.06562713533639908, - 0.05265699497977039 - ] + 0.10968800261616707, + 0.0656260009855032, + 0.05265699819938163 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6a4840b1d3ec32c43f65c3fb20f409c4208d2ecb1498d19434c59464c92880a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6a4840b1d3ec32c43f65c3fb20f409c4208d2ecb1498d19434c59464c92880a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 16, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6a4840b1d3ec32c43f65c3fb20f409c4208d2ecb1498d19434c59464c92880a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 16, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6a4840b1d3ec32c43f65c3fb20f409c4208d2ecb1498d19434c59464c92880a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00510 Metal Bowl/IsaacSim_assets_6a43757788d32669e6783d16/physics_6a43757788d32669e6783d16.json b/batch16/D00510 Metal Bowl/IsaacSim_assets_6a43757788d32669e6783d16/physics_6a43757788d32669e6783d16.json index 79883ddc6e80a8d9a21e85c8acb4008b73597f01..f3d097a19dad4f640e0fe00c96243a6f1fc118cf 100644 --- a/batch16/D00510 Metal Bowl/IsaacSim_assets_6a43757788d32669e6783d16/physics_6a43757788d32669e6783d16.json +++ b/batch16/D00510 Metal Bowl/IsaacSim_assets_6a43757788d32669e6783d16/physics_6a43757788d32669e6783d16.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07306502014398575, - 0.06486625224351883, - 0.07270596921443939 - ], "min": [ - -0.07311197370290756, - 7.249429927469464e-06, - -0.07342103123664856 + -0.07418700307607651, + -0.0742729976773262, + 3.999999989900971e-06 + ], + "max": [ + 0.07425999641418457, + 0.07416699826717377, + 0.06707900017499924 ], "size": [ - 0.1461769938468933, - 0.06485900281359136, - 0.14612700045108795 - ] + 0.14844699949026108, + 0.14843999594449997, + 0.06707500017500934 + ], + "units": "m" }, "description": "A round, hammered metal bowl with a brushed metallic finish.", "name": "image", "object_type": "rigid_bodies", - "total_mass": 0.65 + "total_mass": 0.6499999761581421, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00510", "parts": [ { "bounds": { - "center": [ - -1.1388144690095817e-05, - 0.030129860190561585, - -0.00034417043470280883 + "min": [ + -0.07418700307607651, + -0.0742729976773262, + 3.999999989900971e-06 ], "max": [ - 0.07306502014398575, - 0.06486625224351883, - 0.07270596921443939 + 0.07425999641418457, + 0.07416699826717377, + 0.06707900017499924 ], - "min": [ - -0.07311197370290756, - 7.249429927469464e-06, - -0.07342103123664856 - ] + "size": [ + 0.14844699949026108, + 0.14843999594449997, + 0.06707500017500934 + ], + "units": "m" }, "center_of_mass": [ -9.235117560859126e-05, @@ -59,7 +65,7 @@ 0.0013748173860894807, 0.002149961229791031 ], - "mass": 0.65, + "mass": 0.6499999761581421, "material": "steel", "name": "image", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "image", "part_name": "image" }, - "volume": 8.13830413696548e-05 + "volume": 8.13830413696548e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7d7bb9e7a5227212a8d115bae1bc005ae4df37d534015f05806a73f379eaf5e4" + }, + "usd_path": "batch16/D00510 Metal Bowl/IsaacSim_assets_6a43757788d32669e6783d16/IsaacSim_asset_6a43757788d32669e6783d16.usd", + "usd_sha256": "a96c7fa64591cfbc16c9181170960c03903ef367475a5d5cda3146739e8f7fa1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1461769938468933, - 0.06485900281359136, - 0.14612700045108795 - ] + 0.14844699949026108, + 0.14843999594449997, + 0.06707500017500934 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a96c7fa64591cfbc16c9181170960c03903ef367475a5d5cda3146739e8f7fa1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.65 + "value_kg": 0.6499999761581421, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a96c7fa64591cfbc16c9181170960c03903ef367475a5d5cda3146739e8f7fa1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6499999761581421, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 71, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a96c7fa64591cfbc16c9181170960c03903ef367475a5d5cda3146739e8f7fa1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 71, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a96c7fa64591cfbc16c9181170960c03903ef367475a5d5cda3146739e8f7fa1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00530 Minced Meat Garlic/IsaacSim_assets_69f5eecd431507ff7cfe46a6/physics_69f5eecd431507ff7cfe46a6.json b/batch16/D00530 Minced Meat Garlic/IsaacSim_assets_69f5eecd431507ff7cfe46a6/physics_69f5eecd431507ff7cfe46a6.json index 58f64282e507319c01e8369f784dc36f46860329..6ee4166b8c009c8a1d60db10f8cd7efc85003075 100644 --- a/batch16/D00530 Minced Meat Garlic/IsaacSim_assets_69f5eecd431507ff7cfe46a6/physics_69f5eecd431507ff7cfe46a6.json +++ b/batch16/D00530 Minced Meat Garlic/IsaacSim_assets_69f5eecd431507ff7cfe46a6/physics_69f5eecd431507ff7cfe46a6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07062619179487228, - 0.0718446746468544, - 0.07201792299747467 - ], "min": [ - -0.07345037162303925, - -0.07197070866823196, - -3.8565991417272016e-05 + -0.0734499990940094, + -0.07197300344705582, + 5.999999656341972e-06 + ], + "max": [ + 0.07062699645757675, + 0.07184399664402008, + 0.0720779961824417 ], "size": [ - 0.14407656341791153, - 0.14381538331508636, - 0.07205648898889194 - ] + 0.14407699555158615, + 0.1438170000910759, + 0.07207199618278537 + ], + "units": "m" }, "description": "A mound of raw ground meat mixed with chopped garlic pieces and black pepper. The pile has an irregular, textured surface with a moist, pinkish-red color.", "name": "D00530 Minced Meat Garlic", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00530", "parts": [ { "bounds": { - "center": [ - 0.0003502055420737184, - 0.0002608715166570778, - 0.02516652200494897 + "min": [ + -0.0734499990940094, + -0.07197300344705582, + 5.999999656341972e-06 ], "max": [ - 0.07062619179487228, - 0.0718446746468544, - 0.07201792299747467 + 0.07062699645757675, + 0.07184399664402008, + 0.0720779961824417 ], - "min": [ - -0.07345037162303925, - -0.07197070866823196, - -3.8565991417272016e-05 - ] + "size": [ + 0.14407699555158615, + 0.1438170000910759, + 0.07207199618278537 + ], + "units": "m" }, "center_of_mass": [ 0.002068951951545135, @@ -67,10 +73,27 @@ "object_name": "D00530 Minced Meat Garlic", "part_name": "D00530 Minced Meat Garlic" }, - "volume": 0.0007479787490390341 + "volume": 0.0007479787490390341, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1a7cdaa2a00444eb625610784a26b6ce52c7debdf9aaaa99c0d5921b56d562a4" + }, + "usd_path": "batch16/D00530 Minced Meat Garlic/IsaacSim_assets_69f5eecd431507ff7cfe46a6/IsaacSim_asset_69f5eecd431507ff7cfe46a6.usd", + "usd_sha256": "dbd905addade6c7bd51bf3039c5316fb2323785fd6173a95aaa7aa442626b139", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.14407656341791153, - 0.14381538331508636, - 0.07205648898889194 - ] + 0.14407699555158615, + 0.1438170000910759, + 0.07207199618278537 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dbd905addade6c7bd51bf3039c5316fb2323785fd6173a95aaa7aa442626b139", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dbd905addade6c7bd51bf3039c5316fb2323785fd6173a95aaa7aa442626b139", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dbd905addade6c7bd51bf3039c5316fb2323785fd6173a95aaa7aa442626b139", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dbd905addade6c7bd51bf3039c5316fb2323785fd6173a95aaa7aa442626b139", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00559 Olive/IsaacSim_assets_6a4377c588d32669e678eb7b/physics_6a4377c588d32669e678eb7b.json b/batch16/D00559 Olive/IsaacSim_assets_6a4377c588d32669e678eb7b/physics_6a4377c588d32669e678eb7b.json index a134ae2e754bae0d20a6693c528a6347d3845cab..4985601d5d6389727bc075f8666622ddd42be988 100644 --- a/batch16/D00559 Olive/IsaacSim_assets_6a4377c588d32669e678eb7b/physics_6a4377c588d32669e678eb7b.json +++ b/batch16/D00559 Olive/IsaacSim_assets_6a4377c588d32669e678eb7b/physics_6a4377c588d32669e678eb7b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.009918968227389614, - 0.013572224050479403, - 0.0064151031227933164 - ], "min": [ - -0.007868019741929943, - -2.377953880032002e-05, - -0.00671536133050296 + -0.00803299993276596, + -0.0062500000931322575, + 5.000000328436727e-06 + ], + "max": [ + 0.009889000095427036, + 0.006661000195890665, + 0.013731999322772026 ], "size": [ - 0.01778698796931956, - 0.013596003589279723, - 0.013130464453296277 - ] + 0.017922000028192997, + 0.012911000289022923, + 0.01372699932244359 + ], + "units": "m" }, "description": "A single dark purplish-green olive with a slightly wrinkled surface. It features an organic, fleshy body with a small stem attachment point.", "name": "image", "object_type": "rigid_bodies", - "total_mass": 0.004 + "total_mass": 0.004000000189989805, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00559", "parts": [ { "bounds": { - "center": [ - 0.00024628145147363267, - 0.006637231175761169, - 2.281426322504508e-06 + "min": [ + -0.00803299993276596, + -0.0062500000931322575, + 5.000000328436727e-06 ], "max": [ - 0.009918968227389614, - 0.013572224050479403, - 0.0064151031227933164 + 0.009889000095427036, + 0.006661000195890665, + 0.013731999322772026 ], - "min": [ - -0.007868019741929943, - -2.377953880032002e-05, - -0.00671536133050296 - ] + "size": [ + 0.017922000028192997, + 0.012911000289022923, + 0.01372699932244359 + ], + "units": "m" }, "center_of_mass": [ 0.00018699483206860985, @@ -59,7 +65,7 @@ 9.311842291927671e-08, 9.583727408216418e-08 ], - "mass": 0.004, + "mass": 0.004000000189989805, "material": "organic_fleshy_material", "name": "image", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "image", "part_name": "image" }, - "volume": 1.518181178015395e-06 + "volume": 1.518181178015395e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5f3544bc6f0a11727ae77fb7e1f93c46b3cdc55dd305a01dc80aad29bec70e97" + }, + "usd_path": "batch16/D00559 Olive/IsaacSim_assets_6a4377c588d32669e678eb7b/IsaacSim_asset_6a4377c588d32669e678eb7b.usd", + "usd_sha256": "6ffa4db6e8bdc977f44cc0f180b0e5e6fc269ee963a5a7000068492406623b50", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.01778698796931956, - 0.013596003589279723, - 0.013130464453296277 - ] + 0.017922000028192997, + 0.012911000289022923, + 0.01372699932244359 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6ffa4db6e8bdc977f44cc0f180b0e5e6fc269ee963a5a7000068492406623b50", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.004 + "value_kg": 0.004000000189989805, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6ffa4db6e8bdc977f44cc0f180b0e5e6fc269ee963a5a7000068492406623b50", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.004000000189989805, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 16, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6ffa4db6e8bdc977f44cc0f180b0e5e6fc269ee963a5a7000068492406623b50", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 16, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6ffa4db6e8bdc977f44cc0f180b0e5e6fc269ee963a5a7000068492406623b50", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00579 Pan Bowl/IsaacSim_assets_69f604a0431507ff7c0479c0/physics_69f604a0431507ff7c0479c0.json b/batch16/D00579 Pan Bowl/IsaacSim_assets_69f604a0431507ff7c0479c0/physics_69f604a0431507ff7c0479c0.json index 39d44aa0b19e64f6fc49000597963868bddcb251..6dbc207c29866e4cffb7755aa5aca7ac832a1807 100644 --- a/batch16/D00579 Pan Bowl/IsaacSim_assets_69f604a0431507ff7c0479c0/physics_69f604a0431507ff7c0479c0.json +++ b/batch16/D00579 Pan Bowl/IsaacSim_assets_69f604a0431507ff7c0479c0/physics_69f604a0431507ff7c0479c0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12338792532682419, - 0.2206554114818573, - 0.07553042471408844 - ], "min": [ - -0.12290516495704651, - -0.11481351405382156, - -1.9001656255568378e-05 + -0.12289199978113174, + -0.11481200158596039, + 1.0000007932831068e-06 + ], + "max": [ + 0.12338600307703018, + 0.220660999417305, + 0.07556799799203873 ], "size": [ - 0.2462930902838707, - 0.33546892553567886, - 0.07554942637034401 - ] + 0.24627800285816193, + 0.3354730010032654, + 0.07556699799124544 + ], + "units": "m" }, "description": "A stainless steel saucepan with a long primary handle, a smaller helper handle opposite to it, and dual pour spouts.", "name": "D00579 Pan Bowl", "object_type": "rigid_bodies", - "total_mass": 1.8 + "total_mass": 1.7999999523162842, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00579", "parts": [ { "bounds": { - "center": [ - 0.00022936997986596172, - -0.003508787613929144, - 0.03376001315655433 + "min": [ + -0.12289199978113174, + -0.11481200158596039, + 1.0000007932831068e-06 ], "max": [ - 0.12338792532682419, - 0.2206554114818573, - 0.07553042471408844 + 0.12338600307703018, + 0.220660999417305, + 0.07556799799203873 ], - "min": [ - -0.12290516495704651, - -0.11481351405382156, - -1.9001656255568378e-05 - ] + "size": [ + 0.24627800285816193, + 0.3354730010032654, + 0.07556699799124544 + ], + "units": "m" }, "center_of_mass": [ 0.0002161456724645535, @@ -59,7 +65,7 @@ 0.008129222683087968, 0.011720201534522051 ], - "mass": 1.8, + "mass": 1.7999999523162842, "material": "stainless_steel", "name": "D00579 Pan Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00579 Pan Bowl", "part_name": "D00579 Pan Bowl" }, - "volume": 0.002408298455429926 + "volume": 0.002408298455429926, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c9f0b9978b0f410ba0851713991047e96ef1c7c7501e0c7998656cfa16072d29" + }, + "usd_path": "batch16/D00579 Pan Bowl/IsaacSim_assets_69f604a0431507ff7c0479c0/IsaacSim_asset_69f604a0431507ff7c0479c0.usd", + "usd_sha256": "be9be2b3357790d58b15e92a440ffc5acafa7b20a11102884d6b3feb544afbb5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2462930902838707, - 0.33546892553567886, - 0.07554942637034401 - ] + 0.24627800285816193, + 0.3354730010032654, + 0.07556699799124544 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "be9be2b3357790d58b15e92a440ffc5acafa7b20a11102884d6b3feb544afbb5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.8 + "value_kg": 1.7999999523162842, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "be9be2b3357790d58b15e92a440ffc5acafa7b20a11102884d6b3feb544afbb5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.7999999523162842, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "be9be2b3357790d58b15e92a440ffc5acafa7b20a11102884d6b3feb544afbb5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "be9be2b3357790d58b15e92a440ffc5acafa7b20a11102884d6b3feb544afbb5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00616 Pineapple/IsaacSim_assets_69f614a1431507ff7c08f105/physics_69f614a1431507ff7c08f105.json b/batch16/D00616 Pineapple/IsaacSim_assets_69f614a1431507ff7c08f105/physics_69f614a1431507ff7c08f105.json index 60e7bc7a026bd4bb218f99e45b7be0ad61b3f893..a71e3c3deabf211829ae4d73ba7df8f3439a3617 100644 --- a/batch16/D00616 Pineapple/IsaacSim_assets_69f614a1431507ff7c08f105/physics_69f614a1431507ff7c08f105.json +++ b/batch16/D00616 Pineapple/IsaacSim_assets_69f614a1431507ff7c08f105/physics_69f614a1431507ff7c08f105.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06490698456764221, - 0.06459124386310577, - 0.2899858355522156 - ], "min": [ - -0.06773607432842255, - -0.06664399057626724, - 6.999999641266186e-06 + -0.06773599982261658, + -0.06664399802684784, + 7.000000096013537e-06 + ], + "max": [ + 0.0649069994688034, + 0.06459400057792664, + 0.2899850010871887 ], "size": [ - 0.13264305889606476, - 0.13123523443937302, - 0.2899788355525743 - ] + 0.13264299929141998, + 0.13123799860477448, + 0.2899780010870927 + ], + "units": "m" }, "description": "A whole pineapple featuring a rough, patterned yellow-green rind and a stiff, spiky green leafy crown.", "name": "D00616 Pineapple", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00616", "parts": [ { "bounds": { - "center": [ - -0.00033918240683998785, - -9.860281320851854e-05, - 0.17553042305127578 + "min": [ + -0.06773599982261658, + -0.06664399802684784, + 7.000000096013537e-06 ], "max": [ - 0.06490698456764221, - 0.06459124386310577, - 0.2899858355522156 + 0.0649069994688034, + 0.06459400057792664, + 0.2899850010871887 ], - "min": [ - -0.06773607432842255, - -0.06664399057626724, - 6.999999641266186e-06 - ] + "size": [ + 0.13264299929141998, + 0.13123799860477448, + 0.2899780010870927 + ], + "units": "m" }, "center_of_mass": [ -0.0010281574713498721, @@ -67,10 +73,27 @@ "object_name": "D00616 Pineapple", "part_name": "D00616 Pineapple" }, - "volume": 0.0036235499699174543 + "volume": 0.0036235499699174543, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "39783929ce2f1b2e297e405b46bd8964236475ff330d58465a69b9f5bf07690f" + }, + "usd_path": "batch16/D00616 Pineapple/IsaacSim_assets_69f614a1431507ff7c08f105/IsaacSim_asset_69f614a1431507ff7c08f105.usd", + "usd_sha256": "5e9c326ef41ffe0087ad437d1533b2d75dbb5bbccbef80770c2f51d5d30dd4fb", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.13264305889606476, - 0.13123523443937302, - 0.2899788355525743 - ] + 0.13264299929141998, + 0.13123799860477448, + 0.2899780010870927 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5e9c326ef41ffe0087ad437d1533b2d75dbb5bbccbef80770c2f51d5d30dd4fb", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5e9c326ef41ffe0087ad437d1533b2d75dbb5bbccbef80770c2f51d5d30dd4fb", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5e9c326ef41ffe0087ad437d1533b2d75dbb5bbccbef80770c2f51d5d30dd4fb", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5e9c326ef41ffe0087ad437d1533b2d75dbb5bbccbef80770c2f51d5d30dd4fb", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00667 Rice Bun/IsaacSim_assets_69f62cf8431507ff7c102e82/physics_69f62cf8431507ff7c102e82.json b/batch16/D00667 Rice Bun/IsaacSim_assets_69f62cf8431507ff7c102e82/physics_69f62cf8431507ff7c102e82.json index 45b292b4b8eb98e11bd38967b945b7d4ab0aa038..064110b84eabce68a59f2bedb78935a881e025af 100644 --- a/batch16/D00667 Rice Bun/IsaacSim_assets_69f62cf8431507ff7c102e82/physics_69f62cf8431507ff7c102e82.json +++ b/batch16/D00667 Rice Bun/IsaacSim_assets_69f62cf8431507ff7c102e82/physics_69f62cf8431507ff7c102e82.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04091803729534149, - 0.05011022090911865, - 0.03685827553272247 - ], "min": [ - -0.04340488463640213, - 0.0, - -0.04739049822092056 + -0.043515000492334366, + -0.03691599890589714, + 5.9991357375110965e-06 + ], + "max": [ + 0.040998999029397964, + 0.04749099910259247, + 0.05014500021934509 ], "size": [ - 0.08432292193174362, - 0.05011022090911865, - 0.08424877375364304 - ] + 0.08451399952173233, + 0.08440699800848961, + 0.05013900108360758 + ], + "units": "m" }, "description": "A steamed bun with a slightly parted top, revealing a meat filling inside, resting on a flat white plate.", "name": "D00667 Rice Bun", "object_type": "rigid_bodies", - "total_mass": 0.1 + "total_mass": 0.10000000149011612, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00667", "parts": [ { "bounds": { - "center": [ - -0.0008861640152076703, - 0.019586108342611767, - -0.004255534723793209 + "min": [ + -0.043515000492334366, + -0.03691599890589714, + 5.9991357375110965e-06 ], "max": [ - 0.04091803729534149, - 0.05011022090911865, - 0.03685827553272247 + 0.040998999029397964, + 0.04749099910259247, + 0.05014500021934509 ], - "min": [ - -0.04340488463640213, - 0.0, - -0.04739049822092056 - ] + "size": [ + 0.08451399952173233, + 0.08440699800848961, + 0.05013900108360758 + ], + "units": "m" }, "center_of_mass": [ -0.001333273922666522, @@ -59,7 +65,7 @@ 5.205843211586301e-05, 7.522276010750511e-05 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "baked_bread", "name": "D00667 Rice Bun", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00667 Rice Bun", "part_name": "D00667 Rice Bun" }, - "volume": 0.00019994296298243117 + "volume": 0.00019994296298243117, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "151bb35cd9d82fb19b7fce48f15c946b9369234d1bb1d3b1d60bae5142c52c42" + }, + "usd_path": "batch16/D00667 Rice Bun/IsaacSim_assets_69f62cf8431507ff7c102e82/IsaacSim_asset_69f62cf8431507ff7c102e82.usd", + "usd_sha256": "f3e2a8f562095a01ef9601b599250bb4fbcc6d5d65a5661d2acf5bb80339d946", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.08432292193174362, - 0.05011022090911865, - 0.08424877375364304 - ] + 0.08451399952173233, + 0.08440699800848961, + 0.05013900108360758 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f3e2a8f562095a01ef9601b599250bb4fbcc6d5d65a5661d2acf5bb80339d946", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.1 + "value_kg": 0.10000000149011612, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f3e2a8f562095a01ef9601b599250bb4fbcc6d5d65a5661d2acf5bb80339d946", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.10000000149011612, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 91, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f3e2a8f562095a01ef9601b599250bb4fbcc6d5d65a5661d2acf5bb80339d946", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 91, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f3e2a8f562095a01ef9601b599250bb4fbcc6d5d65a5661d2acf5bb80339d946", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00714 Scallions/IsaacSim_assets_69f653337f5104dbf26357fc/physics_69f653337f5104dbf26357fc.json b/batch16/D00714 Scallions/IsaacSim_assets_69f653337f5104dbf26357fc/physics_69f653337f5104dbf26357fc.json index 9a491dcbedc379b2857b203189eaa21b5b1c1442..ad8549152ef0e4ab5f457214e968317000acb42f 100644 --- a/batch16/D00714 Scallions/IsaacSim_assets_69f653337f5104dbf26357fc/physics_69f653337f5104dbf26357fc.json +++ b/batch16/D00714 Scallions/IsaacSim_assets_69f653337f5104dbf26357fc/physics_69f653337f5104dbf26357fc.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.031523000448942184, - 0.26516199111938477, - 0.0392800010740757 - ], "min": [ - -0.03318500146269798, - -0.16561099886894226, - 1.700000029813964e-05 + -0.14218999445438385, + -0.06185999885201454, + 9.000000318337698e-06 + ], + "max": [ + 0.2510659992694855, + 0.04400499910116196, + 0.034157998859882355 ], "size": [ - 0.06470800191164017, - 0.430772989988327, - 0.03926300107377756 - ] + 0.3932559937238693, + 0.1058649979531765, + 0.03414899885956402 + ], + "units": "m" }, "description": "A single bunch of scallions with a thick white base transitioning into long, tubular green leaves.", "name": "D00714 Scallions", "object_type": "rigid_bodies", - "total_mass": 0.1925 + "total_mass": 0.19249999523162842, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00714", "parts": [ { "bounds": { - "center": [ - -7.33257924947599e-05, - -0.005364258558420924, - 0.01918139409521663 + "min": [ + -0.14218999445438385, + -0.06185999885201454, + 9.000000318337698e-06 ], "max": [ - 0.031523000448942184, - 0.26516199111938477, - 0.0392800010740757 + 0.2510659992694855, + 0.04400499910116196, + 0.034157998859882355 ], - "min": [ - -0.03318500146269798, - -0.16561099886894226, - 1.700000029813964e-05 - ] + "size": [ + 0.3932559937238693, + 0.1058649979531765, + 0.03414899885956402 + ], + "units": "m" }, "center_of_mass": [ 0.08167622250844925, @@ -59,7 +65,7 @@ 0.0021076338148190493, 0.002177338513558016 ], - "mass": 0.1925, + "mass": 0.19249999523162842, "material": "plant_matter", "name": "D00714 Scallions", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00714 Scallions", "part_name": "D00714 Scallions" }, - "volume": 0.0007505927946192022 + "volume": 0.0007505927946192022, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "98daeafb19eff16ce7a6de52070980ff6d048ea9e67c5b9da9967c8e3d71a414" + }, + "usd_path": "batch16/D00714 Scallions/IsaacSim_assets_69f653337f5104dbf26357fc/IsaacSim_asset_69f653337f5104dbf26357fc.usd", + "usd_sha256": "37b2d84e5d733a47fa0a904e9da77dd4abbfa4f668d1c91d30cdfff50d214f71", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.06470800191164017, - 0.430772989988327, - 0.03926300107377756 - ] + 0.3932559937238693, + 0.1058649979531765, + 0.03414899885956402 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "37b2d84e5d733a47fa0a904e9da77dd4abbfa4f668d1c91d30cdfff50d214f71", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.1925 + "value_kg": 0.19249999523162842, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "37b2d84e5d733a47fa0a904e9da77dd4abbfa4f668d1c91d30cdfff50d214f71", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.19249999523162842, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 38, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "37b2d84e5d733a47fa0a904e9da77dd4abbfa4f668d1c91d30cdfff50d214f71", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 38, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "37b2d84e5d733a47fa0a904e9da77dd4abbfa4f668d1c91d30cdfff50d214f71", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00733 Small Dish/IsaacSim_assets_69f658bf7f5104dbf266643b/physics_69f658bf7f5104dbf266643b.json b/batch16/D00733 Small Dish/IsaacSim_assets_69f658bf7f5104dbf266643b/physics_69f658bf7f5104dbf266643b.json index 09e3ce00b2928e9476f11de1d7ab35af108bd0bc..259dbaa55a3e16335638bc39919fb85428bef907 100644 --- a/batch16/D00733 Small Dish/IsaacSim_assets_69f658bf7f5104dbf266643b/physics_69f658bf7f5104dbf266643b.json +++ b/batch16/D00733 Small Dish/IsaacSim_assets_69f658bf7f5104dbf266643b/physics_69f658bf7f5104dbf266643b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05070430040359497, - 0.04626259580254555, - 0.05059121176600456 - ], "min": [ - -0.05055348947644234, - 0.0, - -0.0507064126431942 + -0.05050100013613701, + -0.05054299905896187, + 0.00013700050476472825 + ], + "max": [ + 0.050606999546289444, + 0.050682999193668365, + 0.046507999300956726 ], "size": [ - 0.10125778988003731, - 0.04626259580254555, - 0.10129762440919876 - ] + 0.10110799968242645, + 0.10122599825263023, + 0.046370998796192 + ], + "units": "m" }, "description": "A glossy white ceramic bowl with a rounded open body, thick rolled rim, and small circular foot ring. The surface appears smooth, glazed, and slightly off-white.", "name": "D00733 Small Dish", "object_type": "rigid_bodies", - "total_mass": 0.34 + "total_mass": 0.3400000035762787, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00733", "parts": [ { "bounds": { - "center": [ - 6.956296259262904e-05, - 0.023457004171969678, - -6.444016551517774e-05 + "min": [ + -0.05050100013613701, + -0.05054299905896187, + 0.00013700050476472825 ], "max": [ - 0.05070430040359497, - 0.04626259580254555, - 0.05059121176600456 + 0.050606999546289444, + 0.050682999193668365, + 0.046507999300956726 ], - "min": [ - -0.05055348947644234, - 0.0, - -0.0507064126431942 - ] + "size": [ + 0.10110799968242645, + 0.10122599825263023, + 0.046370998796192 + ], + "units": "m" }, "center_of_mass": [ 9.821109535285266e-05, @@ -59,7 +65,7 @@ 0.0003111510370693454, 0.0005087803728878275 ], - "mass": 0.34, + "mass": 0.3400000035762787, "material": "baked_bread", "name": "D00733 Small Dish", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00733 Small Dish", "part_name": "D00733 Small Dish" }, - "volume": 8.19147922299385e-05 + "volume": 8.19147922299385e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "823a29b344e14a4555b29aeccc67b646b82c178149e370bdebf1c6039bfa16d2" + }, + "usd_path": "batch16/D00733 Small Dish/IsaacSim_assets_69f658bf7f5104dbf266643b/IsaacSim_asset_69f658bf7f5104dbf266643b.usd", + "usd_sha256": "56871dfd454eedcc507221dcaf799e16b11fb59456101946d800e178e88a9f19", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.10125778988003731, - 0.04626259580254555, - 0.10129762440919876 - ] + 0.10110799968242645, + 0.10122599825263023, + 0.046370998796192 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56871dfd454eedcc507221dcaf799e16b11fb59456101946d800e178e88a9f19", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.34 + "value_kg": 0.3400000035762787, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56871dfd454eedcc507221dcaf799e16b11fb59456101946d800e178e88a9f19", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3400000035762787, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 62, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56871dfd454eedcc507221dcaf799e16b11fb59456101946d800e178e88a9f19", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 62, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56871dfd454eedcc507221dcaf799e16b11fb59456101946d800e178e88a9f19", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00751 Spatula Knife/IsaacSim_assets_6a60b73437bfc8641e3aa5c8/physics_6a60b73437bfc8641e3aa5c8.json b/batch16/D00751 Spatula Knife/IsaacSim_assets_6a60b73437bfc8641e3aa5c8/physics_6a60b73437bfc8641e3aa5c8.json index dd9e9e1abe0b5aec0af9af6834062ffbb4a402d3..fbfa881d1171831b6b750cc5913e45051a944af4 100644 --- a/batch16/D00751 Spatula Knife/IsaacSim_assets_6a60b73437bfc8641e3aa5c8/physics_6a60b73437bfc8641e3aa5c8.json +++ b/batch16/D00751 Spatula Knife/IsaacSim_assets_6a60b73437bfc8641e3aa5c8/physics_6a60b73437bfc8641e3aa5c8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.125131994485855, - 0.019759999588132, - 0.026581970974803 - ], "min": [ - -0.123759999871254, - -0.02106299996376, - 0.000200970462174 + -0.12375999987125397, + -0.021062999963760376, + 0.00020097046217415482 + ], + "max": [ + 0.1251319944858551, + 0.019759999588131905, + 0.02658197097480297 ], "size": [ - 0.248891994357109, - 0.040822999551892, - 0.026381000512629 - ] + 0.24889199435710907, + 0.04082299955189228, + 0.026381000512628816 + ], + "units": "m" }, "description": "A spatula knife featuring a flat stainless steel blade with an offset angle, attached to a wooden handle secured by three metal rivets.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00751", "parts": [ { "bounds": { - "center": [ - -8.103552985e-06, - 2.5730654607e-05, - 0.012432356665409 + "min": [ + -0.12375999987125397, + -0.021062999963760376, + 0.00020097046217415482 ], "max": [ - 0.125131994485855, - 0.019759999588132, - 0.026581970974803 + 0.1251319944858551, + 0.019759999588131905, + 0.02658197097480297 ], - "min": [ - -0.123759999871254, - -0.02106299996376, - 0.000200970462174 - ] + "size": [ + 0.24889199435710907, + 0.04082299955189228, + 0.026381000512628816 + ], + "units": "m" }, "center_of_mass": [ 0.008311457000673, @@ -59,7 +65,7 @@ 0.0005345702845807285, 0.0005433805952368397 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "stainless_steel", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0001379254004920799 + "volume": 0.0001379254004920799, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4ad6f340f81007ef04e54fdc28119eb3f31dcae5925cee9db975debaa806c008" + }, + "usd_path": "batch16/D00751 Spatula Knife/IsaacSim_assets_6a60b73437bfc8641e3aa5c8/IsaacSim_asset_6a60b73437bfc8641e3aa5c8.usd", + "usd_sha256": "7c4870674b1080436a9bee502a0c15c128f1f00c5411f9c08314f3b946c06108", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.248891994357109, - 0.040822999551892, - 0.026381000512629 - ] + 0.24889199435710907, + 0.04082299955189228, + 0.026381000512628816 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7c4870674b1080436a9bee502a0c15c128f1f00c5411f9c08314f3b946c06108", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7c4870674b1080436a9bee502a0c15c128f1f00c5411f9c08314f3b946c06108", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7c4870674b1080436a9bee502a0c15c128f1f00c5411f9c08314f3b946c06108", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7c4870674b1080436a9bee502a0c15c128f1f00c5411f9c08314f3b946c06108", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00782 Spoon Rest Saucepan/IsaacSim_assets_6a60b1ea37bfc8641e389bff/physics_6a60b1ea37bfc8641e389bff.json b/batch16/D00782 Spoon Rest Saucepan/IsaacSim_assets_6a60b1ea37bfc8641e389bff/physics_6a60b1ea37bfc8641e389bff.json index 7788ea61ed1585064df5c00811d0bd3a1bac4835..3e1d2b622ce01db9d7f7d0ee557bea16e512a9b2 100644 --- a/batch16/D00782 Spoon Rest Saucepan/IsaacSim_assets_6a60b1ea37bfc8641e389bff/physics_6a60b1ea37bfc8641e389bff.json +++ b/batch16/D00782 Spoon Rest Saucepan/IsaacSim_assets_6a60b1ea37bfc8641e389bff/physics_6a60b1ea37bfc8641e389bff.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.087833002209663, - 0.035599000751972, - 0.027800049399957 - ], "min": [ - -0.045628998428583, - -0.035890001803637, - 0.000535049994596 + -0.045628998428583145, + -0.03589000180363655, + 0.0005350499945961928 + ], + "max": [ + 0.08783300220966339, + 0.0355990007519722, + 0.02780004939995706 ], "size": [ - 0.133462000638246, - 0.071489002555609, - 0.027264999405361 - ] + 0.13346200063824654, + 0.07148900255560875, + 0.027264999405360868 + ], + "units": "m" }, "description": "A small, shallow bowl with a short, straight handle resembling a miniature saucepan. It is made entirely of brushed stainless steel with a metallic silver finish.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00782", "parts": [ { "bounds": { - "center": [ - -0.002317126261528, - -0.000144934422909, - 0.012080650194147 + "min": [ + -0.045628998428583145, + -0.03589000180363655, + 0.0005350499945961928 ], "max": [ - 0.087833002209663, - 0.035599000751972, - 0.027800049399957 + 0.08783300220966339, + 0.0355990007519722, + 0.02780004939995706 ], - "min": [ - -0.045628998428583, - -0.035890001803637, - 0.000535049994596 - ] + "size": [ + 0.13346200063824654, + 0.07148900255560875, + 0.027264999405360868 + ], + "units": "m" }, "center_of_mass": [ 0.003933367785066, @@ -59,7 +65,7 @@ 0.00012353563508854594, 0.0001532416566262501 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "steel", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.00013169795416364814 + "volume": 0.00013169795416364814, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c1fecec5e0d0f07a135c829a8bceea02cace2427acf8734f0f6d0e4e13694ee0" + }, + "usd_path": "batch16/D00782 Spoon Rest Saucepan/IsaacSim_assets_6a60b1ea37bfc8641e389bff/IsaacSim_asset_6a60b1ea37bfc8641e389bff.usd", + "usd_sha256": "a15bb074eb9059ebcb61b207cf7db9a6fae8f61162c617b44080560da5bbf237", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.133462000638246, - 0.071489002555609, - 0.027264999405361 - ] + 0.13346200063824654, + 0.07148900255560875, + 0.027264999405360868 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a15bb074eb9059ebcb61b207cf7db9a6fae8f61162c617b44080560da5bbf237", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a15bb074eb9059ebcb61b207cf7db9a6fae8f61162c617b44080560da5bbf237", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 29, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a15bb074eb9059ebcb61b207cf7db9a6fae8f61162c617b44080560da5bbf237", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 29, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a15bb074eb9059ebcb61b207cf7db9a6fae8f61162c617b44080560da5bbf237", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00796 Spring Onion/IsaacSim_assets_69f66a787f5104dbf278e281/physics_69f66a787f5104dbf278e281.json b/batch16/D00796 Spring Onion/IsaacSim_assets_69f66a787f5104dbf278e281/physics_69f66a787f5104dbf278e281.json index f7996550d72bda2f35229867af678082fb079536..a1c5df780b041f71205f26c30706b4ff42ebd5c7 100644 --- a/batch16/D00796 Spring Onion/IsaacSim_assets_69f66a787f5104dbf278e281/physics_69f66a787f5104dbf278e281.json +++ b/batch16/D00796 Spring Onion/IsaacSim_assets_69f66a787f5104dbf278e281/physics_69f66a787f5104dbf278e281.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.173483997583389, - 0.04891100153327, - 0.112812876729474 - ], "min": [ - -0.209049999713898, - -0.057463001459837, - 0.001027875375182 + -0.2090499997138977, + -0.05746300145983696, + 0.001027875375182308 + ], + "max": [ + 0.17348399758338928, + 0.04891100153326988, + 0.11281287672947435 ], "size": [ 0.382533997297287, - 0.10637400299310701, - 0.11178500135429201 - ] + 0.10637400299310684, + 0.11178500135429204 + ], + "units": "m" }, "description": "A fresh green onion featuring a white bulb with fine fibrous roots at the base, transitioning into long, tubular green leaves.", "name": "D00796 Spring Onion", "object_type": "rigid_bodies", - "total_mass": 0.02 + "total_mass": 0.019999999552965164, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00796", "parts": [ { "bounds": { - "center": [ - -0.056017283886358, - -0.00040682334187, - 0.060167874065486 + "min": [ + -0.2090499997138977, + -0.05746300145983696, + 0.001027875375182308 ], "max": [ - 0.173483997583389, - 0.04891100153327, - 0.112812876729474 + 0.17348399758338928, + 0.04891100153326988, + 0.11281287672947435 ], - "min": [ - -0.209049999713898, - -0.057463001459837, - 0.001027875375182 - ] + "size": [ + 0.382533997297287, + 0.10637400299310684, + 0.11178500135429204 + ], + "units": "m" }, "center_of_mass": [ -0.044939339160919, @@ -59,7 +65,7 @@ 0.00019763945901872735, 0.00019805571691832772 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "organic_plant_matter", "name": "D00796 Spring Onion", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00796 Spring Onion", "part_name": "D00796 Spring Onion" }, - "volume": 0.0006470994240323475 + "volume": 0.0006470994240323475, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "dab058b72aa5fe62072d108723a737330c8365ef05632b3b5e605530cfd93ced" + }, + "usd_path": "batch16/D00796 Spring Onion/IsaacSim_assets_69f66a787f5104dbf278e281/IsaacSim_asset_69f66a787f5104dbf278e281.usd", + "usd_sha256": "852aca941b40d5376f27304e0b2633bb01871931e2d67c843717b225d4307485", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -87,24 +110,58 @@ "up_axis": "Z", "bounds_m": [ 0.382533997297287, - 0.10637400299310701, - 0.11178500135429201 - ] + 0.10637400299310684, + 0.11178500135429204 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "852aca941b40d5376f27304e0b2633bb01871931e2d67c843717b225d4307485", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.02 + "value_kg": 0.019999999552965164, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "852aca941b40d5376f27304e0b2633bb01871931e2d67c843717b225d4307485", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.019999999552965164, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 63, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "852aca941b40d5376f27304e0b2633bb01871931e2d67c843717b225d4307485", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 63, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "852aca941b40d5376f27304e0b2633bb01871931e2d67c843717b225d4307485", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00800 Stainless Steel Bowl/IsaacSim_assets_69f66c407f5104dbf27a7c83/physics_69f66c407f5104dbf27a7c83.json b/batch16/D00800 Stainless Steel Bowl/IsaacSim_assets_69f66c407f5104dbf27a7c83/physics_69f66c407f5104dbf27a7c83.json index 03142412bb21e054187b0dfb909e06ba9f9e87d8..7aa86a84c6499a4d2c7974867f44f55cd7870455 100644 --- a/batch16/D00800 Stainless Steel Bowl/IsaacSim_assets_69f66c407f5104dbf27a7c83/physics_69f66c407f5104dbf27a7c83.json +++ b/batch16/D00800 Stainless Steel Bowl/IsaacSim_assets_69f66c407f5104dbf27a7c83/physics_69f66c407f5104dbf27a7c83.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09958347053777489, - 0.08300615604227224, - 0.09948951955329541 - ], "min": [ - -0.0994640253494133, - -1.409470008784119e-05, - -0.09942354036914666 + -0.10042200237512589, + -0.100552998483181, + 2.999999651365215e-06 + ], + "max": [ + 0.10041499882936478, + 0.10040800273418427, + 0.08146599680185318 ], "size": [ - 0.19904749588718817, - 0.08302025074236008, - 0.19891305992244207 - ] + 0.20083700120449066, + 0.20096100121736526, + 0.08146299680220181 + ], + "units": "m" }, "description": "A bowl with an off-white matte ceramic body and a thick brushed stainless steel rim.", "name": "D00800 Stainless Steel Bowl", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00800", "parts": [ { "bounds": { - "center": [ - 2.9421550040085868e-05, - 0.04104970660551623, - 2.564280382454958e-05 + "min": [ + -0.10042200237512589, + -0.100552998483181, + 2.999999651365215e-06 ], "max": [ - 0.09958347053777489, - 0.08300615604227224, - 0.09948951955329541 + 0.10041499882936478, + 0.10040800273418427, + 0.08146599680185318 ], - "min": [ - -0.0994640253494133, - -1.409470008784119e-05, - -0.09942354036914666 - ] + "size": [ + 0.20083700120449066, + 0.20096100121736526, + 0.08146299680220181 + ], + "units": "m" }, "center_of_mass": [ -2.945841942059735e-05, @@ -67,10 +73,27 @@ "object_name": "D00800 Stainless Steel Bowl", "part_name": "D00800 Stainless Steel Bowl" }, - "volume": 0.0017459513882129869 + "volume": 0.0017459513882129869, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "166e81f8f97fd5bae603656896ab2a4b90cd9f8f77b5ce65d4d37e9ccd50eae5" + }, + "usd_path": "batch16/D00800 Stainless Steel Bowl/IsaacSim_assets_69f66c407f5104dbf27a7c83/IsaacSim_asset_69f66c407f5104dbf27a7c83.usd", + "usd_sha256": "80cf61b3911ecdcab0cf34f7d281623009e952b7d0c2ec2eec9125e7b5bf8397", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.19904749588718817, - 0.08302025074236008, - 0.19891305992244207 - ] + 0.20083700120449066, + 0.20096100121736526, + 0.08146299680220181 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "80cf61b3911ecdcab0cf34f7d281623009e952b7d0c2ec2eec9125e7b5bf8397", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "80cf61b3911ecdcab0cf34f7d281623009e952b7d0c2ec2eec9125e7b5bf8397", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 88, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "80cf61b3911ecdcab0cf34f7d281623009e952b7d0c2ec2eec9125e7b5bf8397", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 88, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "80cf61b3911ecdcab0cf34f7d281623009e952b7d0c2ec2eec9125e7b5bf8397", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00872 Tomato Yellow Bell/IsaacSim_assets_6a61c6ed394c4977ee9c162f/physics_6a61c6ed394c4977ee9c162f.json b/batch16/D00872 Tomato Yellow Bell/IsaacSim_assets_6a61c6ed394c4977ee9c162f/physics_6a61c6ed394c4977ee9c162f.json index c036699807d472a0779dfbb08aed945c07ac2678..c9028349684dabc41ad87c1d5e779023751c4bbb 100644 --- a/batch16/D00872 Tomato Yellow Bell/IsaacSim_assets_6a61c6ed394c4977ee9c162f/physics_6a61c6ed394c4977ee9c162f.json +++ b/batch16/D00872 Tomato Yellow Bell/IsaacSim_assets_6a61c6ed394c4977ee9c162f/physics_6a61c6ed394c4977ee9c162f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.023985000327229, - 0.02437400072813, - 0.043303959071636 - ], "min": [ - -0.023718999698758, - -0.023197000846267, - 0.000489959733727 + -0.023718999698758125, + -0.023197000846266747, + 0.0004899597337271189 + ], + "max": [ + 0.0239850003272295, + 0.02437400072813034, + 0.0433039590716362 ], "size": [ - 0.047704000025987, - 0.047571001574397004, - 0.042813999337909 - ] + 0.047704000025987625, + 0.04757100157439709, + 0.04281399933790908 + ], + "units": "m" }, "description": "A yellow bell-shaped heirloom tomato with smooth skin and a small green stem.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.08 + "total_mass": 0.07999999821186066, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00872", "parts": [ { "bounds": { - "center": [ - -4.401424666e-06, - 0.000343877885394, - 0.020431668879613 + "min": [ + -0.023718999698758125, + -0.023197000846266747, + 0.0004899597337271189 ], "max": [ - 0.023985000327229, - 0.02437400072813, - 0.043303959071636 + 0.0239850003272295, + 0.02437400072813034, + 0.0433039590716362 ], - "min": [ - -0.023718999698758, - -0.023197000846267, - 0.000489959733727 - ] + "size": [ + 0.047704000025987625, + 0.04757100157439709, + 0.04281399933790908 + ], + "units": "m" }, "center_of_mass": [ 2.9013242965e-05, @@ -59,7 +65,7 @@ 1.648033187330205e-05, 1.874117629140357e-05 ], - "mass": 0.08, + "mass": 0.07999999821186066, "material": "yellow_organic_skin", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 5.1049643576207055e-05 + "volume": 5.1049643576207055e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "32793471db23a20dc676a68745049dd496686689b1591151beeb3bb7555ec373" + }, + "usd_path": "batch16/D00872 Tomato Yellow Bell/IsaacSim_assets_6a61c6ed394c4977ee9c162f/IsaacSim_asset_6a61c6ed394c4977ee9c162f.usd", + "usd_sha256": "aea60a8d7f7c0004f05a81e173b0a0956071c805e10dc22f26a27266ef62d531", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.047704000025987, - 0.047571001574397004, - 0.042813999337909 - ] + 0.047704000025987625, + 0.04757100157439709, + 0.04281399933790908 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aea60a8d7f7c0004f05a81e173b0a0956071c805e10dc22f26a27266ef62d531", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.08 + "value_kg": 0.07999999821186066, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aea60a8d7f7c0004f05a81e173b0a0956071c805e10dc22f26a27266ef62d531", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07999999821186066, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aea60a8d7f7c0004f05a81e173b0a0956071c805e10dc22f26a27266ef62d531", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aea60a8d7f7c0004f05a81e173b0a0956071c805e10dc22f26a27266ef62d531", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00957 Wooden Cutting Board/IsaacSim_assets_69f744ab7f5104dbf24ccbea/physics_69f744ab7f5104dbf24ccbea.json b/batch16/D00957 Wooden Cutting Board/IsaacSim_assets_69f744ab7f5104dbf24ccbea/physics_69f744ab7f5104dbf24ccbea.json index bc5ade710db4285108c62370d50d9c34cc2b8e37..4a755e04d5eec42f2b8acda936f925359392fbac 100644 --- a/batch16/D00957 Wooden Cutting Board/IsaacSim_assets_69f744ab7f5104dbf24ccbea/physics_69f744ab7f5104dbf24ccbea.json +++ b/batch16/D00957 Wooden Cutting Board/IsaacSim_assets_69f744ab7f5104dbf24ccbea/physics_69f744ab7f5104dbf24ccbea.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "c0ad74ac68f59cf1515e2efa4f82be83d51493662aa27ddbe4e9c1bd7cbb8f79" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "26abedf16b4fac7669e5013ea8ec46cdce9fd9f3c4d8eee0825e8c67063c5381" }, "usd_path": "batch16/D00957 Wooden Cutting Board/IsaacSim_assets_69f744ab7f5104dbf24ccbea/IsaacSim_asset_69f744ab7f5104dbf24ccbea.usd", - "usd_sha256": "4bd6167927f2a39b4eab651c35a4a8451ab22d7874adde92f85532013e8a89c2", + "usd_sha256": "5f5fc451239857e365b702a93f3e3b94d0058785a9a6b250a87c062d775f5d05", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4bd6167927f2a39b4eab651c35a4a8451ab22d7874adde92f85532013e8a89c2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f5fc451239857e365b702a93f3e3b94d0058785a9a6b250a87c062d775f5d05", "scope": "authored_usd_dimensions", "bounds_m": [ 0.281480997800827, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 3.0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4bd6167927f2a39b4eab651c35a4a8451ab22d7874adde92f85532013e8a89c2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f5fc451239857e365b702a93f3e3b94d0058785a9a6b250a87c062d775f5d05", "scope": "authored_usd_mass_consistency", "part_sum_kg": 3.0, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 10, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4bd6167927f2a39b4eab651c35a4a8451ab22d7874adde92f85532013e8a89c2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f5fc451239857e365b702a93f3e3b94d0058785a9a6b250a87c062d775f5d05", "scope": "authored_usd_collision_schema", "enabled_shape_count": 10, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4bd6167927f2a39b4eab651c35a4a8451ab22d7874adde92f85532013e8a89c2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f5fc451239857e365b702a93f3e3b94d0058785a9a6b250a87c062d775f5d05", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00958 Wooden Figure/IsaacSim_assets_69f746497f5104dbf24e861d/physics_69f746497f5104dbf24e861d.json b/batch16/D00958 Wooden Figure/IsaacSim_assets_69f746497f5104dbf24e861d/physics_69f746497f5104dbf24e861d.json index fca2b3b61e8e7c264048b7514903dd9574c22578..dcf91dab4243c60f0be563ee028a762c80d5f363 100644 --- a/batch16/D00958 Wooden Figure/IsaacSim_assets_69f746497f5104dbf24e861d/physics_69f746497f5104dbf24e861d.json +++ b/batch16/D00958 Wooden Figure/IsaacSim_assets_69f746497f5104dbf24e861d/physics_69f746497f5104dbf24e861d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08030016720294952, - 0.31389617919921875, - 0.08149690926074982 - ], "min": [ - -0.06604082882404327, - 2.6192883524345234e-05, - -0.031746093183755875 + -0.06896399706602097, + -0.09343499690294266, + 0.00026599998818710446 + ], + "max": [ + 0.06949599832296371, + 0.03245700150728226, + 0.31408798694610596 ], "size": [ - 0.1463409960269928, - 0.3138699863156944, - 0.11324300244450569 - ] + 0.13845999538898468, + 0.12589199841022491, + 0.31382198695791885 + ], + "units": "m" }, "description": "A light brown wooden articulated figure featuring a smooth natural finish and visible spherical joints. The object is constructed from segmented wooden parts connected by metal hardware in a stylized humanoid form.", "name": "D00958 Wooden Figure", "object_type": "rigid_bodies", - "total_mass": 0.107 + "total_mass": 0.10700000077486038, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00958", "parts": [ { "bounds": { - "center": [ - -0.0003491908341476244, - 0.15977960178283962, - -0.000462860578904689 + "min": [ + -0.06896399706602097, + -0.09343499690294266, + 0.00026599998818710446 ], "max": [ - 0.08030016720294952, - 0.31389617919921875, - 0.08149690926074982 + 0.06949599832296371, + 0.03245700150728226, + 0.31408798694610596 ], - "min": [ - -0.06604082882404327, - 2.6192883524345234e-05, - -0.031746093183755875 - ] + "size": [ + 0.13845999538898468, + 0.12589199841022491, + 0.31382198695791885 + ], + "units": "m" }, "center_of_mass": [ 0.0041031602947275, @@ -59,7 +65,7 @@ 0.0005928336926327648, 0.0006804861162170319 ], - "mass": 0.107, + "mass": 0.10700000077486038, "material": "wood", "name": "D00958 Wooden Figure", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00958 Wooden Figure", "part_name": "D00958 Wooden Figure" }, - "volume": 0.001921837913191687 + "volume": 0.001921837913191687, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "94e769c35261981eb69b3fe9b86da202987f71bdadd51225940c38dbb5a728f3" + }, + "usd_path": "batch16/D00958 Wooden Figure/IsaacSim_assets_69f746497f5104dbf24e861d/IsaacSim_asset_69f746497f5104dbf24e861d.usd", + "usd_sha256": "d9be65bfb74dd4f54082fc5666e0666447481ae92093db7934629c0ceaf9fc61", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1463409960269928, - 0.3138699863156944, - 0.11324300244450569 - ] + 0.13845999538898468, + 0.12589199841022491, + 0.31382198695791885 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9be65bfb74dd4f54082fc5666e0666447481ae92093db7934629c0ceaf9fc61", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.107 + "value_kg": 0.10700000077486038, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9be65bfb74dd4f54082fc5666e0666447481ae92093db7934629c0ceaf9fc61", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.10700000077486038, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 14, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9be65bfb74dd4f54082fc5666e0666447481ae92093db7934629c0ceaf9fc61", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 14, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9be65bfb74dd4f54082fc5666e0666447481ae92093db7934629c0ceaf9fc61", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch16/D00959 Wooden Fork/IsaacSim_assets_69f747c07f5104dbf2501e11/physics_69f747c07f5104dbf2501e11.json b/batch16/D00959 Wooden Fork/IsaacSim_assets_69f747c07f5104dbf2501e11/physics_69f747c07f5104dbf2501e11.json index 97a948611fba5060adfccb32f021380e959c9f34..2593d3d1bbf7be5d5c42ec438b9da0e133e55f39 100644 --- a/batch16/D00959 Wooden Fork/IsaacSim_assets_69f747c07f5104dbf2501e11/physics_69f747c07f5104dbf2501e11.json +++ b/batch16/D00959 Wooden Fork/IsaacSim_assets_69f747c07f5104dbf2501e11/physics_69f747c07f5104dbf2501e11.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "6b48f7f9b84dd97b0a66dca892575bb4685b06d6e4fd287ddc0067d51ed1af76" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "27eae6caed38000cf0d3d556b32fe85072a90bec8c8ff5c9955a35fc02c650e0" }, "usd_path": "batch16/D00959 Wooden Fork/IsaacSim_assets_69f747c07f5104dbf2501e11/IsaacSim_asset_69f747c07f5104dbf2501e11.usd", - "usd_sha256": "9c7fbf9b997383416f7425e252369c39b4e3416328f8e5965ef1ff74211c24bb", + "usd_sha256": "d9d0c7ac15d8924ea7965e660053ea562f7f26b7290b483ae6dd9ec4104fa919", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9c7fbf9b997383416f7425e252369c39b4e3416328f8e5965ef1ff74211c24bb", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9d0c7ac15d8924ea7965e660053ea562f7f26b7290b483ae6dd9ec4104fa919", "scope": "authored_usd_dimensions", "bounds_m": [ 0.3189390003681183, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.017999999225139618, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9c7fbf9b997383416f7425e252369c39b4e3416328f8e5965ef1ff74211c24bb", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9d0c7ac15d8924ea7965e660053ea562f7f26b7290b483ae6dd9ec4104fa919", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.017999999225139618, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 14, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9c7fbf9b997383416f7425e252369c39b4e3416328f8e5965ef1ff74211c24bb", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9d0c7ac15d8924ea7965e660053ea562f7f26b7290b483ae6dd9ec4104fa919", "scope": "authored_usd_collision_schema", "enabled_shape_count": 14, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9c7fbf9b997383416f7425e252369c39b4e3416328f8e5965ef1ff74211c24bb", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9d0c7ac15d8924ea7965e660053ea562f7f26b7290b483ae6dd9ec4104fa919", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00263 Decorative Plate/IsaacSim_assets_6a6c632bcb2d3efc65bd0fdf/physics_6a6c632bcb2d3efc65bd0fdf.json b/batch17/D00263 Decorative Plate/IsaacSim_assets_6a6c632bcb2d3efc65bd0fdf/physics_6a6c632bcb2d3efc65bd0fdf.json index d57f9bf7aedf9723ebee66f2ce0fb4611868d8e5..aeb95b6088a80d182df98a1daafe6105b4bad026 100644 --- a/batch17/D00263 Decorative Plate/IsaacSim_assets_6a6c632bcb2d3efc65bd0fdf/physics_6a6c632bcb2d3efc65bd0fdf.json +++ b/batch17/D00263 Decorative Plate/IsaacSim_assets_6a6c632bcb2d3efc65bd0fdf/physics_6a6c632bcb2d3efc65bd0fdf.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12464000284671783, - 0.1247510015964508, - 0.03653800114989281 - ], "min": [ -0.12442799657583237, -0.12435399740934372, -4.999999873689376e-05 ], + "max": [ + 0.12464000284671783, + 0.1247510015964508, + 0.03653800114989281 + ], "size": [ 0.2490679994225502, 0.24910499900579453, 0.0365880011486297 - ] + ], + "units": "m" }, "description": "D00263 Decorative Plate", "name": "D00263 Decorative Plate", "object_type": "rigid_bodies", - "total_mass": 0.545 + "total_mass": 0.5450000166893005, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00263", "parts": [ { "bounds": { - "center": [ - 0.00010600313544273376, - 0.0001985020935535431, - 0.018244000575577957 + "min": [ + -0.12442799657583237, + -0.12435399740934372, + -4.999999873689376e-05 ], "max": [ 0.12464000284671783, 0.1247510015964508, 0.03653800114989281 ], - "min": [ - -0.12442799657583237, - -0.12435399740934372, - -4.999999873689376e-05 - ] + "size": [ + 0.2490679994225502, + 0.24910499900579453, + 0.0365880011486297 + ], + "units": "m" }, "center_of_mass": [ 5.803125168313272e-05, @@ -59,7 +65,7 @@ 0.0022450231481343508, 0.004402697551995516 ], - "mass": 0.545, + "mass": 0.5450000166893005, "material": "ceramic", "name": "D00263 Decorative Plate", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00263 Decorative Plate", "part_name": "D00263 Decorative Plate" }, - "volume": 0.00022708334028720856 + "volume": 0.00022708334028720856, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2dc8c3aab186d2986d2ada3e880e45ad77e2de0350c61997aeca80992191a387" + }, + "usd_path": "batch17/D00263 Decorative Plate/IsaacSim_assets_6a6c632bcb2d3efc65bd0fdf/IsaacSim_asset_6a6c632bcb2d3efc65bd0fdf.usd", + "usd_sha256": "0bc8fb96827fbd0b595505360ff4b1bba22a7fafd9f62eac8064bc663b18c302", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.2490679994225502, 0.24910499900579453, 0.0365880011486297 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0bc8fb96827fbd0b595505360ff4b1bba22a7fafd9f62eac8064bc663b18c302", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.545 + "value_kg": 0.5450000166893005, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0bc8fb96827fbd0b595505360ff4b1bba22a7fafd9f62eac8064bc663b18c302", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5450000166893005, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 40, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0bc8fb96827fbd0b595505360ff4b1bba22a7fafd9f62eac8064bc663b18c302", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 40, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0bc8fb96827fbd0b595505360ff4b1bba22a7fafd9f62eac8064bc663b18c302", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00268 Dish/IsaacSim_assets_6a6c64aecb2d3efc65bd869c/physics_6a6c64aecb2d3efc65bd869c.json b/batch17/D00268 Dish/IsaacSim_assets_6a6c64aecb2d3efc65bd869c/physics_6a6c64aecb2d3efc65bd869c.json index 4873bad5812b6eb4428fab18f7a58adc53cd9ba9..1d0b802aa56b3bb5a9c83e5fe2e8a6f82feaf4a9 100644 --- a/batch17/D00268 Dish/IsaacSim_assets_6a6c64aecb2d3efc65bd869c/physics_6a6c64aecb2d3efc65bd869c.json +++ b/batch17/D00268 Dish/IsaacSim_assets_6a6c64aecb2d3efc65bd869c/physics_6a6c64aecb2d3efc65bd869c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12325400114059448, - 0.12333299964666367, - 0.052799999713897705 - ], "min": [ -0.12312900274991989, -0.122980996966362, -5.6000000768108293e-05 ], + "max": [ + 0.12325400114059448, + 0.12333299964666367, + 0.052799999713897705 + ], "size": [ 0.24638300389051437, 0.24631399661302567, 0.05285599971466581 - ] + ], + "units": "m" }, "description": "D00268 Dish", "name": "D00268 Dish", "object_type": "rigid_bodies", - "total_mass": 0.606 + "total_mass": 0.6060000061988831, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00268", "parts": [ { "bounds": { - "center": [ - 6.249919533729553e-05, - 0.00017600134015083313, - 0.0263719998565648 + "min": [ + -0.12312900274991989, + -0.122980996966362, + -5.6000000768108293e-05 ], "max": [ 0.12325400114059448, 0.12333299964666367, 0.052799999713897705 ], - "min": [ - -0.12312900274991989, - -0.122980996966362, - -5.6000000768108293e-05 - ] + "size": [ + 0.24638300389051437, + 0.24631399661302567, + 0.05285599971466581 + ], + "units": "m" }, "center_of_mass": [ 0.00016972019511740655, @@ -59,7 +65,7 @@ 0.002398590324446559, 0.0046002985909581184 ], - "mass": 0.606, + "mass": 0.6060000061988831, "material": "ceramic", "name": "D00268 Dish", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00268 Dish", "part_name": "D00268 Dish" }, - "volume": 0.00025250000258286796 + "volume": 0.00025250000258286796, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e3cb8e536e8c34e7ffd3ec96887fd1a56c68a27a3dd8094fa8ec96be97352536" + }, + "usd_path": "batch17/D00268 Dish/IsaacSim_assets_6a6c64aecb2d3efc65bd869c/IsaacSim_asset_6a6c64aecb2d3efc65bd869c.usd", + "usd_sha256": "22dc7899d357547f0057f61b3b16d9284bc851fe494d019146296240d5107f88", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.24638300389051437, 0.24631399661302567, 0.05285599971466581 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22dc7899d357547f0057f61b3b16d9284bc851fe494d019146296240d5107f88", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.606 + "value_kg": 0.6060000061988831, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22dc7899d357547f0057f61b3b16d9284bc851fe494d019146296240d5107f88", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6060000061988831, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 94, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22dc7899d357547f0057f61b3b16d9284bc851fe494d019146296240d5107f88", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 94, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22dc7899d357547f0057f61b3b16d9284bc851fe494d019146296240d5107f88", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00273 Dish Plate/IsaacSim_assets_6a6c650fcb2d3efc65bdaf82/physics_6a6c650fcb2d3efc65bdaf82.json b/batch17/D00273 Dish Plate/IsaacSim_assets_6a6c650fcb2d3efc65bdaf82/physics_6a6c650fcb2d3efc65bdaf82.json index 6e52ec234a0ea24f60490bc7733d0dca374886de..d0748a07e32dfab7978347848c18cdc505cefd3b 100644 --- a/batch17/D00273 Dish Plate/IsaacSim_assets_6a6c650fcb2d3efc65bdaf82/physics_6a6c650fcb2d3efc65bdaf82.json +++ b/batch17/D00273 Dish Plate/IsaacSim_assets_6a6c650fcb2d3efc65bdaf82/physics_6a6c650fcb2d3efc65bdaf82.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12282200157642365, - 0.1228799968957901, - 0.04646499827504158 - ], "min": [ -0.12258800119161606, -0.12219099700450897, -0.00011700000322889537 ], + "max": [ + 0.12282200157642365, + 0.1228799968957901, + 0.04646499827504158 + ], "size": [ 0.2454100027680397, 0.24507099390029907, 0.046581998278270476 - ] + ], + "units": "m" }, "description": "D00273 Dish Plate", "name": "D00273 Dish Plate", "object_type": "rigid_bodies", - "total_mass": 0.542 + "total_mass": 0.5419999957084656, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00273", "parts": [ { "bounds": { - "center": [ - 0.00011700019240379333, - 0.00034449994564056396, - 0.023173999135906342 + "min": [ + -0.12258800119161606, + -0.12219099700450897, + -0.00011700000322889537 ], "max": [ 0.12282200157642365, 0.1228799968957901, 0.04646499827504158 ], - "min": [ - -0.12258800119161606, - -0.12219099700450897, - -0.00011700000322889537 - ] + "size": [ + 0.2454100027680397, + 0.24507099390029907, + 0.046581998278270476 + ], + "units": "m" }, "center_of_mass": [ 5.496172889252193e-05, @@ -59,7 +65,7 @@ 0.0021429855842143297, 0.004033568315207958 ], - "mass": 0.542, + "mass": 0.5419999957084656, "material": "ceramic", "name": "D00273 Dish Plate", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00273 Dish Plate", "part_name": "D00273 Dish Plate" }, - "volume": 0.00022583333154519399 + "volume": 0.00022583333154519399, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6434567ec0e26bfd938b4a364f9c8f1a1e498e2089f8fd5c5e045195a113c390" + }, + "usd_path": "batch17/D00273 Dish Plate/IsaacSim_assets_6a6c650fcb2d3efc65bdaf82/IsaacSim_asset_6a6c650fcb2d3efc65bdaf82.usd", + "usd_sha256": "a41862937437529a87ae0daa8a87be4a28f7884bcb272f2b8e70fbb411058745", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.2454100027680397, 0.24507099390029907, 0.046581998278270476 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a41862937437529a87ae0daa8a87be4a28f7884bcb272f2b8e70fbb411058745", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.542 + "value_kg": 0.5419999957084656, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a41862937437529a87ae0daa8a87be4a28f7884bcb272f2b8e70fbb411058745", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5419999957084656, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 74, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a41862937437529a87ae0daa8a87be4a28f7884bcb272f2b8e70fbb411058745", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 74, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a41862937437529a87ae0daa8a87be4a28f7884bcb272f2b8e70fbb411058745", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00280 Dough/IsaacSim_assets_6a6c6a6bcb2d3efc65bf48f6/physics_6a6c6a6bcb2d3efc65bf48f6.json b/batch17/D00280 Dough/IsaacSim_assets_6a6c6a6bcb2d3efc65bf48f6/physics_6a6c6a6bcb2d3efc65bf48f6.json index c796f2f346d8da67ef904c84f34d81e4f0b2fdc9..81200c74e2cefda5ec4b77b00f5e3639348c7906 100644 --- a/batch17/D00280 Dough/IsaacSim_assets_6a6c6a6bcb2d3efc65bf48f6/physics_6a6c6a6bcb2d3efc65bf48f6.json +++ b/batch17/D00280 Dough/IsaacSim_assets_6a6c6a6bcb2d3efc65bf48f6/physics_6a6c6a6bcb2d3efc65bf48f6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06466999650001526, - 0.06855899840593338, - 0.06533800065517426 - ], "min": [ -0.060488998889923096, -0.05659399926662445, 3.999999989900971e-06 ], + "max": [ + 0.06466999650001526, + 0.06855899840593338, + 0.06533800065517426 + ], "size": [ 0.12515899538993835, 0.12515299767255783, 0.06533400065518435 - ] + ], + "units": "m" }, "description": "D00280 Dough", "name": "D00280 Dough", "object_type": "rigid_bodies", - "total_mass": 1.4 + "total_mass": 1.399999976158142, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00280", "parts": [ { "bounds": { - "center": [ - 0.0020904988050460815, - 0.005982499569654465, - 0.03267100032758208 + "min": [ + -0.060488998889923096, + -0.05659399926662445, + 3.999999989900971e-06 ], "max": [ 0.06466999650001526, 0.06855899840593338, 0.06533800065517426 ], - "min": [ - -0.060488998889923096, - -0.05659399926662445, - 3.999999989900971e-06 - ] + "size": [ + 0.12515899538993835, + 0.12515299767255783, + 0.06533400065518435 + ], + "units": "m" }, "center_of_mass": [ 0.002159256488084793, @@ -59,7 +65,7 @@ 0.0015085648046806455, 0.0023023837711662054 ], - "mass": 1.4, + "mass": 1.399999976158142, "material": "plastic", "name": "D00280 Dough", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00280 Dough", "part_name": "D00280 Dough" }, - "volume": 0.0012173912836157758 + "volume": 0.0012173912836157758, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "213492e348c4753646d6cd42233cb81eb77ef1d406207c28ed11b14fb7467113" + }, + "usd_path": "batch17/D00280 Dough/IsaacSim_assets_6a6c6a6bcb2d3efc65bf48f6/IsaacSim_asset_6a6c6a6bcb2d3efc65bf48f6.usd", + "usd_sha256": "1b5ab23a4dbbb929736a229e833bdb9fb69e9daaf57fffb68ae720b0dcfd9554", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.12515899538993835, 0.12515299767255783, 0.06533400065518435 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1b5ab23a4dbbb929736a229e833bdb9fb69e9daaf57fffb68ae720b0dcfd9554", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.4 + "value_kg": 1.399999976158142, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1b5ab23a4dbbb929736a229e833bdb9fb69e9daaf57fffb68ae720b0dcfd9554", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.399999976158142, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 23, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1b5ab23a4dbbb929736a229e833bdb9fb69e9daaf57fffb68ae720b0dcfd9554", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 23, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1b5ab23a4dbbb929736a229e833bdb9fb69e9daaf57fffb68ae720b0dcfd9554", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00324 Fruit Bowl/IsaacSim_assets_6a6c7208cb2d3efc65c1cc94/physics_6a6c7208cb2d3efc65c1cc94.json b/batch17/D00324 Fruit Bowl/IsaacSim_assets_6a6c7208cb2d3efc65c1cc94/physics_6a6c7208cb2d3efc65c1cc94.json index 1d72cb099ce814c8de59d8401bef14b26b156052..5ce4c4d53660d4b01a28b9befa798eddda5fe436 100644 --- a/batch17/D00324 Fruit Bowl/IsaacSim_assets_6a6c7208cb2d3efc65c1cc94/physics_6a6c7208cb2d3efc65c1cc94.json +++ b/batch17/D00324 Fruit Bowl/IsaacSim_assets_6a6c7208cb2d3efc65c1cc94/physics_6a6c7208cb2d3efc65c1cc94.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14133700728416443, - 0.14148500561714172, - 0.10794299840927124 - ], "min": [ -0.1415649950504303, -0.14153100550174713, -0.00018000000272877514 ], + "max": [ + 0.14133700728416443, + 0.14148500561714172, + 0.10794299840927124 + ], "size": [ 0.2829020023345947, 0.28301601111888885, 0.10812299841200002 - ] + ], + "units": "m" }, "description": "D00324 Fruit Bowl", "name": "D00324 Fruit Bowl", "object_type": "rigid_bodies", - "total_mass": 1.05 + "total_mass": 1.0499999523162842, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00324", "parts": [ { "bounds": { - "center": [ - -0.00011399388313293457, - -2.2999942302703857e-05, - 0.05388149920327123 + "min": [ + -0.1415649950504303, + -0.14153100550174713, + -0.00018000000272877514 ], "max": [ 0.14133700728416443, 0.14148500561714172, 0.10794299840927124 ], - "min": [ - -0.1415649950504303, - -0.14153100550174713, - -0.00018000000272877514 - ] + "size": [ + 0.2829020023345947, + 0.28301601111888885, + 0.10812299841200002 + ], + "units": "m" }, "center_of_mass": [ -9.231676813215017e-05, @@ -59,7 +65,7 @@ 0.006565753370523453, 0.010633382946252823 ], - "mass": 1.05, + "mass": 1.0499999523162842, "material": "ceramic", "name": "D00324 Fruit Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00324 Fruit Bowl", "part_name": "D00324 Fruit Bowl" }, - "volume": 0.000477272705598311 + "volume": 0.000477272705598311, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6a71a3f1478f2b0ecda70a580546bc0466530a0296723891aeaaaf1e5d20dd3e" + }, + "usd_path": "batch17/D00324 Fruit Bowl/IsaacSim_assets_6a6c7208cb2d3efc65c1cc94/IsaacSim_asset_6a6c7208cb2d3efc65c1cc94.usd", + "usd_sha256": "d4c6fbd5af05f495b7de30c679112d41732ef5091a8892f2ba021b62b974401c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.2829020023345947, 0.28301601111888885, 0.10812299841200002 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4c6fbd5af05f495b7de30c679112d41732ef5091a8892f2ba021b62b974401c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.05 + "value_kg": 1.0499999523162842, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4c6fbd5af05f495b7de30c679112d41732ef5091a8892f2ba021b62b974401c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0499999523162842, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 86, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4c6fbd5af05f495b7de30c679112d41732ef5091a8892f2ba021b62b974401c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 86, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4c6fbd5af05f495b7de30c679112d41732ef5091a8892f2ba021b62b974401c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00476 Knife Board/IsaacSim_assets_6a6c35d8cb2d3efc65b5eeae/physics_6a6c35d8cb2d3efc65b5eeae.json b/batch17/D00476 Knife Board/IsaacSim_assets_6a6c35d8cb2d3efc65b5eeae/physics_6a6c35d8cb2d3efc65b5eeae.json index 0f09a3c3e212eee06bcb9f154676ea71ba330978..3f7a92b17e17d89c131dd955d1fc295eeb345c51 100644 --- a/batch17/D00476 Knife Board/IsaacSim_assets_6a6c35d8cb2d3efc65b5eeae/physics_6a6c35d8cb2d3efc65b5eeae.json +++ b/batch17/D00476 Knife Board/IsaacSim_assets_6a6c35d8cb2d3efc65b5eeae/physics_6a6c35d8cb2d3efc65b5eeae.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.19875499606132507, - 0.15249000489711761, - 0.03288166970014572 - ], "min": [ -0.19812099635601044, -0.1507900059223175, 0.0014296695007942617 ], + "max": [ + 0.19875499606132507, + 0.15249000489711761, + 0.03288166970014572 + ], "size": [ 0.3968759924173355, 0.3032800108194351, 0.03145200019935146 - ] + ], + "units": "m" }, "description": "D00476 Knife Board", "name": "D00476 Knife Board", "object_type": "rigid_bodies", - "total_mass": 1.7 + "total_mass": 1.7000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00476", "parts": [ { "bounds": { - "center": [ - 0.0003169998526573181, - 0.0008499994874000549, - 0.01715566960046999 + "min": [ + -0.19812099635601044, + -0.1507900059223175, + 0.0014296695007942617 ], "max": [ 0.19875499606132507, 0.15249000489711761, 0.03288166970014572 ], - "min": [ - -0.19812099635601044, - -0.1507900059223175, - 0.0014296695007942617 - ] + "size": [ + 0.3968759924173355, + 0.3032800108194351, + 0.03145200019935146 + ], + "units": "m" }, "center_of_mass": [ 0.0002979649289045483, @@ -59,7 +65,7 @@ 0.02213147096335888, 0.03477787226438522 ], - "mass": 1.7, + "mass": 1.7000000476837158, "material": "wood", "name": "D00476 Knife Board", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00476 Knife Board", "part_name": "D00476 Knife Board" }, - "volume": 0.0024285714966910225 + "volume": 0.0024285714966910225, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e4c37c4adacaf63a08427ae511bd880f079fdd2e83373e86e87a0c5664e29d10" + }, + "usd_path": "batch17/D00476 Knife Board/IsaacSim_assets_6a6c35d8cb2d3efc65b5eeae/IsaacSim_asset_6a6c35d8cb2d3efc65b5eeae.usd", + "usd_sha256": "dfe787f763731ba5c20326d0ce5591c9d36f26787a9e0d29aa6ff0e81e0a4441", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.3968759924173355, 0.3032800108194351, 0.03145200019935146 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dfe787f763731ba5c20326d0ce5591c9d36f26787a9e0d29aa6ff0e81e0a4441", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.7 + "value_kg": 1.7000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dfe787f763731ba5c20326d0ce5591c9d36f26787a9e0d29aa6ff0e81e0a4441", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.7000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dfe787f763731ba5c20326d0ce5591c9d36f26787a9e0d29aa6ff0e81e0a4441", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dfe787f763731ba5c20326d0ce5591c9d36f26787a9e0d29aa6ff0e81e0a4441", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00477 Knife Holder/IsaacSim_assets_6a6c35b1cb2d3efc65b5e4eb/physics_6a6c35b1cb2d3efc65b5e4eb.json b/batch17/D00477 Knife Holder/IsaacSim_assets_6a6c35b1cb2d3efc65b5e4eb/physics_6a6c35b1cb2d3efc65b5e4eb.json index 949a79647f4a17be1fdafa7900228ff5df5b6c6f..a747726288315ed252e4cb33e3fbe69771836bab 100644 --- a/batch17/D00477 Knife Holder/IsaacSim_assets_6a6c35b1cb2d3efc65b5e4eb/physics_6a6c35b1cb2d3efc65b5e4eb.json +++ b/batch17/D00477 Knife Holder/IsaacSim_assets_6a6c35b1cb2d3efc65b5e4eb/physics_6a6c35b1cb2d3efc65b5e4eb.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07732000201940536, - 0.04089999943971634, - 0.17720549646764994 - ], "min": [ -0.08659200370311737, -0.040894001722335815, 0.0006505001269943023 ], + "max": [ + 0.07732000201940536, + 0.04089999943971634, + 0.17720549646764994 + ], "size": [ 0.16391200572252274, 0.08179400116205215, 0.17655499634065563 - ] + ], + "units": "m" }, "description": "D00477 Knife Holder", "name": "D00477 Knife Holder", "object_type": "rigid_bodies", - "total_mass": 2.5 + "total_mass": 2.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00477", "parts": [ { "bounds": { - "center": [ - -0.004636000841856003, - 2.998858690261841e-06, - 0.08892799829732212 + "min": [ + -0.08659200370311737, + -0.040894001722335815, + 0.0006505001269943023 ], "max": [ 0.07732000201940536, 0.04089999943971634, 0.17720549646764994 ], - "min": [ - -0.08659200370311737, - -0.040894001722335815, - 0.0006505001269943023 - ] + "size": [ + 0.16391200572252274, + 0.08179400116205215, + 0.17655499634065563 + ], + "units": "m" }, "center_of_mass": [ 0.004618181847035885, @@ -67,10 +73,27 @@ "object_name": "D00477 Knife Holder", "part_name": "D00477 Knife Holder" }, - "volume": 0.0035714285714285713 + "volume": 0.0035714285714285713, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a4a5fd9c33bfa065c91ce274df1d29799d6657c610c2a830807d604f7220373b" + }, + "usd_path": "batch17/D00477 Knife Holder/IsaacSim_assets_6a6c35b1cb2d3efc65b5e4eb/IsaacSim_asset_6a6c35b1cb2d3efc65b5e4eb.usd", + "usd_sha256": "eca03c84238adec107d102fc68452843211bef4d6a26000e45e7acb4962f0c36", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.16391200572252274, 0.08179400116205215, 0.17655499634065563 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eca03c84238adec107d102fc68452843211bef4d6a26000e45e7acb4962f0c36", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.5 + "value_kg": 2.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eca03c84238adec107d102fc68452843211bef4d6a26000e45e7acb4962f0c36", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 26, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eca03c84238adec107d102fc68452843211bef4d6a26000e45e7acb4962f0c36", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 26, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eca03c84238adec107d102fc68452843211bef4d6a26000e45e7acb4962f0c36", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00481 Knife Utens/IsaacSim_assets_6a6c34facb2d3efc65b5b17d/physics_6a6c34facb2d3efc65b5b17d.json b/batch17/D00481 Knife Utens/IsaacSim_assets_6a6c34facb2d3efc65b5b17d/physics_6a6c34facb2d3efc65b5b17d.json index f4e06d917de3a55a65c2572b95e8dbe6a09b4f8f..415f8447dede28d01d05ccdcded7227c85643ec9 100644 --- a/batch17/D00481 Knife Utens/IsaacSim_assets_6a6c34facb2d3efc65b5b17d/physics_6a6c34facb2d3efc65b5b17d.json +++ b/batch17/D00481 Knife Utens/IsaacSim_assets_6a6c34facb2d3efc65b5b17d/physics_6a6c34facb2d3efc65b5b17d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10370349884033203, - 0.02208634838461876, - 0.012692409567534924 - ], "min": [ -0.14417849481105804, -0.012906651012599468, 0.0001374089770251885 ], + "max": [ + 0.10370349884033203, + 0.02208634838461876, + 0.012692409567534924 + ], "size": [ 0.24788199365139008, 0.03499299939721823, 0.012555000590509735 - ] + ], + "units": "m" }, "description": "D00481 Knife Utens", "name": "D00481 Knife Utens", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00481", "parts": [ { "bounds": { - "center": [ - -0.020237497985363007, - 0.0045898486860096455, - 0.006414909272280056 + "min": [ + -0.14417849481105804, + -0.012906651012599468, + 0.0001374089770251885 ], "max": [ 0.10370349884033203, 0.02208634838461876, 0.012692409567534924 ], - "min": [ - -0.14417849481105804, - -0.012906651012599468, - 0.0001374089770251885 - ] + "size": [ + 0.24788199365139008, + 0.03499299939721823, + 0.012555000590509735 + ], + "units": "m" }, "center_of_mass": [ -0.054194819182157516, @@ -59,7 +65,7 @@ 0.0004508697893470526, 0.0004588026786223054 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "metal", "name": "D00481 Knife Utens", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00481 Knife Utens", "part_name": "D00481 Knife Utens" }, - "volume": 2.3141006781929108e-05 + "volume": 2.3141006781929108e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "be9836cd52ce46d0a2ad0982bda1f4022795ccc4c428b33d906896b6fde806a9" + }, + "usd_path": "batch17/D00481 Knife Utens/IsaacSim_assets_6a6c34facb2d3efc65b5b17d/IsaacSim_asset_6a6c34facb2d3efc65b5b17d.usd", + "usd_sha256": "499ecbeeb48e1461396f0e657a6fe71a2c942c8fb090e534c3cdae171257cc13", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.24788199365139008, 0.03499299939721823, 0.012555000590509735 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "499ecbeeb48e1461396f0e657a6fe71a2c942c8fb090e534c3cdae171257cc13", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "499ecbeeb48e1461396f0e657a6fe71a2c942c8fb090e534c3cdae171257cc13", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "499ecbeeb48e1461396f0e657a6fe71a2c942c8fb090e534c3cdae171257cc13", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "499ecbeeb48e1461396f0e657a6fe71a2c942c8fb090e534c3cdae171257cc13", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00487 Lemon/IsaacSim_assets_6a6c348ccb2d3efc65b59505/physics_6a6c348ccb2d3efc65b59505.json b/batch17/D00487 Lemon/IsaacSim_assets_6a6c348ccb2d3efc65b59505/physics_6a6c348ccb2d3efc65b59505.json index 0ed3db692f60a4faf201a475a76566e52db0877d..7912cb16a0db953ae66ad54fc04867688efeaa22 100644 --- a/batch17/D00487 Lemon/IsaacSim_assets_6a6c348ccb2d3efc65b59505/physics_6a6c348ccb2d3efc65b59505.json +++ b/batch17/D00487 Lemon/IsaacSim_assets_6a6c348ccb2d3efc65b59505/physics_6a6c348ccb2d3efc65b59505.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.030984999611973763, - 0.02018200047314167, - 0.03828899934887886 - ], "min": [ -0.026093000546097755, -0.019982000812888145, -1.700000029813964e-05 ], + "max": [ + 0.030984999611973763, + 0.02018200047314167, + 0.03828899934887886 + ], "size": [ 0.05707800015807152, 0.040164001286029816, 0.038305999349177 - ] + ], + "units": "m" }, "description": "D00487 Lemon", "name": "D00487 Lemon", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00487", "parts": [ { "bounds": { - "center": [ - 0.0024459995329380035, - 9.999983012676239e-05, - 0.01913599967429036 + "min": [ + -0.026093000546097755, + -0.019982000812888145, + -1.700000029813964e-05 ], "max": [ 0.030984999611973763, 0.02018200047314167, 0.03828899934887886 ], - "min": [ - -0.026093000546097755, - -0.019982000812888145, - -1.700000029813964e-05 - ] + "size": [ + 0.05707800015807152, + 0.040164001286029816, + 0.038305999349177 + ], + "units": "m" }, "center_of_mass": [ 0.0001156617800006643, @@ -59,7 +65,7 @@ 3.112422564299777e-05, 3.195873796357773e-05 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "plastic", "name": "D00487 Lemon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00487 Lemon", "part_name": "D00487 Lemon" }, - "volume": 0.00015000000596046448 + "volume": 0.00015000000596046448, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d2e3a6bd2bd0862d29f9574c61e3d9b2c1fd911e46d4ac4a928cd0669f0c0d78" + }, + "usd_path": "batch17/D00487 Lemon/IsaacSim_assets_6a6c348ccb2d3efc65b59505/IsaacSim_asset_6a6c348ccb2d3efc65b59505.usd", + "usd_sha256": "471af2fb10e938d7ef5f30de75bc952599320dc22cc7a336c92cf4bca681ca70", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.05707800015807152, 0.040164001286029816, 0.038305999349177 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "471af2fb10e938d7ef5f30de75bc952599320dc22cc7a336c92cf4bca681ca70", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "471af2fb10e938d7ef5f30de75bc952599320dc22cc7a336c92cf4bca681ca70", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "471af2fb10e938d7ef5f30de75bc952599320dc22cc7a336c92cf4bca681ca70", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "471af2fb10e938d7ef5f30de75bc952599320dc22cc7a336c92cf4bca681ca70", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00489 Lemon Half/IsaacSim_assets_6a6c3458cb2d3efc65b58474/physics_6a6c3458cb2d3efc65b58474.json b/batch17/D00489 Lemon Half/IsaacSim_assets_6a6c3458cb2d3efc65b58474/physics_6a6c3458cb2d3efc65b58474.json index eedd1c4edef2f9218c87e12902ac6d512cff83d3..b57afc13d215bba509ab1ccad4d2b2cb61b3fe2f 100644 --- a/batch17/D00489 Lemon Half/IsaacSim_assets_6a6c3458cb2d3efc65b58474/physics_6a6c3458cb2d3efc65b58474.json +++ b/batch17/D00489 Lemon Half/IsaacSim_assets_6a6c3458cb2d3efc65b58474/physics_6a6c3458cb2d3efc65b58474.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.018843999132514, - 0.023124000057578087, - 0.0397149994969368 - ], "min": [ -0.02249399945139885, -0.02090900018811226, -2.2000000171829015e-05 ], + "max": [ + 0.018843999132514, + 0.023124000057578087, + 0.0397149994969368 + ], "size": [ 0.04133799858391285, 0.044033000245690346, 0.03973699949710863 - ] + ], + "units": "m" }, "description": "D00489 Lemon Half", "name": "D00489 Lemon Half", "object_type": "rigid_bodies", - "total_mass": 0.071 + "total_mass": 0.07100000232458115, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00489", "parts": [ { "bounds": { - "center": [ - -0.0018250001594424248, - 0.001107499934732914, - 0.019846499748382485 + "min": [ + -0.02249399945139885, + -0.02090900018811226, + -2.2000000171829015e-05 ], "max": [ 0.018843999132514, 0.023124000057578087, 0.0397149994969368 ], - "min": [ - -0.02249399945139885, - -0.02090900018811226, - -2.2000000171829015e-05 - ] + "size": [ + 0.04133799858391285, + 0.044033000245690346, + 0.03973699949710863 + ], + "units": "m" }, "center_of_mass": [ 0.0004973413306288421, @@ -59,7 +65,7 @@ 1.0289624697179534e-05, 1.4191597983881366e-05 ], - "mass": 0.071, + "mass": 0.07100000232458115, "material": "plastic", "name": "D00489 Lemon Half", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00489 Lemon Half", "part_name": "D00489 Lemon Half" }, - "volume": 7.100000232458115e-05 + "volume": 7.100000232458115e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "09b3ab0391bea6a2349956c26cc24a392305189279ac881f33625400599bdebc" + }, + "usd_path": "batch17/D00489 Lemon Half/IsaacSim_assets_6a6c3458cb2d3efc65b58474/IsaacSim_asset_6a6c3458cb2d3efc65b58474.usd", + "usd_sha256": "0c9dd8501cdb9e2308ee2ba414ac0c80a099f8b7bbb326b70f4f986c377afd9f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.04133799858391285, 0.044033000245690346, 0.03973699949710863 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0c9dd8501cdb9e2308ee2ba414ac0c80a099f8b7bbb326b70f4f986c377afd9f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.071 + "value_kg": 0.07100000232458115, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0c9dd8501cdb9e2308ee2ba414ac0c80a099f8b7bbb326b70f4f986c377afd9f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07100000232458115, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0c9dd8501cdb9e2308ee2ba414ac0c80a099f8b7bbb326b70f4f986c377afd9f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0c9dd8501cdb9e2308ee2ba414ac0c80a099f8b7bbb326b70f4f986c377afd9f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00512 Metal Cup/IsaacSim_assets_6a6c32b4cb2d3efc65b4fd63/physics_6a6c32b4cb2d3efc65b4fd63.json b/batch17/D00512 Metal Cup/IsaacSim_assets_6a6c32b4cb2d3efc65b4fd63/physics_6a6c32b4cb2d3efc65b4fd63.json index b30f6aa9d062ab4555fe5b5126603370814b7e0d..f7d8858bc35e1fad675f6ed2d7a85488f3292bf2 100644 --- a/batch17/D00512 Metal Cup/IsaacSim_assets_6a6c32b4cb2d3efc65b4fd63/physics_6a6c32b4cb2d3efc65b4fd63.json +++ b/batch17/D00512 Metal Cup/IsaacSim_assets_6a6c32b4cb2d3efc65b4fd63/physics_6a6c32b4cb2d3efc65b4fd63.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03364900127053261, - 0.03353999927639961, - 0.09772955736843869 - ], "min": [ -0.033608999103307724, -0.03349500149488449, 0.0003475599958164821 ], + "max": [ + 0.03364900127053261, + 0.03353999927639961, + 0.09772955736843869 + ], "size": [ 0.06725800037384033, 0.0670350007712841, 0.09738199737262221 - ] + ], + "units": "m" }, "description": "D00512 Metal Cup", "name": "D00512 Metal Cup", "object_type": "rigid_bodies", - "total_mass": 0.224 + "total_mass": 0.2240000069141388, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00512", "parts": [ { "bounds": { - "center": [ - 2.0001083612442017e-05, - 2.249889075756073e-05, - 0.049038558682127587 + "min": [ + -0.033608999103307724, + -0.03349500149488449, + 0.0003475599958164821 ], "max": [ 0.03364900127053261, 0.03353999927639961, 0.09772955736843869 ], - "min": [ - -0.033608999103307724, - -0.03349500149488449, - 0.0003475599958164821 - ] + "size": [ + 0.06725800037384033, + 0.0670350007712841, + 0.09738199737262221 + ], + "units": "m" }, "center_of_mass": [ 4.2426021536812186e-05, @@ -59,7 +65,7 @@ 0.00030060086282901466, 0.0003011726657859981 ], - "mass": 0.224, + "mass": 0.2240000069141388, "material": "metal", "name": "D00512 Metal Cup", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00512 Metal Cup", "part_name": "D00512 Metal Cup" }, - "volume": 2.8354431254954277e-05 + "volume": 2.8354431254954277e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "51b443a3f840d2306e895fee6fe88eba07fe909a6317b0d58574d3b5c955626e" + }, + "usd_path": "batch17/D00512 Metal Cup/IsaacSim_assets_6a6c32b4cb2d3efc65b4fd63/IsaacSim_asset_6a6c32b4cb2d3efc65b4fd63.usd", + "usd_sha256": "57e68a405fadf95c8be00a1944827f12ec03f55f44fe38b63df982ece50375a4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.06725800037384033, 0.0670350007712841, 0.09738199737262221 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "57e68a405fadf95c8be00a1944827f12ec03f55f44fe38b63df982ece50375a4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.224 + "value_kg": 0.2240000069141388, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "57e68a405fadf95c8be00a1944827f12ec03f55f44fe38b63df982ece50375a4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2240000069141388, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "57e68a405fadf95c8be00a1944827f12ec03f55f44fe38b63df982ece50375a4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 104, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "57e68a405fadf95c8be00a1944827f12ec03f55f44fe38b63df982ece50375a4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00535 Muffin/IsaacSim_assets_6a6c2ec3cb2d3efc65b3d0df/physics_6a6c2ec3cb2d3efc65b3d0df.json b/batch17/D00535 Muffin/IsaacSim_assets_6a6c2ec3cb2d3efc65b3d0df/physics_6a6c2ec3cb2d3efc65b3d0df.json index d355a066422bfb78047ff8516973104919318a88..6fc0d0ca3a8209e5fd31eac281b3c5a5e1b654e1 100644 --- a/batch17/D00535 Muffin/IsaacSim_assets_6a6c2ec3cb2d3efc65b3d0df/physics_6a6c2ec3cb2d3efc65b3d0df.json +++ b/batch17/D00535 Muffin/IsaacSim_assets_6a6c2ec3cb2d3efc65b3d0df/physics_6a6c2ec3cb2d3efc65b3d0df.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03226099908351898, - 0.03235499933362007, - 0.050227959640324116 - ], "min": [ -0.0316770002245903, -0.03159699961543083, 0.00032096004906634334 ], + "max": [ + 0.03226099908351898, + 0.03235499933362007, + 0.050227959640324116 + ], "size": [ 0.06393799930810928, 0.0639519989490509, 0.04990699959125777 - ] + ], + "units": "m" }, "description": "D00535 Muffin", "name": "D00535 Muffin", "object_type": "rigid_bodies", - "total_mass": 0.12 + "total_mass": 0.11999999731779099, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00535", "parts": [ { "bounds": { - "center": [ - 0.0002919994294643402, - 0.00037899985909461975, - 0.02527445984469523 + "min": [ + -0.0316770002245903, + -0.03159699961543083, + 0.00032096004906634334 ], "max": [ 0.03226099908351898, 0.03235499933362007, 0.050227959640324116 ], - "min": [ - -0.0316770002245903, - -0.03159699961543083, - 0.00032096004906634334 - ] + "size": [ + 0.06393799930810928, + 0.0639519989490509, + 0.04990699959125777 + ], + "units": "m" }, "center_of_mass": [ 0.00015987909864634275, @@ -59,7 +65,7 @@ 3.9620252209715545e-05, 4.539946166914888e-05 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "foam", "name": "D00535 Muffin", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00535 Muffin", "part_name": "D00535 Muffin" }, - "volume": 0.00024999999441206456 + "volume": 0.00024999999441206456, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "58a22aac14929cc1e60b2d08e5aeccb13e9a4f5f5c854ba65071016a31b447f1" + }, + "usd_path": "batch17/D00535 Muffin/IsaacSim_assets_6a6c2ec3cb2d3efc65b3d0df/IsaacSim_asset_6a6c2ec3cb2d3efc65b3d0df.usd", + "usd_sha256": "b4cde15961334079b0cd46e79c94c48faa39e20c127e12aac7d3b0ed5290c9e2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.06393799930810928, 0.0639519989490509, 0.04990699959125777 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b4cde15961334079b0cd46e79c94c48faa39e20c127e12aac7d3b0ed5290c9e2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.12 + "value_kg": 0.11999999731779099, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b4cde15961334079b0cd46e79c94c48faa39e20c127e12aac7d3b0ed5290c9e2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11999999731779099, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b4cde15961334079b0cd46e79c94c48faa39e20c127e12aac7d3b0ed5290c9e2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b4cde15961334079b0cd46e79c94c48faa39e20c127e12aac7d3b0ed5290c9e2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00549 Napkin Holder/IsaacSim_assets_6a6c2d3ecb2d3efc65b34b96/physics_6a6c2d3ecb2d3efc65b34b96.json b/batch17/D00549 Napkin Holder/IsaacSim_assets_6a6c2d3ecb2d3efc65b34b96/physics_6a6c2d3ecb2d3efc65b34b96.json index 5f9819af4bf63efe4154de3a0230e235204e8bbd..2ef340437a09d3abd3821d7bf53fed823b31112a 100644 --- a/batch17/D00549 Napkin Holder/IsaacSim_assets_6a6c2d3ecb2d3efc65b34b96/physics_6a6c2d3ecb2d3efc65b34b96.json +++ b/batch17/D00549 Napkin Holder/IsaacSim_assets_6a6c2d3ecb2d3efc65b34b96/physics_6a6c2d3ecb2d3efc65b34b96.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05967000126838684, - 0.028231000527739525, - 0.1471953745931387 - ], "min": [ -0.06028300151228905, -0.027966000139713287, 0.000775380720369867 ], + "max": [ + 0.05967000126838684, + 0.028231000527739525, + 0.1471953745931387 + ], "size": [ 0.11995300278067589, 0.05619700066745281, 0.14641999387276883 - ] + ], + "units": "m" }, "description": "D00549 Napkin Holder", "name": "D00549 Napkin Holder", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.3499999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00549", "parts": [ { "bounds": { - "center": [ - -0.0003065001219511032, - 0.00013250019401311874, - 0.07398537765675428 + "min": [ + -0.06028300151228905, + -0.027966000139713287, + 0.000775380720369867 ], "max": [ 0.05967000126838684, 0.028231000527739525, 0.1471953745931387 ], - "min": [ - -0.06028300151228905, - -0.027966000139713287, - 0.000775380720369867 - ] + "size": [ + 0.11995300278067589, + 0.05619700066745281, + 0.14641999387276883 + ], + "units": "m" }, "center_of_mass": [ -0.0008146616164594889, @@ -59,7 +65,7 @@ 0.000623039435595274, 0.0009120951872318983 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "metal", "name": "D00549 Napkin Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00549 Napkin Holder", "part_name": "D00549 Napkin Holder" }, - "volume": 4.3494469248109296e-05 + "volume": 4.3494469248109296e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "62be5b4e81193e191f5deaeb908781996a866198e76df9860ee20034a40cbb93" + }, + "usd_path": "batch17/D00549 Napkin Holder/IsaacSim_assets_6a6c2d3ecb2d3efc65b34b96/IsaacSim_asset_6a6c2d3ecb2d3efc65b34b96.usd", + "usd_sha256": "3214b849adc05bb6b2a92c64b0094f273afb8fcc7fdac412c4558717091ebdb2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.11995300278067589, 0.05619700066745281, 0.14641999387276883 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3214b849adc05bb6b2a92c64b0094f273afb8fcc7fdac412c4558717091ebdb2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.3499999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3214b849adc05bb6b2a92c64b0094f273afb8fcc7fdac412c4558717091ebdb2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3499999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3214b849adc05bb6b2a92c64b0094f273afb8fcc7fdac412c4558717091ebdb2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3214b849adc05bb6b2a92c64b0094f273afb8fcc7fdac412c4558717091ebdb2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00552 Notebook/IsaacSim_assets_6a6c2cc6cb2d3efc65b32368/physics_6a6c2cc6cb2d3efc65b32368.json b/batch17/D00552 Notebook/IsaacSim_assets_6a6c2cc6cb2d3efc65b32368/physics_6a6c2cc6cb2d3efc65b32368.json index 143b41f9358ae3cfde78bab1026c34eafb9ae9c0..2e064196b5237762562f6629811cdf25aed3e3bd 100644 --- a/batch17/D00552 Notebook/IsaacSim_assets_6a6c2cc6cb2d3efc65b32368/physics_6a6c2cc6cb2d3efc65b32368.json +++ b/batch17/D00552 Notebook/IsaacSim_assets_6a6c2cc6cb2d3efc65b32368/physics_6a6c2cc6cb2d3efc65b32368.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07249700278043747, - 0.09393300116062164, - 0.1024286076426506 - ], "min": [ -0.07187899947166443, -0.09494999796152115, 0.0010376099735367461 ], + "max": [ + 0.07249700278043747, + 0.09393300116062164, + 0.1024286076426506 + ], "size": [ 0.1443760022521019, 0.1888829991221428, 0.10139099766911386 - ] + ], + "units": "m" }, "description": "D00552 Notebook", "name": "D00552 Notebook", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00552", "parts": [ { "bounds": { - "center": [ - 0.0003090016543865204, - -0.0005084984004497528, - 0.051733108808093675 + "min": [ + -0.07187899947166443, + -0.09494999796152115, + 0.0010376099735367461 ], "max": [ 0.07249700278043747, 0.09393300116062164, 0.1024286076426506 ], - "min": [ - -0.07187899947166443, - -0.09494999796152115, - 0.0010376099735367461 - ] + "size": [ + 0.1443760022521019, + 0.1888829991221428, + 0.10139099766911386 + ], + "units": "m" }, "center_of_mass": [ 0.011110059916973114, @@ -59,7 +65,7 @@ 0.001360489521175623, 0.001794471638277173 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "wood", "name": "D00552 Notebook", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00552 Notebook", "part_name": "D00552 Notebook" }, - "volume": 0.0005000000074505806 + "volume": 0.0005000000074505806, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "60003ec601f4a553b22b0b4863ddee00120f10e776a5e4fa5f76f85c15b52c79" + }, + "usd_path": "batch17/D00552 Notebook/IsaacSim_assets_6a6c2cc6cb2d3efc65b32368/IsaacSim_asset_6a6c2cc6cb2d3efc65b32368.usd", + "usd_sha256": "a35bb8d3c82410b77c4dd406cd48aac3a9e88652cb56e39d162a0556593e9cfa", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1443760022521019, 0.1888829991221428, 0.10139099766911386 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a35bb8d3c82410b77c4dd406cd48aac3a9e88652cb56e39d162a0556593e9cfa", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a35bb8d3c82410b77c4dd406cd48aac3a9e88652cb56e39d162a0556593e9cfa", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a35bb8d3c82410b77c4dd406cd48aac3a9e88652cb56e39d162a0556593e9cfa", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a35bb8d3c82410b77c4dd406cd48aac3a9e88652cb56e39d162a0556593e9cfa", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00553 Notebook Cookbook/IsaacSim_assets_6a6c2b78cb2d3efc65b2c1a4/physics_6a6c2b78cb2d3efc65b2c1a4.json b/batch17/D00553 Notebook Cookbook/IsaacSim_assets_6a6c2b78cb2d3efc65b2c1a4/physics_6a6c2b78cb2d3efc65b2c1a4.json index a7be9ea5363de212c56214f57e76be0f0dea924b..08e72b17f60e75ca3ffcf76b04f63d0dfa97290b 100644 --- a/batch17/D00553 Notebook Cookbook/IsaacSim_assets_6a6c2b78cb2d3efc65b2c1a4/physics_6a6c2b78cb2d3efc65b2c1a4.json +++ b/batch17/D00553 Notebook Cookbook/IsaacSim_assets_6a6c2b78cb2d3efc65b2c1a4/physics_6a6c2b78cb2d3efc65b2c1a4.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09167899936437607, - 0.1256919950246811, - 0.06474357936531305 - ], "min": [ -0.09780299663543701, -0.1260180026292801, 0.0009205797687172908 ], + "max": [ + 0.09167899936437607, + 0.1256919950246811, + 0.06474357936531305 + ], "size": [ 0.18948199599981308, 0.2517099976539612, 0.06382299959659576 - ] + ], + "units": "m" }, "description": "D00553 Notebook Cookbook", "name": "D00553 Notebook Cookbook", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00553", "parts": [ { "bounds": { - "center": [ - -0.003061998635530472, - -0.0001630038022994995, - 0.03283207956701517 + "min": [ + -0.09780299663543701, + -0.1260180026292801, + 0.0009205797687172908 ], "max": [ 0.09167899936437607, 0.1256919950246811, 0.06474357936531305 ], - "min": [ - -0.09780299663543701, - -0.1260180026292801, - 0.0009205797687172908 - ] + "size": [ + 0.18948199599981308, + 0.2517099976539612, + 0.06382299959659576 + ], + "units": "m" }, "center_of_mass": [ -0.0018667185213416815, @@ -59,7 +65,7 @@ 0.006710431072860956, 0.009779724292457104 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "wood", "name": "D00553 Notebook Cookbook", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00553 Notebook Cookbook", "part_name": "D00553 Notebook Cookbook" }, - "volume": 0.0015000000596046448 + "volume": 0.0015000000596046448, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "52db5719be0596125946d72794a83c02ae24589ffb516bb5e8d324e648218abd" + }, + "usd_path": "batch17/D00553 Notebook Cookbook/IsaacSim_assets_6a6c2b78cb2d3efc65b2c1a4/IsaacSim_asset_6a6c2b78cb2d3efc65b2c1a4.usd", + "usd_sha256": "b4dff3c84bb8263daec8cb865f30ee8d5ca301f1e3cc06f739ae282f231c286a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.18948199599981308, 0.2517099976539612, 0.06382299959659576 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b4dff3c84bb8263daec8cb865f30ee8d5ca301f1e3cc06f739ae282f231c286a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b4dff3c84bb8263daec8cb865f30ee8d5ca301f1e3cc06f739ae282f231c286a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b4dff3c84bb8263daec8cb865f30ee8d5ca301f1e3cc06f739ae282f231c286a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b4dff3c84bb8263daec8cb865f30ee8d5ca301f1e3cc06f739ae282f231c286a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00591 Pasta/IsaacSim_assets_6a6c271ecb2d3efc65b149dc/physics_6a6c271ecb2d3efc65b149dc.json b/batch17/D00591 Pasta/IsaacSim_assets_6a6c271ecb2d3efc65b149dc/physics_6a6c271ecb2d3efc65b149dc.json index 9f42c348ea1da2e3120bc36f6c01bb5fb55f2c04..05f3ab17f82d4d6c8180a34b747e7275a59a4c94 100644 --- a/batch17/D00591 Pasta/IsaacSim_assets_6a6c271ecb2d3efc65b149dc/physics_6a6c271ecb2d3efc65b149dc.json +++ b/batch17/D00591 Pasta/IsaacSim_assets_6a6c271ecb2d3efc65b149dc/physics_6a6c271ecb2d3efc65b149dc.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.01754000037908554, - 0.013011000119149685, - 0.0063680000603199005 - ], "min": [ -0.01738700084388256, -0.013124999590218067, -9.999999974752427e-07 ], + "max": [ + 0.01754000037908554, + 0.013011000119149685, + 0.0063680000603199005 + ], "size": [ 0.0349270012229681, 0.026135999709367752, 0.006369000060317376 - ] + ], + "units": "m" }, "description": "D00591 Pasta", "name": "D00591 Pasta", "object_type": "rigid_bodies", - "total_mass": 0.000704 + "total_mass": 0.0007035000016912818, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00591", "parts": [ { "bounds": { - "center": [ - 7.649976760149002e-05, - -5.699973553419113e-05, - 0.0031835000301612126 + "min": [ + -0.01738700084388256, + -0.013124999590218067, + -9.999999974752427e-07 ], "max": [ 0.01754000037908554, 0.013011000119149685, 0.0063680000603199005 ], - "min": [ - -0.01738700084388256, - -0.013124999590218067, - -9.999999974752427e-07 - ] + "size": [ + 0.0349270012229681, + 0.026135999709367752, + 0.006369000060317376 + ], + "units": "m" }, "center_of_mass": [ -5.942192001384683e-05, @@ -59,7 +65,7 @@ 5.082997134309153e-08, 7.720468175875794e-08 ], - "mass": 0.000704, + "mass": 0.0007035000016912818, "material": "composite", "name": "D00591 Pasta", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00591 Pasta", "part_name": "D00591 Pasta" }, - "volume": 5.025000012080585e-07 + "volume": 5.025000012080585e-07, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1912010934fa1dffbe431144768707497ca0baac4b3dbc142f466f1789a8caaa" + }, + "usd_path": "batch17/D00591 Pasta/IsaacSim_assets_6a6c271ecb2d3efc65b149dc/IsaacSim_asset_6a6c271ecb2d3efc65b149dc.usd", + "usd_sha256": "8df3f401f9a3b5638080217d90002d67bd91af86ce6f7ec5aa5768aba0bce2cd", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.0349270012229681, 0.026135999709367752, 0.006369000060317376 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8df3f401f9a3b5638080217d90002d67bd91af86ce6f7ec5aa5768aba0bce2cd", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.000704 + "value_kg": 0.0007035000016912818, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8df3f401f9a3b5638080217d90002d67bd91af86ce6f7ec5aa5768aba0bce2cd", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0007035000016912818, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 171, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8df3f401f9a3b5638080217d90002d67bd91af86ce6f7ec5aa5768aba0bce2cd", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 171, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8df3f401f9a3b5638080217d90002d67bd91af86ce6f7ec5aa5768aba0bce2cd", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00597 Peeler/IsaacSim_assets_6a6c26a0cb2d3efc65b128bc/physics_6a6c26a0cb2d3efc65b128bc.json b/batch17/D00597 Peeler/IsaacSim_assets_6a6c26a0cb2d3efc65b128bc/physics_6a6c26a0cb2d3efc65b128bc.json index ce690caf2c6416b7cf8541930a08da52b1360b17..66da49f8442463bf93351b1b32be0fed315e4e2d 100644 --- a/batch17/D00597 Peeler/IsaacSim_assets_6a6c26a0cb2d3efc65b128bc/physics_6a6c26a0cb2d3efc65b128bc.json +++ b/batch17/D00597 Peeler/IsaacSim_assets_6a6c26a0cb2d3efc65b128bc/physics_6a6c26a0cb2d3efc65b128bc.json @@ -1,50 +1,204 @@ { "articulation": { - "has_joints": false, - "joints": [] + "has_joints": true, + "joints": [ + { + "id": "joint_part_03__part_00", + "path": "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/Joints/joint_part_03__part_00", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_3" + ], + "body1_targets": [ + "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_0" + ], + "authored_usd": { + "id": "joint_part_03__part_00", + "source_prim_path": "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/Joints/joint_part_03__part_00", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_3" + ], + "body1": [ + "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_0" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -35.0, + "upperLimit": 35.0, + "localPos0": [ + -0.04551740363240242, + -0.0003284216800238937, + 0.011082195676863194 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 0.0, + 0.0, + 0.0, + -1.0 + ], + "localRot1": [ + 0.0, + 0.0, + 0.0, + -1.0 + ], + "static_frames": [] + }, + "type": "PhysicsRevoluteJoint" + }, + { + "id": "joint_part_03__part_01", + "path": "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/Joints/joint_part_03__part_01", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_3" + ], + "body1_targets": [ + "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_1" + ], + "authored_usd": { + "id": "joint_part_03__part_01", + "source_prim_path": "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/Joints/joint_part_03__part_01", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_3" + ], + "body1": [ + "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_part_03__part_02", + "path": "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/Joints/joint_part_03__part_02", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_3" + ], + "body1_targets": [ + "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_2" + ], + "authored_usd": { + "id": "joint_part_03__part_02", + "source_prim_path": "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/Joints/joint_part_03__part_02", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_3" + ], + "body1": [ + "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + } + ], + "moving_joints": 1, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07874900102615356, - 0.03779099881649017, - 0.022432999685406685 - ], "min": [ -0.0533440001308918, -0.03781500086188316, -7.000000186963007e-05 ], + "max": [ + 0.07874900102615356, + 0.03779099881649017, + 0.022432999685406685 + ], "size": [ 0.13209300115704536, 0.07560599967837334, 0.022502999687276315 - ] + ], + "units": "m" }, "description": "D00597 Peeler", "name": "D00597 Peeler", "object_type": "rigid_bodies", - "total_mass": 0.072 + "total_mass": 0.07199999853037298, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00597", "parts": [ { "bounds": { - "center": [ - -0.045007498934865, - -1.600012183189392e-05, - 0.011154500069096684 + "min": [ + -0.0523889996111393, + -0.03448399901390076, + 0.004925000015646219 ], "max": [ -0.0376259982585907, 0.03445199877023697, 0.01738400012254715 ], - "min": [ - -0.0523889996111393, - -0.03448399901390076, - 0.004925000015646219 - ] + "size": [ + 0.0147630013525486, + 0.06893599778413773, + 0.01245900010690093 + ], + "units": "m" }, "center_of_mass": [ 0.0005349403363652527, @@ -59,7 +213,7 @@ 3.7551496916421456e-06, 3.837691110675223e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "metal", "name": "D00597 Peeler", "physics_type": "rigid", @@ -67,25 +221,28 @@ "object_name": "D00597 Peeler", "part_name": "D00597 Peeler" }, - "volume": 1.2820512533952028e-06 + "volume": 1.2820512533952028e-06, + "source_prim_path": "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.04549599997699261, - 0.03609499894082546, - 0.010906499810516834 + "min": [ + -0.048868000507354736, + 0.03439899906516075, + 0.007836000062525272 ], "max": [ -0.04212399944663048, 0.03779099881649017, 0.013976999558508396 ], - "min": [ - -0.048868000507354736, - 0.03439899906516075, - 0.007836000062525272 - ] + "size": [ + 0.006744001060724258, + 0.003391999751329422, + 0.006140999495983124 + ], + "units": "m" }, "center_of_mass": [ -0.04557280242443085, @@ -100,7 +257,7 @@ 3.0181630528147707e-09, 4.622023208611381e-09 ], - "mass": 0.001, + "mass": 0.0010000000474974513, "material": "metal", "name": "D00597 Peeler", "physics_type": "rigid", @@ -108,25 +265,28 @@ "object_name": "D00597 Peeler", "part_name": "D00597 Peeler" }, - "volume": 1.2820513429454505e-07 + "volume": 1.2820513429454505e-07, + "source_prim_path": "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.045275500044226646, - -0.0344845000654459, - 0.010887000011280179 + "min": [ + -0.04882499948143959, + -0.03781500086188316, + 0.007811000104993582 ], "max": [ -0.0417260006070137, -0.031153999269008636, 0.013962999917566776 ], - "min": [ - -0.04882499948143959, - -0.03781500086188316, - 0.007811000104993582 - ] + "size": [ + 0.007098998874425888, + 0.006661001592874527, + 0.0061519998125731945 + ], + "units": "m" }, "center_of_mass": [ -0.045489292591810226, @@ -141,7 +301,7 @@ 5.62525670488867e-09, 5.9486584547130406e-09 ], - "mass": 0.001, + "mass": 0.0010000000474974513, "material": "metal", "name": "D00597 Peeler", "physics_type": "rigid", @@ -149,25 +309,28 @@ "object_name": "D00597 Peeler", "part_name": "D00597 Peeler" }, - "volume": 1.2820513429454505e-07 + "volume": 1.2820513429454505e-07, + "source_prim_path": "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.012702500447630882, - -6.099976599216461e-05, - 0.011181499841768527 + "min": [ + -0.0533440001308918, + -0.03682100027799606, + -7.000000186963007e-05 ], "max": [ 0.07874900102615356, 0.036699000746011734, 0.022432999685406685 ], - "min": [ - -0.0533440001308918, - -0.03682100027799606, - -7.000000186963007e-05 - ] + "size": [ + 0.13209300115704536, + 0.0735200010240078, + 0.022502999687276315 + ], + "units": "m" }, "center_of_mass": [ 0.0026984165888279676, @@ -182,7 +345,7 @@ 6.675108306808397e-05, 8.090704795904458e-05 ], - "mass": 0.06, + "mass": 0.05999999865889549, "material": "plastic", "name": "D00597 Peeler", "physics_type": "rigid", @@ -190,10 +353,27 @@ "object_name": "D00597 Peeler", "part_name": "D00597 Peeler" }, - "volume": 5.454545332626863e-05 + "volume": 5.454545332626863e-05, + "source_prim_path": "/World/textured_mesh_6a6c26a0cb2d3efc65b128bc/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "97f7f2482ffcb430ce4ce7189a5001e898709771801742039e986b1365d21c2f" + }, + "usd_path": "batch17/D00597 Peeler/IsaacSim_assets_6a6c26a0cb2d3efc65b128bc/IsaacSim_asset_6a6c26a0cb2d3efc65b128bc.usd", + "usd_sha256": "3ab263aad3ad9ddc4a72a79a02b22fe725524d2306ba9c18eb371c929d4bfd1f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -214,22 +394,56 @@ 0.13209300115704536, 0.07560599967837334, 0.022502999687276315 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3ab263aad3ad9ddc4a72a79a02b22fe725524d2306ba9c18eb371c929d4bfd1f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.072 + "value_kg": 0.07199999853037298, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3ab263aad3ad9ddc4a72a79a02b22fe725524d2306ba9c18eb371c929d4bfd1f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07199999853037298, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 356, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3ab263aad3ad9ddc4a72a79a02b22fe725524d2306ba9c18eb371c929d4bfd1f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 356, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3ab263aad3ad9ddc4a72a79a02b22fe725524d2306ba9c18eb371c929d4bfd1f", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00615 Pie/IsaacSim_assets_6a6ad49dcb2d3efc659fce7c/physics_6a6ad49dcb2d3efc659fce7c.json b/batch17/D00615 Pie/IsaacSim_assets_6a6ad49dcb2d3efc659fce7c/physics_6a6ad49dcb2d3efc659fce7c.json index 54e43349d822dd9186bd091de10328b98a4b03da..1f923515430bbec9a3c3100661ae819cedb027ff 100644 --- a/batch17/D00615 Pie/IsaacSim_assets_6a6ad49dcb2d3efc659fce7c/physics_6a6ad49dcb2d3efc659fce7c.json +++ b/batch17/D00615 Pie/IsaacSim_assets_6a6ad49dcb2d3efc659fce7c/physics_6a6ad49dcb2d3efc659fce7c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08263099938631058, - 0.08254600316286087, - 0.05200839135795832 - ], "min": [ -0.08171100169420242, -0.0815190002322197, 0.0007963903190102428 ], + "max": [ + 0.08263099938631058, + 0.08254600316286087, + 0.05200839135795832 + ], "size": [ 0.164342001080513, 0.16406500339508057, 0.051212001038948074 - ] + ], + "units": "m" }, "description": "D00615 Pie", "name": "D00615 Pie", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00615", "parts": [ { "bounds": { - "center": [ - 0.00045999884605407715, - 0.0005135014653205872, - 0.02640239083848428 + "min": [ + -0.08171100169420242, + -0.0815190002322197, + 0.0007963903190102428 ], "max": [ 0.08263099938631058, 0.08254600316286087, 0.05200839135795832 ], - "min": [ - -0.08171100169420242, - -0.0815190002322197, - 0.0007963903190102428 - ] + "size": [ + 0.164342001080513, + 0.16406500339508057, + 0.051212001038948074 + ], + "units": "m" }, "center_of_mass": [ 0.00023097156372386962, @@ -59,7 +65,7 @@ 0.0018091612728312612, 0.0031638031359761953 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "wood", "name": "D00615 Pie", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00615 Pie", "part_name": "D00615 Pie" }, - "volume": 0.0020000000794728598 + "volume": 0.0020000000794728598, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "871840b1ea26720516a963453a4e2d786e9f4fdcbbd30a735444a906c44a151a" + }, + "usd_path": "batch17/D00615 Pie/IsaacSim_assets_6a6ad49dcb2d3efc659fce7c/IsaacSim_asset_6a6ad49dcb2d3efc659fce7c.usd", + "usd_sha256": "ae7295049643ba910c0c5a4650778ab1c27a9f8dd5025aae6f9b903b3fde0c08", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.164342001080513, 0.16406500339508057, 0.051212001038948074 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae7295049643ba910c0c5a4650778ab1c27a9f8dd5025aae6f9b903b3fde0c08", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae7295049643ba910c0c5a4650778ab1c27a9f8dd5025aae6f9b903b3fde0c08", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 24, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae7295049643ba910c0c5a4650778ab1c27a9f8dd5025aae6f9b903b3fde0c08", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 24, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae7295049643ba910c0c5a4650778ab1c27a9f8dd5025aae6f9b903b3fde0c08", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00621 Plant/IsaacSim_assets_6a6ac96ccb2d3efc659e1ec8/physics_6a6ac96ccb2d3efc659e1ec8.json b/batch17/D00621 Plant/IsaacSim_assets_6a6ac96ccb2d3efc659e1ec8/physics_6a6ac96ccb2d3efc659e1ec8.json index 99cd342086570ebf41f9b88751e094a348654734..1d31e49091d7d0e9c626bdbfd33586d4e192fea1 100644 --- a/batch17/D00621 Plant/IsaacSim_assets_6a6ac96ccb2d3efc659e1ec8/physics_6a6ac96ccb2d3efc659e1ec8.json +++ b/batch17/D00621 Plant/IsaacSim_assets_6a6ac96ccb2d3efc659e1ec8/physics_6a6ac96ccb2d3efc659e1ec8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08674599975347519, - 0.10670900344848633, - 0.35064857453107834 - ], "min": [ -0.0987820029258728, -0.09781699627637863, 0.00198058903333731 ], + "max": [ + 0.08674599975347519, + 0.10670900344848633, + 0.35064857453107834 + ], "size": [ 0.185528002679348, 0.20452599972486496, 0.34866798549774103 - ] + ], + "units": "m" }, "description": "D00621 Plant", "name": "D00621 Plant", "object_type": "rigid_bodies", - "total_mass": 12.0 + "total_mass": 12.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00621", "parts": [ { "bounds": { - "center": [ - -0.006018001586198807, - 0.004446003586053848, - 0.17631458178220782 + "min": [ + -0.0987820029258728, + -0.09781699627637863, + 0.00198058903333731 ], "max": [ 0.08674599975347519, 0.10670900344848633, 0.35064857453107834 ], - "min": [ - -0.0987820029258728, - -0.09781699627637863, - 0.00198058903333731 - ] + "size": [ + 0.185528002679348, + 0.20452599972486496, + 0.34866798549774103 + ], + "units": "m" }, "center_of_mass": [ 0.0013401779578998685, @@ -67,10 +73,27 @@ "object_name": "D00621 Plant", "part_name": "D00621 Plant" }, - "volume": 0.008 + "volume": 0.008, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7cc0493af92f0ab33ff397463116b9415b64d38e6fe03ed9c5e0008dbd6d5ad4" + }, + "usd_path": "batch17/D00621 Plant/IsaacSim_assets_6a6ac96ccb2d3efc659e1ec8/IsaacSim_asset_6a6ac96ccb2d3efc659e1ec8.usd", + "usd_sha256": "3c3bb402bae628c5f06161ce2424a02f450c3310a14143488a1772b269f4ded5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.185528002679348, 0.20452599972486496, 0.34866798549774103 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c3bb402bae628c5f06161ce2424a02f450c3310a14143488a1772b269f4ded5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 12.0 + "value_kg": 12.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c3bb402bae628c5f06161ce2424a02f450c3310a14143488a1772b269f4ded5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 12.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 34, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c3bb402bae628c5f06161ce2424a02f450c3310a14143488a1772b269f4ded5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 34, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c3bb402bae628c5f06161ce2424a02f450c3310a14143488a1772b269f4ded5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00624 Plate Board/IsaacSim_assets_6a6acfcacb2d3efc659f393b/physics_6a6acfcacb2d3efc659f393b.json b/batch17/D00624 Plate Board/IsaacSim_assets_6a6acfcacb2d3efc659f393b/physics_6a6acfcacb2d3efc659f393b.json index 538df1e05b7147f413e43bf357aa32ade0309fb6..64be842874ce5e33650caa8df49d9d379384054a 100644 --- a/batch17/D00624 Plate Board/IsaacSim_assets_6a6acfcacb2d3efc659f393b/physics_6a6acfcacb2d3efc659f393b.json +++ b/batch17/D00624 Plate Board/IsaacSim_assets_6a6acfcacb2d3efc659f393b/physics_6a6acfcacb2d3efc659f393b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1972469985485077, - 0.15241700410842896, - 0.03902409039437771 - ], "min": [ -0.19898399710655212, -0.15078599750995636, 0.0018290915777470218 ], + "max": [ + 0.1972469985485077, + 0.15241700410842896, + 0.03902409039437771 + ], "size": [ 0.3962309956550598, 0.3032030016183853, 0.03719499881663069 - ] + ], + "units": "m" }, "description": "D00624 Plate Board", "name": "D00624 Plate Board", "object_type": "rigid_bodies", - "total_mass": 1.44 + "total_mass": 1.440000057220459, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00624", "parts": [ { "bounds": { - "center": [ - -0.0008684992790222168, - 0.0008155032992362976, - 0.020426590986062365 + "min": [ + -0.19898399710655212, + -0.15078599750995636, + 0.0018290915777470218 ], "max": [ 0.1972469985485077, 0.15241700410842896, 0.03902409039437771 ], - "min": [ - -0.19898399710655212, - -0.15078599750995636, - 0.0018290915777470218 - ] + "size": [ + 0.3962309956550598, + 0.3032030016183853, + 0.03719499881663069 + ], + "units": "m" }, "center_of_mass": [ -0.0008502542623318732, @@ -59,7 +65,7 @@ 0.01867680251598358, 0.02930983155965805 ], - "mass": 1.44, + "mass": 1.440000057220459, "material": "wood", "name": "D00624 Plate Board", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00624 Plate Board", "part_name": "D00624 Plate Board" }, - "volume": 0.0024000000953674316 + "volume": 0.0024000000953674316, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5eaf2e916f016ef37c097bdd804c0b58b40b8e0edc00386480445c2cd1d88b09" + }, + "usd_path": "batch17/D00624 Plate Board/IsaacSim_assets_6a6acfcacb2d3efc659f393b/IsaacSim_asset_6a6acfcacb2d3efc659f393b.usd", + "usd_sha256": "48f5063af4170741b76b9723aac528ac660a5079200e2735a0071bbf8eca9c29", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.3962309956550598, 0.3032030016183853, 0.03719499881663069 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "48f5063af4170741b76b9723aac528ac660a5079200e2735a0071bbf8eca9c29", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.44 + "value_kg": 1.440000057220459, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "48f5063af4170741b76b9723aac528ac660a5079200e2735a0071bbf8eca9c29", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.440000057220459, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "48f5063af4170741b76b9723aac528ac660a5079200e2735a0071bbf8eca9c29", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "48f5063af4170741b76b9723aac528ac660a5079200e2735a0071bbf8eca9c29", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00628 Plate Cutting Board Tray/IsaacSim_assets_6a6acf81cb2d3efc659f2abf/physics_6a6acf81cb2d3efc659f2abf.json b/batch17/D00628 Plate Cutting Board Tray/IsaacSim_assets_6a6acf81cb2d3efc659f2abf/physics_6a6acf81cb2d3efc659f2abf.json index 7bfb32cbdfdb2ce2fa4dcd8baa8ed7612b253f0e..dd04509187060f12ead526476e4042f780329f8a 100644 --- a/batch17/D00628 Plate Cutting Board Tray/IsaacSim_assets_6a6acf81cb2d3efc659f2abf/physics_6a6acf81cb2d3efc659f2abf.json +++ b/batch17/D00628 Plate Cutting Board Tray/IsaacSim_assets_6a6acf81cb2d3efc659f2abf/physics_6a6acf81cb2d3efc659f2abf.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.20089900493621826, - 0.14925800263881683, - 0.043925401754677296 - ], "min": [ -0.2003069967031479, -0.14821399748325348, 0.0019974000024376437 ], + "max": [ + 0.20089900493621826, + 0.14925800263881683, + 0.043925401754677296 + ], "size": [ 0.40120600163936615, 0.2974720001220703, 0.04192800175223965 - ] + ], + "units": "m" }, "description": "D00628 Plate Cutting Board Tray", "name": "D00628 Plate Cutting Board Tray", "object_type": "rigid_bodies", - "total_mass": 0.6 + "total_mass": 0.6000000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00628", "parts": [ { "bounds": { - "center": [ - 0.00029600411653518677, - 0.0005220025777816772, - 0.02296140087855747 + "min": [ + -0.2003069967031479, + -0.14821399748325348, + 0.0019974000024376437 ], "max": [ 0.20089900493621826, 0.14925800263881683, 0.043925401754677296 ], - "min": [ - -0.2003069967031479, - -0.14821399748325348, - 0.0019974000024376437 - ] + "size": [ + 0.40120600163936615, + 0.2974720001220703, + 0.04192800175223965 + ], + "units": "m" }, "center_of_mass": [ 0.0004966108244843781, @@ -59,7 +65,7 @@ 0.008079662919044495, 0.01239841803908348 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "wood", "name": "D00628 Plate Cutting Board Tray", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00628 Plate Cutting Board Tray", "part_name": "D00628 Plate Cutting Board Tray" }, - "volume": 0.0008571428912026542 + "volume": 0.0008571428912026542, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7d4a037f82fcf7f0c19e7e778c6d5073ceb6efa4dd44304c4540a827c6b288d9" + }, + "usd_path": "batch17/D00628 Plate Cutting Board Tray/IsaacSim_assets_6a6acf81cb2d3efc659f2abf/IsaacSim_asset_6a6acf81cb2d3efc659f2abf.usd", + "usd_sha256": "9ab4e7bfcd0b6735d0d85ad622f3282c55cd3129491a28eeccdaffc54847677e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.40120600163936615, 0.2974720001220703, 0.04192800175223965 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9ab4e7bfcd0b6735d0d85ad622f3282c55cd3129491a28eeccdaffc54847677e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6 + "value_kg": 0.6000000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9ab4e7bfcd0b6735d0d85ad622f3282c55cd3129491a28eeccdaffc54847677e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6000000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 7, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9ab4e7bfcd0b6735d0d85ad622f3282c55cd3129491a28eeccdaffc54847677e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 7, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9ab4e7bfcd0b6735d0d85ad622f3282c55cd3129491a28eeccdaffc54847677e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00644 Pot Pan/IsaacSim_assets_6a6acbedcb2d3efc659ea1a5/physics_6a6acbedcb2d3efc659ea1a5.json b/batch17/D00644 Pot Pan/IsaacSim_assets_6a6acbedcb2d3efc659ea1a5/physics_6a6acbedcb2d3efc659ea1a5.json index 65ed423901bbe4c26e3afcbda1940cb21ecef433..ce36e633656b6e3e405706363a93a059c2d88cba 100644 --- a/batch17/D00644 Pot Pan/IsaacSim_assets_6a6acbedcb2d3efc659ea1a5/physics_6a6acbedcb2d3efc659ea1a5.json +++ b/batch17/D00644 Pot Pan/IsaacSim_assets_6a6acbedcb2d3efc659ea1a5/physics_6a6acbedcb2d3efc659ea1a5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10518699884414673, - 0.27244800329208374, - 0.05961881158873439 - ], "min": [ -0.10538200289011002, -0.1387850046157837, 0.002231809776276347 ], + "max": [ + 0.10518699884414673, + 0.27244800329208374, + 0.05961881158873439 + ], "size": [ 0.21056900173425674, 0.41123300790786743, 0.05738700181245804 - ] + ], + "units": "m" }, "description": "D00644 Pot Pan", "name": "D00644 Pot Pan", "object_type": "rigid_bodies", - "total_mass": 2.9 + "total_mass": 2.9000000953674316, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00644", "parts": [ { "bounds": { - "center": [ - -9.750202298164368e-05, - 0.06683149933815002, - 0.03092531068250537 + "min": [ + -0.10538200289011002, + -0.1387850046157837, + 0.002231809776276347 ], "max": [ 0.10518699884414673, 0.27244800329208374, 0.05961881158873439 ], - "min": [ - -0.10538200289011002, - -0.1387850046157837, - 0.002231809776276347 - ] + "size": [ + 0.21056900173425674, + 0.41123300790786743, + 0.05738700181245804 + ], + "units": "m" }, "center_of_mass": [ -0.000138514005811885, @@ -59,7 +65,7 @@ 0.021985813975334167, 0.02723650261759758 ], - "mass": 2.9, + "mass": 2.9000000953674316, "material": "metal", "name": "D00644 Pot Pan", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00644 Pot Pan", "part_name": "D00644 Pot Pan" }, - "volume": 0.0003717948840214656 + "volume": 0.0003717948840214656, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a9bbb1a3dcbd985fb17c0a67254c48d9480ff0a5596c52ae5563914b631fa17e" + }, + "usd_path": "batch17/D00644 Pot Pan/IsaacSim_assets_6a6acbedcb2d3efc659ea1a5/IsaacSim_asset_6a6acbedcb2d3efc659ea1a5.usd", + "usd_sha256": "5d1697e6f24ae95bbf72ee7fbc34b0184a516de4b14bbeae8b05313a758977d8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.21056900173425674, 0.41123300790786743, 0.05738700181245804 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d1697e6f24ae95bbf72ee7fbc34b0184a516de4b14bbeae8b05313a758977d8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.9 + "value_kg": 2.9000000953674316, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d1697e6f24ae95bbf72ee7fbc34b0184a516de4b14bbeae8b05313a758977d8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.9000000953674316, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d1697e6f24ae95bbf72ee7fbc34b0184a516de4b14bbeae8b05313a758977d8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d1697e6f24ae95bbf72ee7fbc34b0184a516de4b14bbeae8b05313a758977d8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00654 Potpan/IsaacSim_assets_6a6ac772cb2d3efc659d9a69/physics_6a6ac772cb2d3efc659d9a69.json b/batch17/D00654 Potpan/IsaacSim_assets_6a6ac772cb2d3efc659d9a69/physics_6a6ac772cb2d3efc659d9a69.json index 91cfa61d20704f620566bd30adbcd0d07ac45f54..920f78c054524138c25b3e9c68e3d9c76def0d1f 100644 --- a/batch17/D00654 Potpan/IsaacSim_assets_6a6ac772cb2d3efc659d9a69/physics_6a6ac772cb2d3efc659d9a69.json +++ b/batch17/D00654 Potpan/IsaacSim_assets_6a6ac772cb2d3efc659d9a69/physics_6a6ac772cb2d3efc659d9a69.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10258399695158005, - 0.2638790011405945, - 0.058313838904723525 - ], "min": [ -0.10364300012588501, -0.1305920034646988, 0.0021208399848546833 ], + "max": [ + 0.10258399695158005, + 0.2638790011405945, + 0.058313838904723525 + ], "size": [ 0.20622699707746506, 0.3944710046052933, 0.05619299891986884 - ] + ], + "units": "m" }, "description": "D00654 Potpan", "name": "D00654 Potpan", "object_type": "rigid_bodies", - "total_mass": 2.76 + "total_mass": 2.759999990463257, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00654", "parts": [ { "bounds": { - "center": [ - -0.0005295015871524811, - 0.06664349883794785, - 0.030217339444789104 + "min": [ + -0.10364300012588501, + -0.1305920034646988, + 0.0021208399848546833 ], "max": [ 0.10258399695158005, 0.2638790011405945, 0.058313838904723525 ], - "min": [ - -0.10364300012588501, - -0.1305920034646988, - 0.0021208399848546833 - ] + "size": [ + 0.20622699707746506, + 0.3944710046052933, + 0.05619299891986884 + ], + "units": "m" }, "center_of_mass": [ -0.0004872134595643729, @@ -59,7 +65,7 @@ 0.019072432070970535, 0.024289432913064957 ], - "mass": 2.76, + "mass": 2.759999990463257, "material": "metal", "name": "D00654 Potpan", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00654 Potpan", "part_name": "D00654 Potpan" }, - "volume": 0.00035384615262349446 + "volume": 0.00035384615262349446, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a6cba4552eaf6ff31ff7744370ba0a0f9b4c47492a65ab9d1654c291209122f3" + }, + "usd_path": "batch17/D00654 Potpan/IsaacSim_assets_6a6ac772cb2d3efc659d9a69/IsaacSim_asset_6a6ac772cb2d3efc659d9a69.usd", + "usd_sha256": "53f075cc28056b0fe89a7b3450c80ff354bdde09c17cde97d309d615fa7cf15d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.20622699707746506, 0.3944710046052933, 0.05619299891986884 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53f075cc28056b0fe89a7b3450c80ff354bdde09c17cde97d309d615fa7cf15d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.76 + "value_kg": 2.759999990463257, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53f075cc28056b0fe89a7b3450c80ff354bdde09c17cde97d309d615fa7cf15d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.759999990463257, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53f075cc28056b0fe89a7b3450c80ff354bdde09c17cde97d309d615fa7cf15d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53f075cc28056b0fe89a7b3450c80ff354bdde09c17cde97d309d615fa7cf15d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00661 Rack/IsaacSim_assets_6a6ac3facb2d3efc659cb1dc/physics_6a6ac3facb2d3efc659cb1dc.json b/batch17/D00661 Rack/IsaacSim_assets_6a6ac3facb2d3efc659cb1dc/physics_6a6ac3facb2d3efc659cb1dc.json index 605b02b205de5a96a026ce5380d791315b27968e..ae05a8def71afb071720e28f60466a016cfccf2b 100644 --- a/batch17/D00661 Rack/IsaacSim_assets_6a6ac3facb2d3efc659cb1dc/physics_6a6ac3facb2d3efc659cb1dc.json +++ b/batch17/D00661 Rack/IsaacSim_assets_6a6ac3facb2d3efc659cb1dc/physics_6a6ac3facb2d3efc659cb1dc.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.8124610185623169, - 0.27667298913002014, - 1.444536759518087 - ], "min": [ -0.8201760053634644, -0.2737950086593628, 0.005682750073901843 ], + "max": [ + 0.8124610185623169, + 0.27667298913002014, + 1.444536759518087 + ], "size": [ 1.6326370239257812, 0.5504679977893829, 1.438854009444185 - ] + ], + "units": "m" }, "description": "D00661 Rack", "name": "D00661 Rack", "object_type": "rigid_bodies", - "total_mass": 45.0 + "total_mass": 45.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00661", "parts": [ { "bounds": { - "center": [ - -0.0038574934005737305, - 0.0014389902353286743, - 0.7251097547959944 + "min": [ + -0.8201760053634644, + -0.2737950086593628, + 0.005682750073901843 ], "max": [ 0.8124610185623169, 0.27667298913002014, 1.444536759518087 ], - "min": [ - -0.8201760053634644, - -0.2737950086593628, - 0.005682750073901843 - ] + "size": [ + 1.6326370239257812, + 0.5504679977893829, + 1.438854009444185 + ], + "units": "m" }, "center_of_mass": [ -0.0037042470648884773, @@ -67,10 +73,27 @@ "object_name": "D00661 Rack", "part_name": "D00661 Rack" }, - "volume": 0.1125 + "volume": 0.1125, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7e1d40bdeefb437ba5bf4e019d726374bd039fab5ce75d53a531f5ba1f0b174b" + }, + "usd_path": "batch17/D00661 Rack/IsaacSim_assets_6a6ac3facb2d3efc659cb1dc/IsaacSim_asset_6a6ac3facb2d3efc659cb1dc.usd", + "usd_sha256": "a94b46f246741c978f71935405dccf21655f112507bc0798f8e4ea4dbad9feda", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 1.6326370239257812, 0.5504679977893829, 1.438854009444185 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a94b46f246741c978f71935405dccf21655f112507bc0798f8e4ea4dbad9feda", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 45.0 + "value_kg": 45.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a94b46f246741c978f71935405dccf21655f112507bc0798f8e4ea4dbad9feda", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 45.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 163, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a94b46f246741c978f71935405dccf21655f112507bc0798f8e4ea4dbad9feda", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 163, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a94b46f246741c978f71935405dccf21655f112507bc0798f8e4ea4dbad9feda", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch17/D00662 Recipe Book/IsaacSim_assets_6a6ac544cb2d3efc659d16b0/physics_6a6ac544cb2d3efc659d16b0.json b/batch17/D00662 Recipe Book/IsaacSim_assets_6a6ac544cb2d3efc659d16b0/physics_6a6ac544cb2d3efc659d16b0.json index 419ad18d233f43e612cad5db647268bdf389a9a4..1a06773542875d49609b46ddb96169515ec9c522 100644 --- a/batch17/D00662 Recipe Book/IsaacSim_assets_6a6ac544cb2d3efc659d16b0/physics_6a6ac544cb2d3efc659d16b0.json +++ b/batch17/D00662 Recipe Book/IsaacSim_assets_6a6ac544cb2d3efc659d16b0/physics_6a6ac544cb2d3efc659d16b0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.096390001475811, - 0.12630699574947357, - 0.04428954981267452 - ], "min": [ -0.09715499728918076, -0.1267309933900833, 0.0013815508850711922 ], + "max": [ + 0.096390001475811, + 0.12630699574947357, + 0.04428954981267452 + ], "size": [ 0.19354499876499176, 0.2530379891395569, 0.04290799892760333 - ] + ], + "units": "m" }, "description": "D00662 Recipe Book", "name": "D00662 Recipe Book", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00662", "parts": [ { "bounds": { - "center": [ - -0.0003824979066848755, - -0.0002119988203048706, - 0.022835550348872857 + "min": [ + -0.09715499728918076, + -0.1267309933900833, + 0.0013815508850711922 ], "max": [ 0.096390001475811, 0.12630699574947357, 0.04428954981267452 ], - "min": [ - -0.09715499728918076, - -0.1267309933900833, - 0.0013815508850711922 - ] + "size": [ + 0.19354499876499176, + 0.2530379891395569, + 0.04290799892760333 + ], + "units": "m" }, "center_of_mass": [ -0.0014438561629503965, @@ -59,7 +65,7 @@ 0.0063395570032298565, 0.009760120883584023 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "wood", "name": "D00662 Recipe Book", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00662 Recipe Book", "part_name": "D00662 Recipe Book" }, - "volume": 0.0015000000596046448 + "volume": 0.0015000000596046448, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "561a4bc7b47a3ef34f4cda33b667ee7d3b3de09467ccce66dc2c5c74f660ebae" + }, + "usd_path": "batch17/D00662 Recipe Book/IsaacSim_assets_6a6ac544cb2d3efc659d16b0/IsaacSim_asset_6a6ac544cb2d3efc659d16b0.usd", + "usd_sha256": "f380dfe5f5fb3afea8dfe064da8f5bb9018eadd713b1311c838ddcd6b72da4d5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.19354499876499176, 0.2530379891395569, 0.04290799892760333 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f380dfe5f5fb3afea8dfe064da8f5bb9018eadd713b1311c838ddcd6b72da4d5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f380dfe5f5fb3afea8dfe064da8f5bb9018eadd713b1311c838ddcd6b72da4d5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f380dfe5f5fb3afea8dfe064da8f5bb9018eadd713b1311c838ddcd6b72da4d5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f380dfe5f5fb3afea8dfe064da8f5bb9018eadd713b1311c838ddcd6b72da4d5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00313 Fork/IsaacSim_assets_6a68a3e6cb2d3efc6581119e/physics_6a68a3e6cb2d3efc6581119e.json b/batch18/D00313 Fork/IsaacSim_assets_6a68a3e6cb2d3efc6581119e/physics_6a68a3e6cb2d3efc6581119e.json index 68695807d0b7f5f3039e6029f9f4a531b6d0c17c..247e2be00a73b770fca012550469062249986a8d 100644 --- a/batch18/D00313 Fork/IsaacSim_assets_6a68a3e6cb2d3efc6581119e/physics_6a68a3e6cb2d3efc6581119e.json +++ b/batch18/D00313 Fork/IsaacSim_assets_6a68a3e6cb2d3efc6581119e/physics_6a68a3e6cb2d3efc6581119e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10921300202608109, - 0.017254000529646873, - 0.0185050304280594 - ], "min": [ -0.08869200199842453, -0.017139999195933342, 0.0007100300231286383 ], + "max": [ + 0.10921300202608109, + 0.017254000529646873, + 0.0185050304280594 + ], "size": [ 0.19790500402450562, 0.034393999725580215, 0.01779500040493076 - ] + ], + "units": "m" }, "description": "D00313 Fork", "name": "D00313 Fork", "object_type": "rigid_bodies", - "total_mass": 0.103 + "total_mass": 0.10300000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00313", "parts": [ { "bounds": { - "center": [ - 0.010260500013828278, - 5.700066685676575e-05, - 0.009607530225594019 + "min": [ + -0.08869200199842453, + -0.017139999195933342, + 0.0007100300231286383 ], "max": [ 0.10921300202608109, 0.017254000529646873, 0.0185050304280594 ], - "min": [ - -0.08869200199842453, - -0.017139999195933342, - 0.0007100300231286383 - ] + "size": [ + 0.19790500402450562, + 0.034393999725580215, + 0.01779500040493076 + ], + "units": "m" }, "center_of_mass": [ -0.008154698647558689, @@ -59,7 +65,7 @@ 0.00021885387832298875, 0.00022315797104965895 ], - "mass": 0.103, + "mass": 0.10300000011920929, "material": "metal", "name": "D00313 Fork", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00313 Fork", "part_name": "D00313 Fork" }, - "volume": 1.287500001490116e-05 + "volume": 1.287500001490116e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2cffb4040c68f7899356af4db6722a0ccf18745b545066694318eda2f6a6707f" + }, + "usd_path": "batch18/D00313 Fork/IsaacSim_assets_6a68a3e6cb2d3efc6581119e/IsaacSim_asset_6a68a3e6cb2d3efc6581119e.usd", + "usd_sha256": "6fa1e87378514e1919d9a0929e13948fd5263cd3b64824708b16f8563a8af873", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.19790500402450562, 0.034393999725580215, 0.01779500040493076 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6fa1e87378514e1919d9a0929e13948fd5263cd3b64824708b16f8563a8af873", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.103 + "value_kg": 0.10300000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6fa1e87378514e1919d9a0929e13948fd5263cd3b64824708b16f8563a8af873", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.10300000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6fa1e87378514e1919d9a0929e13948fd5263cd3b64824708b16f8563a8af873", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6fa1e87378514e1919d9a0929e13948fd5263cd3b64824708b16f8563a8af873", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00454 Kitchen Mat/IsaacSim_assets_6a689da8cb2d3efc658053e3/physics_6a689da8cb2d3efc658053e3.json b/batch18/D00454 Kitchen Mat/IsaacSim_assets_6a689da8cb2d3efc658053e3/physics_6a689da8cb2d3efc658053e3.json index 75f20a055cb4f0b0e92ef8fc81b851aae1961703..1be8a01a9ae00d3a755e929b6d3ffdee6b27b659 100644 --- a/batch18/D00454 Kitchen Mat/IsaacSim_assets_6a689da8cb2d3efc658053e3/physics_6a689da8cb2d3efc658053e3.json +++ b/batch18/D00454 Kitchen Mat/IsaacSim_assets_6a689da8cb2d3efc658053e3/physics_6a689da8cb2d3efc658053e3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.38433000445365906, - 0.2645590007305145, - 0.08069124817848206 - ], "min": [ -0.3867959976196289, -0.26686999201774597, 0.003215250006178394 ], + "max": [ + 0.38433000445365906, + 0.2645590007305145, + 0.08069124817848206 + ], "size": [ 0.771126002073288, 0.5314289927482605, 0.07747599817230366 - ] + ], + "units": "m" }, "description": "D00454 Kitchen Mat", "name": "D00454 Kitchen Mat", "object_type": "rigid_bodies", - "total_mass": 1.6 + "total_mass": 1.600000023841858, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00454", "parts": [ { "bounds": { - "center": [ - -0.0012329965829849243, - -0.0011554956436157227, - 0.041953249092330225 + "min": [ + -0.3867959976196289, + -0.26686999201774597, + 0.003215250006178394 ], "max": [ 0.38433000445365906, 0.2645590007305145, 0.08069124817848206 ], - "min": [ - -0.3867959976196289, - -0.26686999201774597, - 0.003215250006178394 - ] + "size": [ + 0.771126002073288, + 0.5314289927482605, + 0.07747599817230366 + ], + "units": "m" }, "center_of_mass": [ -0.0018388445023447275, @@ -59,7 +65,7 @@ 0.07019125670194626, 0.10074716061353683 ], - "mass": 1.6, + "mass": 1.600000023841858, "material": "foam", "name": "D00454 Kitchen Mat", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00454 Kitchen Mat", "part_name": "D00454 Kitchen Mat" }, - "volume": 0.004000000059604645 + "volume": 0.004000000059604645, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "76d5828e6ff00cd0340612cca0556403223e0191238825c324399afc2199e16c" + }, + "usd_path": "batch18/D00454 Kitchen Mat/IsaacSim_assets_6a689da8cb2d3efc658053e3/IsaacSim_asset_6a689da8cb2d3efc658053e3.usd", + "usd_sha256": "bc61746bd204ac9df22f85d8f1767d4cd1a4b761d89a87e8367fd6913e0584c4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.771126002073288, 0.5314289927482605, 0.07747599817230366 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bc61746bd204ac9df22f85d8f1767d4cd1a4b761d89a87e8367fd6913e0584c4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.6 + "value_kg": 1.600000023841858, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bc61746bd204ac9df22f85d8f1767d4cd1a4b761d89a87e8367fd6913e0584c4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.600000023841858, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bc61746bd204ac9df22f85d8f1767d4cd1a4b761d89a87e8367fd6913e0584c4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bc61746bd204ac9df22f85d8f1767d4cd1a4b761d89a87e8367fd6913e0584c4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00469 Kitchen Utensil/IsaacSim_assets_6a696d24cb2d3efc65887ffe/physics_6a696d24cb2d3efc65887ffe.json b/batch18/D00469 Kitchen Utensil/IsaacSim_assets_6a696d24cb2d3efc65887ffe/physics_6a696d24cb2d3efc65887ffe.json index 0db88a80b16e4d43a8c9c8875d4ce2464fff7c51..6af51675ddf0eb91c075ed95db906a85e4d2dc13 100644 --- a/batch18/D00469 Kitchen Utensil/IsaacSim_assets_6a696d24cb2d3efc65887ffe/physics_6a696d24cb2d3efc65887ffe.json +++ b/batch18/D00469 Kitchen Utensil/IsaacSim_assets_6a696d24cb2d3efc65887ffe/physics_6a696d24cb2d3efc65887ffe.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03279700130224228, - 0.16007700562477112, - 0.025825200602412224 - ], "min": [ -0.03287399932742119, -0.13859400153160095, 0.001107199892430799 ], + "max": [ + 0.03279700130224228, + 0.16007700562477112, + 0.025825200602412224 + ], "size": [ 0.06567100062966347, 0.29867100715637207, 0.024718000709981425 - ] + ], + "units": "m" }, "description": "D00469 Kitchen Utensil", "name": "D00469 Kitchen Utensil", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00469", "parts": [ { "bounds": { - "center": [ - -3.849901258945465e-05, - 0.010741502046585083, - 0.013466200247421511 + "min": [ + -0.03287399932742119, + -0.13859400153160095, + 0.001107199892430799 ], "max": [ 0.03279700130224228, 0.16007700562477112, 0.025825200602412224 ], - "min": [ - -0.03287399932742119, - -0.13859400153160095, - 0.001107199892430799 - ] + "size": [ + 0.06567100062966347, + 0.29867100715637207, + 0.024718000709981425 + ], + "units": "m" }, "center_of_mass": [ -5.775536919827573e-05, @@ -59,7 +65,7 @@ 0.0007931521977297962, 0.0008156115654855967 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "ceramic", "name": "D00469 Kitchen Utensil", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00469 Kitchen Utensil", "part_name": "D00469 Kitchen Utensil" }, - "volume": 6.501950843539856e-05 + "volume": 6.501950843539856e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d323677d9ca1cf621a3d21efe053326a5ce40daa93f40339c587b1400a13d6ed" + }, + "usd_path": "batch18/D00469 Kitchen Utensil/IsaacSim_assets_6a696d24cb2d3efc65887ffe/IsaacSim_asset_6a696d24cb2d3efc65887ffe.usd", + "usd_sha256": "e45fb01c113ace5c81f0e4ab2c8e6ec14438e4dd446c671b56b20d388f3fac0f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.06567100062966347, 0.29867100715637207, 0.024718000709981425 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e45fb01c113ace5c81f0e4ab2c8e6ec14438e4dd446c671b56b20d388f3fac0f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e45fb01c113ace5c81f0e4ab2c8e6ec14438e4dd446c671b56b20d388f3fac0f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e45fb01c113ace5c81f0e4ab2c8e6ec14438e4dd446c671b56b20d388f3fac0f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e45fb01c113ace5c81f0e4ab2c8e6ec14438e4dd446c671b56b20d388f3fac0f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00539 Muffin Tin Container/IsaacSim_assets_6a68a2c3cb2d3efc6580f454/physics_6a68a2c3cb2d3efc6580f454.json b/batch18/D00539 Muffin Tin Container/IsaacSim_assets_6a68a2c3cb2d3efc6580f454/physics_6a68a2c3cb2d3efc6580f454.json index ed0991eef239990319d3198a49cb4d152f74549b..05f08168b601742786177956bdb903f0eef54e95 100644 --- a/batch18/D00539 Muffin Tin Container/IsaacSim_assets_6a68a2c3cb2d3efc6580f454/physics_6a68a2c3cb2d3efc6580f454.json +++ b/batch18/D00539 Muffin Tin Container/IsaacSim_assets_6a68a2c3cb2d3efc6580f454/physics_6a68a2c3cb2d3efc6580f454.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15388299524784088, - 0.15398000180721283, - 0.04207659023813903 - ], "min": [ -0.15348100662231445, -0.15394900739192963, 0.0010825899516930804 ], + "max": [ + 0.15388299524784088, + 0.15398000180721283, + 0.04207659023813903 + ], "size": [ 0.30736400187015533, 0.30792900919914246, 0.04099400028644595 - ] + ], + "units": "m" }, "description": "D00539 Muffin Tin Container", "name": "D00539 Muffin Tin Container", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00539", "parts": [ { "bounds": { - "center": [ - 0.0002009943127632141, - 1.5497207641601562e-05, - 0.021579590094916057 + "min": [ + -0.15348100662231445, + -0.15394900739192963, + 0.0010825899516930804 ], "max": [ 0.15388299524784088, 0.15398000180721283, 0.04207659023813903 ], - "min": [ - -0.15348100662231445, - -0.15394900739192963, - 0.0010825899516930804 - ] + "size": [ + 0.30736400187015533, + 0.30792900919914246, + 0.04099400028644595 + ], + "units": "m" }, "center_of_mass": [ 7.411043043248355e-05, @@ -59,7 +65,7 @@ 0.005719851702451706, 0.010946649126708508 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "metal", "name": "D00539 Muffin Tin Container", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00539 Muffin Tin Container", "part_name": "D00539 Muffin Tin Container" }, - "volume": 0.00010191082954406738 + "volume": 0.00010191082954406738, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4d361ac7b0d3fe18b3103a472beef2cc912e77039179f068ac2fc5715ae6697e" + }, + "usd_path": "batch18/D00539 Muffin Tin Container/IsaacSim_assets_6a68a2c3cb2d3efc6580f454/IsaacSim_asset_6a68a2c3cb2d3efc6580f454.usd", + "usd_sha256": "607311523e42a6dcb460a62046bde7c4e7023b243b6a5a386aa456048eba8da2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.30736400187015533, 0.30792900919914246, 0.04099400028644595 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "607311523e42a6dcb460a62046bde7c4e7023b243b6a5a386aa456048eba8da2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "607311523e42a6dcb460a62046bde7c4e7023b243b6a5a386aa456048eba8da2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 256, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "607311523e42a6dcb460a62046bde7c4e7023b243b6a5a386aa456048eba8da2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 256, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "607311523e42a6dcb460a62046bde7c4e7023b243b6a5a386aa456048eba8da2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00627 Plate Cutting Board/IsaacSim_assets_6a68a8e8cb2d3efc6581d68b/physics_6a68a8e8cb2d3efc6581d68b.json b/batch18/D00627 Plate Cutting Board/IsaacSim_assets_6a68a8e8cb2d3efc6581d68b/physics_6a68a8e8cb2d3efc6581d68b.json index 6442fbe84c53f21ee8d6bb0cc97ea31f8da350f6..846083e4255c5c680edc14d22572ed07a8036302 100644 --- a/batch18/D00627 Plate Cutting Board/IsaacSim_assets_6a68a8e8cb2d3efc6581d68b/physics_6a68a8e8cb2d3efc6581d68b.json +++ b/batch18/D00627 Plate Cutting Board/IsaacSim_assets_6a68a8e8cb2d3efc6581d68b/physics_6a68a8e8cb2d3efc6581d68b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10680799931287766, - 0.10623600333929062, - 0.020052999258041382 - ], "min": [ -0.10611899942159653, -0.1065090000629425, 5.8670845513589934e-18 ], + "max": [ + 0.10680799931287766, + 0.10623600333929062, + 0.020052999258041382 + ], "size": [ 0.21292699873447418, 0.21274500340223312, 0.020052999258041375 - ] + ], + "units": "m" }, "description": "D00627 Plate Cutting Board", "name": "D00627 Plate Cutting Board", "object_type": "rigid_bodies", - "total_mass": 1.0 + "total_mass": 1.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00627", "parts": [ { "bounds": { - "center": [ - 0.00034449994564056396, - -0.000136498361825943, - 0.010026499629020694 + "min": [ + -0.10611899942159653, + -0.1065090000629425, + 5.8670845513589934e-18 ], "max": [ 0.10680799931287766, 0.10623600333929062, 0.020052999258041382 ], - "min": [ - -0.10611899942159653, - -0.1065090000629425, - 5.8670845513589934e-18 - ] + "size": [ + 0.21292699873447418, + 0.21274500340223312, + 0.020052999258041375 + ], + "units": "m" }, "center_of_mass": [ 0.00037972800782881677, @@ -67,10 +73,27 @@ "object_name": "D00627 Plate Cutting Board", "part_name": "D00627 Plate Cutting Board" }, - "volume": 0.0014285714285714286 + "volume": 0.0014285714285714286, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "83bd3803752f107166771ed052dfe11a15ddd6ed74cc51f0be41072e50a2995d" + }, + "usd_path": "batch18/D00627 Plate Cutting Board/IsaacSim_assets_6a68a8e8cb2d3efc6581d68b/IsaacSim_asset_6a68a8e8cb2d3efc6581d68b.usd", + "usd_sha256": "d912a14f1afaceb749e7f5e6cfec2bee3c23659c605d2335b5abcc3a572fe78f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.21292699873447418, 0.21274500340223312, 0.020052999258041375 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d912a14f1afaceb749e7f5e6cfec2bee3c23659c605d2335b5abcc3a572fe78f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0 + "value_kg": 1.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d912a14f1afaceb749e7f5e6cfec2bee3c23659c605d2335b5abcc3a572fe78f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d912a14f1afaceb749e7f5e6cfec2bee3c23659c605d2335b5abcc3a572fe78f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d912a14f1afaceb749e7f5e6cfec2bee3c23659c605d2335b5abcc3a572fe78f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00678 S Lemons/IsaacSim_assets_6a6abf82cb2d3efc659b5eac/physics_6a6abf82cb2d3efc659b5eac.json b/batch18/D00678 S Lemons/IsaacSim_assets_6a6abf82cb2d3efc659b5eac/physics_6a6abf82cb2d3efc659b5eac.json index 06ff3d5b18767e3793d3b20fa07d8a37f3af694e..a14b9b1dcbb17b62c349210b5fe90ba21334e744 100644 --- a/batch18/D00678 S Lemons/IsaacSim_assets_6a6abf82cb2d3efc659b5eac/physics_6a6abf82cb2d3efc659b5eac.json +++ b/batch18/D00678 S Lemons/IsaacSim_assets_6a6abf82cb2d3efc659b5eac/physics_6a6abf82cb2d3efc659b5eac.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02990500070154667, - 0.020354000851511955, - 0.04012897051870823 - ], "min": [ -0.03080499917268753, -0.019781000912189484, 0.00010997081699315459 ], + "max": [ + 0.02990500070154667, + 0.020354000851511955, + 0.04012897051870823 + ], "size": [ 0.0607099998742342, 0.04013500176370144, 0.040018999701715074 - ] + ], + "units": "m" }, "description": "D00678 S Lemons", "name": "D00678 S Lemons", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00678", "parts": [ { "bounds": { - "center": [ - -0.00044999923557043076, - 0.0002864999696612358, - 0.020119470667850692 + "min": [ + -0.03080499917268753, + -0.019781000912189484, + 0.00010997081699315459 ], "max": [ 0.02990500070154667, 0.020354000851511955, 0.04012897051870823 ], - "min": [ - -0.03080499917268753, - -0.019781000912189484, - 0.00010997081699315459 - ] + "size": [ + 0.0607099998742342, + 0.04013500176370144, + 0.040018999701715074 + ], + "units": "m" }, "center_of_mass": [ -0.0008989011403173208, @@ -59,7 +65,7 @@ 3.21045117743779e-05, 3.21563238685485e-05 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "plastic", "name": "D00678 S Lemons", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00678 S Lemons", "part_name": "D00678 S Lemons" }, - "volume": 0.00015000000596046448 + "volume": 0.00015000000596046448, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1c841c07432240096c3025f907b63c2e257f299bee01f83c7ca3fff81f09dacb" + }, + "usd_path": "batch18/D00678 S Lemons/IsaacSim_assets_6a6abf82cb2d3efc659b5eac/IsaacSim_asset_6a6abf82cb2d3efc659b5eac.usd", + "usd_sha256": "54d4dc40a6939b94ee9a37beee7048707222c078b8701d35bf5bd3a2bb01ff6f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.0607099998742342, 0.04013500176370144, 0.040018999701715074 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "54d4dc40a6939b94ee9a37beee7048707222c078b8701d35bf5bd3a2bb01ff6f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "54d4dc40a6939b94ee9a37beee7048707222c078b8701d35bf5bd3a2bb01ff6f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "54d4dc40a6939b94ee9a37beee7048707222c078b8701d35bf5bd3a2bb01ff6f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "54d4dc40a6939b94ee9a37beee7048707222c078b8701d35bf5bd3a2bb01ff6f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00701 Saucepan Frying Pan/IsaacSim_assets_6a6abcc8cb2d3efc659a6e7c/physics_6a6abcc8cb2d3efc659a6e7c.json b/batch18/D00701 Saucepan Frying Pan/IsaacSim_assets_6a6abcc8cb2d3efc659a6e7c/physics_6a6abcc8cb2d3efc659a6e7c.json index cec699f6ec1ae12a669ffa3c004b6c1a62876c6f..89c0dae4cc6859c11d4773c322833d1dcd254af8 100644 --- a/batch18/D00701 Saucepan Frying Pan/IsaacSim_assets_6a6abcc8cb2d3efc659a6e7c/physics_6a6abcc8cb2d3efc659a6e7c.json +++ b/batch18/D00701 Saucepan Frying Pan/IsaacSim_assets_6a6abcc8cb2d3efc659a6e7c/physics_6a6abcc8cb2d3efc659a6e7c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2153639942407608, - 0.0977339968085289, - 0.06079593859612942 - ], "min": [ -0.12680299580097198, -0.09803300350904465, 0.0018109400480170734 ], + "max": [ + 0.2153639942407608, + 0.0977339968085289, + 0.06079593859612942 + ], "size": [ 0.3421669900417328, 0.19576700031757355, 0.058984998548112344 - ] + ], + "units": "m" }, "description": "D00701 Saucepan Frying Pan", "name": "D00701 Saucepan Frying Pan", "object_type": "rigid_bodies", - "total_mass": 2.16 + "total_mass": 2.1600000858306885, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00701", "parts": [ { "bounds": { - "center": [ - 0.04428049921989441, - -0.00014950335025787354, - 0.031303439322073245 + "min": [ + -0.12680299580097198, + -0.09803300350904465, + 0.0018109400480170734 ], "max": [ 0.2153639942407608, 0.0977339968085289, 0.06079593859612942 ], - "min": [ - -0.12680299580097198, - -0.09803300350904465, - 0.0018109400480170734 - ] + "size": [ + 0.3421669900417328, + 0.19576700031757355, + 0.058984998548112344 + ], + "units": "m" }, "center_of_mass": [ 0.007018218748271465, @@ -59,7 +65,7 @@ 0.011290038004517555, 0.01485663652420044 ], - "mass": 2.16, + "mass": 2.1600000858306885, "material": "metal", "name": "D00701 Saucepan Frying Pan", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00701 Saucepan Frying Pan", "part_name": "D00701 Saucepan Frying Pan" }, - "volume": 0.00027000001072883606 + "volume": 0.00027000001072883606, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f58cd77f5a15a890ca73296e638346ddaed8901b54bce603b8eade2d44dc1f5e" + }, + "usd_path": "batch18/D00701 Saucepan Frying Pan/IsaacSim_assets_6a6abcc8cb2d3efc659a6e7c/IsaacSim_asset_6a6abcc8cb2d3efc659a6e7c.usd", + "usd_sha256": "25e3e83af1170550db044c7eb9c10250fb9e9776644168055dac1331368fef0f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.3421669900417328, 0.19576700031757355, 0.058984998548112344 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25e3e83af1170550db044c7eb9c10250fb9e9776644168055dac1331368fef0f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.16 + "value_kg": 2.1600000858306885, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25e3e83af1170550db044c7eb9c10250fb9e9776644168055dac1331368fef0f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.1600000858306885, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 14, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25e3e83af1170550db044c7eb9c10250fb9e9776644168055dac1331368fef0f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 14, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25e3e83af1170550db044c7eb9c10250fb9e9776644168055dac1331368fef0f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00703 Saucepan Pan/IsaacSim_assets_6a6abbdacb2d3efc659a3482/physics_6a6abbdacb2d3efc659a3482.json b/batch18/D00703 Saucepan Pan/IsaacSim_assets_6a6abbdacb2d3efc659a3482/physics_6a6abbdacb2d3efc659a3482.json index 25dfa147deed12fcf4647f5346a311a760631bb4..6e9869be3a6e0af59a6cc274a96b80705e2f552c 100644 --- a/batch18/D00703 Saucepan Pan/IsaacSim_assets_6a6abbdacb2d3efc659a3482/physics_6a6abbdacb2d3efc659a3482.json +++ b/batch18/D00703 Saucepan Pan/IsaacSim_assets_6a6abbdacb2d3efc659a3482/physics_6a6abbdacb2d3efc659a3482.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.19084499776363373, - 0.07672499865293503, - 0.08079931326210499 - ], "min": [ -0.09938199818134308, -0.07679399847984314, 0.0016193101455428405 ], + "max": [ + 0.19084499776363373, + 0.07672499865293503, + 0.08079931326210499 + ], "size": [ 0.2902269959449768, 0.15351899713277817, 0.07918000311656215 - ] + ], + "units": "m" }, "description": "D00703 Saucepan Pan", "name": "D00703 Saucepan Pan", "object_type": "rigid_bodies", - "total_mass": 1.67 + "total_mass": 1.6699999570846558, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00703", "parts": [ { "bounds": { - "center": [ - 0.045731499791145325, - -3.4499913454055786e-05, - 0.041209311703823914 + "min": [ + -0.09938199818134308, + -0.07679399847984314, + 0.0016193101455428405 ], "max": [ 0.19084499776363373, 0.07672499865293503, 0.08079931326210499 ], - "min": [ - -0.09938199818134308, - -0.07679399847984314, - 0.0016193101455428405 - ] + "size": [ + 0.2902269959449768, + 0.15351899713277817, + 0.07918000311656215 + ], + "units": "m" }, "center_of_mass": [ 0.009603966027498245, @@ -59,7 +65,7 @@ 0.006788037251681089, 0.008009189739823341 ], - "mass": 1.67, + "mass": 1.6699999570846558, "material": "metal", "name": "D00703 Saucepan Pan", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00703 Saucepan Pan", "part_name": "D00703 Saucepan Pan" }, - "volume": 0.00021139239963096908 + "volume": 0.00021139239963096908, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "250c7f5bd9f5f75ee62476df061578aac2b40beb70ee2a3cc29f693244d54c30" + }, + "usd_path": "batch18/D00703 Saucepan Pan/IsaacSim_assets_6a6abbdacb2d3efc659a3482/IsaacSim_asset_6a6abbdacb2d3efc659a3482.usd", + "usd_sha256": "5801d81a486d01d3cf3d209f8d577a605b0843241d9e6259ade7f68075a62310", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.2902269959449768, 0.15351899713277817, 0.07918000311656215 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5801d81a486d01d3cf3d209f8d577a605b0843241d9e6259ade7f68075a62310", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.67 + "value_kg": 1.6699999570846558, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5801d81a486d01d3cf3d209f8d577a605b0843241d9e6259ade7f68075a62310", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.6699999570846558, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5801d81a486d01d3cf3d209f8d577a605b0843241d9e6259ade7f68075a62310", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5801d81a486d01d3cf3d209f8d577a605b0843241d9e6259ade7f68075a62310", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00705 Saucepan Skillet/IsaacSim_assets_6a6abb8ccb2d3efc659a18a1/physics_6a6abb8ccb2d3efc659a18a1.json b/batch18/D00705 Saucepan Skillet/IsaacSim_assets_6a6abb8ccb2d3efc659a18a1/physics_6a6abb8ccb2d3efc659a18a1.json index feacbc9583ed67519df395283795d4f29b4c06e4..256c3990bafd8039f24cfb740a37cfd5dd54e48e 100644 --- a/batch18/D00705 Saucepan Skillet/IsaacSim_assets_6a6abb8ccb2d3efc659a18a1/physics_6a6abb8ccb2d3efc659a18a1.json +++ b/batch18/D00705 Saucepan Skillet/IsaacSim_assets_6a6abb8ccb2d3efc659a18a1/physics_6a6abb8ccb2d3efc659a18a1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.23024000227451324, - 0.0901079997420311, - 0.08458928344771266 - ], "min": [ -0.1214200034737587, -0.08991300314664841, 0.0017232797717952053 ], + "max": [ + 0.23024000227451324, + 0.0901079997420311, + 0.08458928344771266 + ], "size": [ 0.35166000574827194, 0.1800210028886795, 0.08286600367591745 - ] + ], + "units": "m" }, "description": "D00705 Saucepan Skillet", "name": "D00705 Saucepan Skillet", "object_type": "rigid_bodies", - "total_mass": 2.7 + "total_mass": 2.700000047683716, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00705", "parts": [ { "bounds": { - "center": [ - 0.054409999400377274, - 9.749829769134521e-05, - 0.04315628160975393 + "min": [ + -0.1214200034737587, + -0.08991300314664841, + 0.0017232797717952053 ], "max": [ 0.23024000227451324, 0.0901079997420311, 0.08458928344771266 ], - "min": [ - -0.1214200034737587, - -0.08991300314664841, - 0.0017232797717952053 - ] + "size": [ + 0.35166000574827194, + 0.1800210028886795, + 0.08286600367591745 + ], + "units": "m" }, "center_of_mass": [ 0.008108736015856266, @@ -59,7 +65,7 @@ 0.015452047809958458, 0.018527189269661903 ], - "mass": 2.7, + "mass": 2.700000047683716, "material": "metal", "name": "D00705 Saucepan Skillet", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00705 Saucepan Skillet", "part_name": "D00705 Saucepan Skillet" }, - "volume": 0.00034394905066034595 + "volume": 0.00034394905066034595, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ca63dc052dce9b57507e4e4124d463ce73497a6fdc815debe9b6ffe66f0b7a4d" + }, + "usd_path": "batch18/D00705 Saucepan Skillet/IsaacSim_assets_6a6abb8ccb2d3efc659a18a1/IsaacSim_asset_6a6abb8ccb2d3efc659a18a1.usd", + "usd_sha256": "8e9acabbb7e6b787b4649e9835dc12ae6dbe4df23f7449c3a5c32a776272e021", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.35166000574827194, 0.1800210028886795, 0.08286600367591745 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e9acabbb7e6b787b4649e9835dc12ae6dbe4df23f7449c3a5c32a776272e021", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.7 + "value_kg": 2.700000047683716, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e9acabbb7e6b787b4649e9835dc12ae6dbe4df23f7449c3a5c32a776272e021", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.700000047683716, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e9acabbb7e6b787b4649e9835dc12ae6dbe4df23f7449c3a5c32a776272e021", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e9acabbb7e6b787b4649e9835dc12ae6dbe4df23f7449c3a5c32a776272e021", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00728 Sketchbook/IsaacSim_assets_6a6ab9f2cb2d3efc65999fef/physics_6a6ab9f2cb2d3efc65999fef.json b/batch18/D00728 Sketchbook/IsaacSim_assets_6a6ab9f2cb2d3efc65999fef/physics_6a6ab9f2cb2d3efc65999fef.json index e761b087219346be35a097d025fc8684ae17a2fc..d67ea74c492b7a62f7eebd52df0393d9f1a2a5d5 100644 --- a/batch18/D00728 Sketchbook/IsaacSim_assets_6a6ab9f2cb2d3efc65999fef/physics_6a6ab9f2cb2d3efc65999fef.json +++ b/batch18/D00728 Sketchbook/IsaacSim_assets_6a6ab9f2cb2d3efc65999fef/physics_6a6ab9f2cb2d3efc65999fef.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06973200291395187, - 0.10702099651098251, - 0.03129430953413248 - ], "min": [ -0.07133600115776062, -0.10644499957561493, 0.0011083099449251677 ], + "max": [ + 0.06973200291395187, + 0.10702099651098251, + 0.03129430953413248 + ], "size": [ 0.1410680040717125, 0.21346599608659744, 0.030185999589207313 - ] + ], + "units": "m" }, "description": "D00728 Sketchbook", "name": "D00728 Sketchbook", "object_type": "rigid_bodies", - "total_mass": 0.53 + "total_mass": 0.5299999713897705, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00728", "parts": [ { "bounds": { - "center": [ - -0.0008019991219043732, - 0.0002879984676837921, - 0.016201309739528824 + "min": [ + -0.07133600115776062, + -0.10644499957561493, + 0.0011083099449251677 ], "max": [ 0.06973200291395187, 0.10702099651098251, 0.03129430953413248 ], - "min": [ - -0.07133600115776062, - -0.10644499957561493, - 0.0011083099449251677 - ] + "size": [ + 0.1410680040717125, + 0.21346599608659744, + 0.030185999589207313 + ], + "units": "m" }, "center_of_mass": [ -0.0002870691241696477, @@ -59,7 +65,7 @@ 0.002049818867817521, 0.002874678233638406 ], - "mass": 0.53, + "mass": 0.5299999713897705, "material": "wood", "name": "D00728 Sketchbook", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00728 Sketchbook", "part_name": "D00728 Sketchbook" }, - "volume": 0.0006235293781056124 + "volume": 0.0006235293781056124, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "49d31986cddc5d7f3eab3b4208bc0ac7370ee9f475c116bb1c5cba609f38e5ae" + }, + "usd_path": "batch18/D00728 Sketchbook/IsaacSim_assets_6a6ab9f2cb2d3efc65999fef/IsaacSim_asset_6a6ab9f2cb2d3efc65999fef.usd", + "usd_sha256": "ddd7b742bb5428f9909e321fab0f83cbe3feee28468fe8b5bc0fe636091f633d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1410680040717125, 0.21346599608659744, 0.030185999589207313 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ddd7b742bb5428f9909e321fab0f83cbe3feee28468fe8b5bc0fe636091f633d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.53 + "value_kg": 0.5299999713897705, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ddd7b742bb5428f9909e321fab0f83cbe3feee28468fe8b5bc0fe636091f633d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5299999713897705, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ddd7b742bb5428f9909e321fab0f83cbe3feee28468fe8b5bc0fe636091f633d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ddd7b742bb5428f9909e321fab0f83cbe3feee28468fe8b5bc0fe636091f633d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00731 Small Container/IsaacSim_assets_6a6ab81acb2d3efc659913ec/physics_6a6ab81acb2d3efc659913ec.json b/batch18/D00731 Small Container/IsaacSim_assets_6a6ab81acb2d3efc659913ec/physics_6a6ab81acb2d3efc659913ec.json index d9379990bf775d7066a713ded3a6477f90f838b0..8ddcb6ee70d3029faf9b7ae295589ff05c985f61 100644 --- a/batch18/D00731 Small Container/IsaacSim_assets_6a6ab81acb2d3efc659913ec/physics_6a6ab81acb2d3efc659913ec.json +++ b/batch18/D00731 Small Container/IsaacSim_assets_6a6ab81acb2d3efc659913ec/physics_6a6ab81acb2d3efc659913ec.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07487999647855759, - 0.07499299943447113, - 0.0994969392195344 - ], "min": [ -0.07583300024271011, -0.0743739977478981, 0.0005619399416900706 ], + "max": [ + 0.07487999647855759, + 0.07499299943447113, + 0.0994969392195344 + ], "size": [ 0.1507129967212677, 0.14936699718236923, 0.09893499927784433 - ] + ], + "units": "m" }, "description": "D00731 Small Container", "name": "D00731 Small Container", "object_type": "rigid_bodies", - "total_mass": 0.142 + "total_mass": 0.1420000046491623, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00731", "parts": [ { "bounds": { - "center": [ - -0.00047650188207626343, - 0.0003095008432865143, - 0.050029439580612234 + "min": [ + -0.07583300024271011, + -0.0743739977478981, + 0.0005619399416900706 ], "max": [ 0.07487999647855759, 0.07499299943447113, 0.0994969392195344 ], - "min": [ - -0.07583300024271011, - -0.0743739977478981, - 0.0005619399416900706 - ] + "size": [ + 0.1507129967212677, + 0.14936699718236923, + 0.09893499927784433 + ], + "units": "m" }, "center_of_mass": [ -0.00046924190246500075, @@ -59,7 +65,7 @@ 0.00043875660048797727, 0.0005629351944662631 ], - "mass": 0.142, + "mass": 0.1420000046491623, "material": "plastic", "name": "D00731 Small Container", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00731 Small Container", "part_name": "D00731 Small Container" }, - "volume": 0.0001420000046491623 + "volume": 0.0001420000046491623, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "23813e2e4b8bd93fe01642b6689ec6ea647c85d0a6f315653b278857210dc69d" + }, + "usd_path": "batch18/D00731 Small Container/IsaacSim_assets_6a6ab81acb2d3efc659913ec/IsaacSim_asset_6a6ab81acb2d3efc659913ec.usd", + "usd_sha256": "bf16167c90cbcf00d1ea3b791cc59ffa10e160f338eb1f92910ee9fd39dd2007", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1507129967212677, 0.14936699718236923, 0.09893499927784433 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf16167c90cbcf00d1ea3b791cc59ffa10e160f338eb1f92910ee9fd39dd2007", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.142 + "value_kg": 0.1420000046491623, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf16167c90cbcf00d1ea3b791cc59ffa10e160f338eb1f92910ee9fd39dd2007", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.1420000046491623, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 106, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf16167c90cbcf00d1ea3b791cc59ffa10e160f338eb1f92910ee9fd39dd2007", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 106, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf16167c90cbcf00d1ea3b791cc59ffa10e160f338eb1f92910ee9fd39dd2007", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00747 Spaghetti/IsaacSim_assets_6a6ab69bcb2d3efc6598b62d/physics_6a6ab69bcb2d3efc6598b62d.json b/batch18/D00747 Spaghetti/IsaacSim_assets_6a6ab69bcb2d3efc6598b62d/physics_6a6ab69bcb2d3efc6598b62d.json index 9b6639d19038dcacace4043df52a73b2e152294e..7efbf2bf78c574c73249241269978528a6e9496b 100644 --- a/batch18/D00747 Spaghetti/IsaacSim_assets_6a6ab69bcb2d3efc6598b62d/physics_6a6ab69bcb2d3efc6598b62d.json +++ b/batch18/D00747 Spaghetti/IsaacSim_assets_6a6ab69bcb2d3efc6598b62d/physics_6a6ab69bcb2d3efc6598b62d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12401500344276428, - 0.009620999917387962, - 0.014447039924561977 - ], "min": [ -0.12430399656295776, -0.00937500037252903, 0.0007420401088893414 ], + "max": [ + 0.12401500344276428, + 0.009620999917387962, + 0.014447039924561977 + ], "size": [ 0.24831900000572205, 0.018996000289916992, 0.013704999815672636 - ] + ], + "units": "m" }, "description": "D00747 Spaghetti", "name": "D00747 Spaghetti", "object_type": "rigid_bodies", - "total_mass": 0.0011 + "total_mass": 0.0010999999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00747", "parts": [ { "bounds": { - "center": [ - -0.00014449656009674072, - 0.00012299977242946625, - 0.007594540016725659 + "min": [ + -0.12430399656295776, + -0.00937500037252903, + 0.0007420401088893414 ], "max": [ 0.12401500344276428, 0.009620999917387962, 0.014447039924561977 ], - "min": [ - -0.12430399656295776, - -0.00937500037252903, - 0.0007420401088893414 - ] + "size": [ + 0.24831900000572205, + 0.018996000289916992, + 0.013704999815672636 + ], + "units": "m" }, "center_of_mass": [ -0.005291685927659273, @@ -59,7 +65,7 @@ 5.4511324378836434e-06, 5.462439730763435e-06 ], - "mass": 0.0011, + "mass": 0.0010999999940395355, "material": "composite", "name": "D00747 Spaghetti", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00747 Spaghetti", "part_name": "D00747 Spaghetti" }, - "volume": 7.857142814568111e-07 + "volume": 7.857142814568111e-07, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "76b347c4fe3abdd1721a81992e766232bb999e415baf4f18a3790c5fdfe120d3" + }, + "usd_path": "batch18/D00747 Spaghetti/IsaacSim_assets_6a6ab69bcb2d3efc6598b62d/IsaacSim_asset_6a6ab69bcb2d3efc6598b62d.usd", + "usd_sha256": "5ee16913bee2c5c6ca565ad928ff8faef06dcfc8eca9074ce86bc1e04d2d72e5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.24831900000572205, 0.018996000289916992, 0.013704999815672636 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ee16913bee2c5c6ca565ad928ff8faef06dcfc8eca9074ce86bc1e04d2d72e5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0011 + "value_kg": 0.0010999999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ee16913bee2c5c6ca565ad928ff8faef06dcfc8eca9074ce86bc1e04d2d72e5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0010999999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ee16913bee2c5c6ca565ad928ff8faef06dcfc8eca9074ce86bc1e04d2d72e5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ee16913bee2c5c6ca565ad928ff8faef06dcfc8eca9074ce86bc1e04d2d72e5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00771 Spinach/IsaacSim_assets_6a68a2d7cb2d3efc6580f6ee/physics_6a68a2d7cb2d3efc6580f6ee.json b/batch18/D00771 Spinach/IsaacSim_assets_6a68a2d7cb2d3efc6580f6ee/physics_6a68a2d7cb2d3efc6580f6ee.json index 73c9a3c2272f8972bcb981d20930ccdd4d4f8ff5..6e357effa1fd3f2f60aefa89eae4003fdfe5d7f5 100644 --- a/batch18/D00771 Spinach/IsaacSim_assets_6a68a2d7cb2d3efc6580f6ee/physics_6a68a2d7cb2d3efc6580f6ee.json +++ b/batch18/D00771 Spinach/IsaacSim_assets_6a68a2d7cb2d3efc6580f6ee/physics_6a68a2d7cb2d3efc6580f6ee.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06503699719905853, - 0.03293899819254875, - 0.024295039242133498 - ], "min": [ -0.06520099937915802, -0.03281699866056442, 0.0001900398638099432 ], + "max": [ + 0.06503699719905853, + 0.03293899819254875, + 0.024295039242133498 + ], "size": [ 0.13023799657821655, 0.06575599685311317, 0.024104999378323555 - ] + ], + "units": "m" }, "description": "D00771 Spinach", "name": "D00771 Spinach", "object_type": "rigid_bodies", - "total_mass": 0.0052 + "total_mass": 0.005200000014156103, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00771", "parts": [ { "bounds": { - "center": [ - -8.200109004974365e-05, - 6.099976599216461e-05, - 0.01224253955297172 + "min": [ + -0.06520099937915802, + -0.03281699866056442, + 0.0001900398638099432 ], "max": [ 0.06503699719905853, 0.03293899819254875, 0.024295039242133498 ], - "min": [ - -0.06520099937915802, - -0.03281699866056442, - 0.0001900398638099432 - ] + "size": [ + 0.13023799657821655, + 0.06575599685311317, + 0.024104999378323555 + ], + "units": "m" }, "center_of_mass": [ -0.018721524626016617, @@ -59,7 +65,7 @@ 3.031700316569186e-06, 4.105812422494637e-06 ], - "mass": 0.0052, + "mass": 0.005200000014156103, "material": "wood", "name": "D00771 Spinach", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00771 Spinach", "part_name": "D00771 Spinach" }, - "volume": 1.0400000028312207e-05 + "volume": 1.0400000028312207e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "241e309e7682acd68cc3f28c763c6a93f918cffec73d67db6be120acf84d08b5" + }, + "usd_path": "batch18/D00771 Spinach/IsaacSim_assets_6a68a2d7cb2d3efc6580f6ee/IsaacSim_asset_6a68a2d7cb2d3efc6580f6ee.usd", + "usd_sha256": "e99a479834db29b7db8a0dde429e3d8d9a356061af800d0445e45fe92736a82a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.13023799657821655, 0.06575599685311317, 0.024104999378323555 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e99a479834db29b7db8a0dde429e3d8d9a356061af800d0445e45fe92736a82a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0052 + "value_kg": 0.005200000014156103, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e99a479834db29b7db8a0dde429e3d8d9a356061af800d0445e45fe92736a82a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.005200000014156103, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 24, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e99a479834db29b7db8a0dde429e3d8d9a356061af800d0445e45fe92736a82a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 24, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e99a479834db29b7db8a0dde429e3d8d9a356061af800d0445e45fe92736a82a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00773 Spoon/IsaacSim_assets_6a696cddcb2d3efc658876bc/physics_6a696cddcb2d3efc658876bc.json b/batch18/D00773 Spoon/IsaacSim_assets_6a696cddcb2d3efc658876bc/physics_6a696cddcb2d3efc658876bc.json index 537a73b16447b2ddb9a6476f2598bf0f80cd1af6..cc51f13a803ad38e1a717227b3fb05aad23c287f 100644 --- a/batch18/D00773 Spoon/IsaacSim_assets_6a696cddcb2d3efc658876bc/physics_6a696cddcb2d3efc658876bc.json +++ b/batch18/D00773 Spoon/IsaacSim_assets_6a696cddcb2d3efc658876bc/physics_6a696cddcb2d3efc658876bc.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.020378999412059784, - 0.0887100026011467, - 0.019420049618929625 - ], "min": [ -0.020323999226093292, -0.04617699980735779, 0.0005990500085317763 ], + "max": [ + 0.020378999412059784, + 0.0887100026011467, + 0.019420049618929625 + ], "size": [ 0.040702998638153076, 0.13488700240850449, 0.01882099961039785 - ] + ], + "units": "m" }, "description": "D00773 Spoon", "name": "D00773 Spoon", "object_type": "rigid_bodies", - "total_mass": 0.0493 + "total_mass": 0.049300000071525574, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00773", "parts": [ { "bounds": { - "center": [ - 2.750009298324585e-05, - 0.021266501396894455, - 0.0100095498137307 + "min": [ + -0.020323999226093292, + -0.04617699980735779, + 0.0005990500085317763 ], "max": [ 0.020378999412059784, 0.0887100026011467, 0.019420049618929625 ], - "min": [ - -0.020323999226093292, - -0.04617699980735779, - 0.0005990500085317763 - ] + "size": [ + 0.040702998638153076, + 0.13488700240850449, + 0.01882099961039785 + ], + "units": "m" }, "center_of_mass": [ 2.8786658731405623e-05, @@ -59,7 +65,7 @@ 4.501080184127204e-05, 4.783580152434297e-05 ], - "mass": 0.0493, + "mass": 0.049300000071525574, "material": "metal", "name": "D00773 Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00773 Spoon", "part_name": "D00773 Spoon" }, - "volume": 6.240506338167794e-06 + "volume": 6.240506338167794e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b7915c6316dbca9b31d1ee9f1a53125f254452d49319cbea10383d5292ca0028" + }, + "usd_path": "batch18/D00773 Spoon/IsaacSim_assets_6a696cddcb2d3efc658876bc/IsaacSim_asset_6a696cddcb2d3efc658876bc.usd", + "usd_sha256": "5f259f4457c403befeed6359f74cd807855da122d81982281cff57a05209b6a0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.040702998638153076, 0.13488700240850449, 0.01882099961039785 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f259f4457c403befeed6359f74cd807855da122d81982281cff57a05209b6a0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0493 + "value_kg": 0.049300000071525574, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f259f4457c403befeed6359f74cd807855da122d81982281cff57a05209b6a0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.049300000071525574, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f259f4457c403befeed6359f74cd807855da122d81982281cff57a05209b6a0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f259f4457c403befeed6359f74cd807855da122d81982281cff57a05209b6a0", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00830 Straw/IsaacSim_assets_6a697dc9cb2d3efc658a89d1/physics_6a697dc9cb2d3efc658a89d1.json b/batch18/D00830 Straw/IsaacSim_assets_6a697dc9cb2d3efc658a89d1/physics_6a697dc9cb2d3efc658a89d1.json index 9aa746d0ab6aeb2590005a2d171380f0222d6e28..1f1f3add9512394c5bdf70964e15c23839be92b1 100644 --- a/batch18/D00830 Straw/IsaacSim_assets_6a697dc9cb2d3efc658a89d1/physics_6a697dc9cb2d3efc658a89d1.json +++ b/batch18/D00830 Straw/IsaacSim_assets_6a697dc9cb2d3efc658a89d1/physics_6a697dc9cb2d3efc658a89d1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.006312999874353409, - 0.09971699863672256, - 0.013586840475909412 - ], "min": [ -0.00634900014847517, -0.09940499812364578, 0.0006058400358597282 ], + "max": [ + 0.006312999874353409, + 0.09971699863672256, + 0.013586840475909412 + ], "size": [ 0.012662000022828579, 0.19912199676036835, 0.012981000440049684 - ] + ], + "units": "m" }, "description": "D00830 Straw", "name": "D00830 Straw", "object_type": "rigid_bodies", - "total_mass": 0.0005 + "total_mass": 0.0005000000237487257, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00830", "parts": [ { "bounds": { - "center": [ - -1.800013706088066e-05, - 0.0001560002565383911, - 0.00709634025588457 + "min": [ + -0.00634900014847517, + -0.09940499812364578, + 0.0006058400358597282 ], "max": [ 0.006312999874353409, 0.09971699863672256, 0.013586840475909412 ], - "min": [ - -0.00634900014847517, - -0.09940499812364578, - 0.0006058400358597282 - ] + "size": [ + 0.012662000022828579, + 0.19912199676036835, + 0.012981000440049684 + ], + "units": "m" }, "center_of_mass": [ -1.7211341400980018e-05, @@ -59,7 +65,7 @@ 1.65493952408724e-06, 1.655127789490507e-06 ], - "mass": 0.0005, + "mass": 0.0005000000237487257, "material": "wood", "name": "D00830 Straw", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00830 Straw", "part_name": "D00830 Straw" }, - "volume": 5.555555819430285e-07 + "volume": 5.555555819430285e-07, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "48c772d1fa13fb90b033f8ae1d78abcc7e7009562525e5f4fc7529317209b202" + }, + "usd_path": "batch18/D00830 Straw/IsaacSim_assets_6a697dc9cb2d3efc658a89d1/IsaacSim_asset_6a697dc9cb2d3efc658a89d1.usd", + "usd_sha256": "36e749abefe564a3e592314c54c30fb7c199ad284011dc6c3ce9f756beb83349", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.012662000022828579, 0.19912199676036835, 0.012981000440049684 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "36e749abefe564a3e592314c54c30fb7c199ad284011dc6c3ce9f756beb83349", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0005 + "value_kg": 0.0005000000237487257, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "36e749abefe564a3e592314c54c30fb7c199ad284011dc6c3ce9f756beb83349", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0005000000237487257, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "36e749abefe564a3e592314c54c30fb7c199ad284011dc6c3ce9f756beb83349", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "36e749abefe564a3e592314c54c30fb7c199ad284011dc6c3ce9f756beb83349", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00847 Table Jug/IsaacSim_assets_6a697cf4cb2d3efc658a6342/physics_6a697cf4cb2d3efc658a6342.json b/batch18/D00847 Table Jug/IsaacSim_assets_6a697cf4cb2d3efc658a6342/physics_6a697cf4cb2d3efc658a6342.json index d36661866d490098f6a4b7f716e6def0f9aae570..a5fc4b7fc7f599d2f91bd203f7f299a30800d621 100644 --- a/batch18/D00847 Table Jug/IsaacSim_assets_6a697cf4cb2d3efc658a6342/physics_6a697cf4cb2d3efc658a6342.json +++ b/batch18/D00847 Table Jug/IsaacSim_assets_6a697cf4cb2d3efc658a6342/physics_6a697cf4cb2d3efc658a6342.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08528900146484375, - 0.0551999993622303, - 0.1580401137471199 - ], "min": [ -0.07193200290203094, -0.05414799973368645, 0.0007691198316024384 ], + "max": [ + 0.08528900146484375, + 0.0551999993622303, + 0.1580401137471199 + ], "size": [ 0.1572210043668747, 0.10934799909591675, 0.15727099391551747 - ] + ], + "units": "m" }, "description": "D00847 Table Jug", "name": "D00847 Table Jug", "object_type": "rigid_bodies", - "total_mass": 1.0 + "total_mass": 1.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00847", "parts": [ { "bounds": { - "center": [ - 0.006678499281406403, - 0.0005259998142719269, - 0.07940461678936117 + "min": [ + -0.07193200290203094, + -0.05414799973368645, + 0.0007691198316024384 ], "max": [ 0.08528900146484375, 0.0551999993622303, 0.1580401137471199 ], - "min": [ - -0.07193200290203094, - -0.05414799973368645, - 0.0007691198316024384 - ] + "size": [ + 0.1572210043668747, + 0.10934799909591675, + 0.15727099391551747 + ], + "units": "m" }, "center_of_mass": [ -0.0004602107801474631, @@ -67,10 +73,27 @@ "object_name": "D00847 Table Jug", "part_name": "D00847 Table Jug" }, - "volume": 0.0004 + "volume": 0.0004, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2c281a9deea6d74b5f8ceab3bc31d27dabd04eb3772c9b4a6986c1fbd57856ff" + }, + "usd_path": "batch18/D00847 Table Jug/IsaacSim_assets_6a697cf4cb2d3efc658a6342/IsaacSim_asset_6a697cf4cb2d3efc658a6342.usd", + "usd_sha256": "be1386d1b37cd00cf812e3d4363ec94c9d72b2b06e0327ee20edc5cba60b12a5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1572210043668747, 0.10934799909591675, 0.15727099391551747 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "be1386d1b37cd00cf812e3d4363ec94c9d72b2b06e0327ee20edc5cba60b12a5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0 + "value_kg": 1.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "be1386d1b37cd00cf812e3d4363ec94c9d72b2b06e0327ee20edc5cba60b12a5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 33, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "be1386d1b37cd00cf812e3d4363ec94c9d72b2b06e0327ee20edc5cba60b12a5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 33, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "be1386d1b37cd00cf812e3d4363ec94c9d72b2b06e0327ee20edc5cba60b12a5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00848 Table Mat/IsaacSim_assets_6a697b71cb2d3efc658a2f0f/physics_6a697b71cb2d3efc658a2f0f.json b/batch18/D00848 Table Mat/IsaacSim_assets_6a697b71cb2d3efc658a2f0f/physics_6a697b71cb2d3efc658a2f0f.json index 4086f17f1bbcfae62b0c3768c8d48d5b6e8a1ba7..cc20ba6cf1daf173b044ba1d2a2aedc7d2bde1b1 100644 --- a/batch18/D00848 Table Mat/IsaacSim_assets_6a697b71cb2d3efc658a2f0f/physics_6a697b71cb2d3efc658a2f0f.json +++ b/batch18/D00848 Table Mat/IsaacSim_assets_6a697b71cb2d3efc658a2f0f/physics_6a697b71cb2d3efc658a2f0f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2002290040254593, - 0.1809840053319931, - 0.02676959102973342 - ], "min": [ -0.19928200542926788, -0.18106399476528168, 0.0008385901455767453 ], + "max": [ + 0.2002290040254593, + 0.1809840053319931, + 0.02676959102973342 + ], "size": [ 0.3995110094547272, 0.3620480000972748, 0.025931000884156674 - ] + ], + "units": "m" }, "description": "D00848 Table Mat", "name": "D00848 Table Mat", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00848", "parts": [ { "bounds": { - "center": [ - 0.0004734992980957031, - -3.999471664428711e-05, - 0.013804090587655082 + "min": [ + -0.19928200542926788, + -0.18106399476528168, + 0.0008385901455767453 ], "max": [ 0.2002290040254593, 0.1809840053319931, 0.02676959102973342 ], - "min": [ - -0.19928200542926788, - -0.18106399476528168, - 0.0008385901455767453 - ] + "size": [ + 0.3995110094547272, + 0.3620480000972748, + 0.025931000884156674 + ], + "units": "m" }, "center_of_mass": [ 0.0002473886124789715, @@ -59,7 +65,7 @@ 0.0020019644871354103, 0.00363900326192379 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "wood", "name": "D00848 Table Mat", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00848 Table Mat", "part_name": "D00848 Table Mat" }, - "volume": 0.0002702702810098459 + "volume": 0.0002702702810098459, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f27c19b281fd8efbb7d5f94f623a53e096815dab83ac4063d38ebde37140cea5" + }, + "usd_path": "batch18/D00848 Table Mat/IsaacSim_assets_6a697b71cb2d3efc658a2f0f/IsaacSim_asset_6a697b71cb2d3efc658a2f0f.usd", + "usd_sha256": "ba78c941d8a501cdaa86e7718677959c43bb6af8e5213ea4895cd5be2405761a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.3995110094547272, 0.3620480000972748, 0.025931000884156674 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ba78c941d8a501cdaa86e7718677959c43bb6af8e5213ea4895cd5be2405761a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ba78c941d8a501cdaa86e7718677959c43bb6af8e5213ea4895cd5be2405761a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ba78c941d8a501cdaa86e7718677959c43bb6af8e5213ea4895cd5be2405761a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ba78c941d8a501cdaa86e7718677959c43bb6af8e5213ea4895cd5be2405761a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00864 To Go Cup/IsaacSim_assets_6a69762acb2d3efc6589828b/physics_6a69762acb2d3efc6589828b.json b/batch18/D00864 To Go Cup/IsaacSim_assets_6a69762acb2d3efc6589828b/physics_6a69762acb2d3efc6589828b.json index 3c756ddddfa5d5f3c7c788bb68234a5d6692391b..d510a7e1b6e37a79f58632b7b26474d73889d8ca 100644 --- a/batch18/D00864 To Go Cup/IsaacSim_assets_6a69762acb2d3efc6589828b/physics_6a69762acb2d3efc6589828b.json +++ b/batch18/D00864 To Go Cup/IsaacSim_assets_6a69762acb2d3efc6589828b/physics_6a69762acb2d3efc6589828b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.040651001036167145, - 0.04031199961900711, - 0.11142818629741669 - ], "min": [ -0.04052700102329254, -0.040984999388456345, 0.0003311899642994831 ], + "max": [ + 0.040651001036167145, + 0.04031199961900711, + 0.11142818629741669 + ], "size": [ 0.08117800205945969, 0.08129699900746346, 0.1110969963331172 - ] + ], + "units": "m" }, "description": "D00864 To Go Cup", "name": "D00864 To Go Cup", "object_type": "rigid_bodies", - "total_mass": 0.02 + "total_mass": 0.019999999552965164, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00864", "parts": [ { "bounds": { - "center": [ - 6.200000643730164e-05, - -0.000336499884724617, - 0.055879688130858085 + "min": [ + -0.04052700102329254, + -0.040984999388456345, + 0.0003311899642994831 ], "max": [ 0.040651001036167145, 0.04031199961900711, 0.11142818629741669 ], - "min": [ - -0.04052700102329254, - -0.040984999388456345, - 0.0003311899642994831 - ] + "size": [ + 0.08117800205945969, + 0.08129699900746346, + 0.1110969963331172 + ], + "units": "m" }, "center_of_mass": [ 3.409567943890579e-05, @@ -59,7 +65,7 @@ 2.4938019123510458e-05, 2.4940476578194648e-05 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "wood", "name": "D00864 To Go Cup", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00864 To Go Cup", "part_name": "D00864 To Go Cup" }, - "volume": 3.3333332588275274e-05 + "volume": 3.3333332588275274e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5dcff4f88dba7c9a7ca4e8b4bf11d43b6a8be9f0093323453b20fbfe8ec221a3" + }, + "usd_path": "batch18/D00864 To Go Cup/IsaacSim_assets_6a69762acb2d3efc6589828b/IsaacSim_asset_6a69762acb2d3efc6589828b.usd", + "usd_sha256": "0c8e415dfbd1cb52e5b8f428f6678cae7099296788f764db2fcef48bc6130f2c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08117800205945969, 0.08129699900746346, 0.1110969963331172 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0c8e415dfbd1cb52e5b8f428f6678cae7099296788f764db2fcef48bc6130f2c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.02 + "value_kg": 0.019999999552965164, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0c8e415dfbd1cb52e5b8f428f6678cae7099296788f764db2fcef48bc6130f2c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.019999999552965164, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 146, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0c8e415dfbd1cb52e5b8f428f6678cae7099296788f764db2fcef48bc6130f2c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 146, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0c8e415dfbd1cb52e5b8f428f6678cae7099296788f764db2fcef48bc6130f2c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00894 Utensil Holder/IsaacSim_assets_6a696d3acb2d3efc65888486/physics_6a696d3acb2d3efc65888486.json b/batch18/D00894 Utensil Holder/IsaacSim_assets_6a696d3acb2d3efc65888486/physics_6a696d3acb2d3efc65888486.json index 850f2690ec90c17685aa121b36dd4a65db85af50..190f0158d2d445cc8f7fe30edb0f60f0c225802b 100644 --- a/batch18/D00894 Utensil Holder/IsaacSim_assets_6a696d3acb2d3efc65888486/physics_6a696d3acb2d3efc65888486.json +++ b/batch18/D00894 Utensil Holder/IsaacSim_assets_6a696d3acb2d3efc65888486/physics_6a696d3acb2d3efc65888486.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.052859000861644745, - 0.05423999950289726, - 0.12370827374979854 - ], "min": [ -0.05475600063800812, -0.05413199961185455, 0.000448270025117381 ], + "max": [ + 0.052859000861644745, + 0.05423999950289726, + 0.12370827374979854 + ], "size": [ 0.10761500149965286, 0.10837199911475182, 0.12326000372468116 - ] + ], + "units": "m" }, "description": "D00894 Utensil Holder", "name": "D00894 Utensil Holder", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00894", "parts": [ { "bounds": { - "center": [ - -0.0009484998881816864, - 5.3999945521354675e-05, - 0.06207827188745796 + "min": [ + -0.05475600063800812, + -0.05413199961185455, + 0.000448270025117381 ], "max": [ 0.052859000861644745, 0.05423999950289726, 0.12370827374979854 ], - "min": [ - -0.05475600063800812, - -0.05413199961185455, - 0.000448270025117381 - ] + "size": [ + 0.10761500149965286, + 0.10837199911475182, + 0.12326000372468116 + ], + "units": "m" }, "center_of_mass": [ -0.0008996708202175796, @@ -59,7 +65,7 @@ 0.0007901008357293904, 0.0007941765361465514 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "metal", "name": "D00894 Utensil Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00894 Utensil Holder", "part_name": "D00894 Utensil Holder" }, - "volume": 5.000000074505806e-05 + "volume": 5.000000074505806e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ca2c7039b7554ffa2dfe942231626c2126020c12c1ddc97d4e4999ef66e59170" + }, + "usd_path": "batch18/D00894 Utensil Holder/IsaacSim_assets_6a696d3acb2d3efc65888486/IsaacSim_asset_6a696d3acb2d3efc65888486.usd", + "usd_sha256": "b9b8f1cb07da213491915c616b2579ecdb2539b0376de6ac7c8a16fcc89844e2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.10761500149965286, 0.10837199911475182, 0.12326000372468116 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b9b8f1cb07da213491915c616b2579ecdb2539b0376de6ac7c8a16fcc89844e2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b9b8f1cb07da213491915c616b2579ecdb2539b0376de6ac7c8a16fcc89844e2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 196, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b9b8f1cb07da213491915c616b2579ecdb2539b0376de6ac7c8a16fcc89844e2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 196, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b9b8f1cb07da213491915c616b2579ecdb2539b0376de6ac7c8a16fcc89844e2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00895 Utensil Holder Container/IsaacSim_assets_6a68a772cb2d3efc6581a1f0/physics_6a68a772cb2d3efc6581a1f0.json b/batch18/D00895 Utensil Holder Container/IsaacSim_assets_6a68a772cb2d3efc6581a1f0/physics_6a68a772cb2d3efc6581a1f0.json index 3f23d3f5ad587bf9da49cb689cbf42a54fe5deb3..57c8b4f724fd1adf23d50c6dcbcec811d905bdb9 100644 --- a/batch18/D00895 Utensil Holder Container/IsaacSim_assets_6a68a772cb2d3efc6581a1f0/physics_6a68a772cb2d3efc6581a1f0.json +++ b/batch18/D00895 Utensil Holder Container/IsaacSim_assets_6a68a772cb2d3efc6581a1f0/physics_6a68a772cb2d3efc6581a1f0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06756100058555603, - 0.06599300354719162, - 0.1508737338008359 - ], "min": [ -0.06741700321435928, -0.06886599957942963, 0.0004997299693059176 ], + "max": [ + 0.06756100058555603, + 0.06599300354719162, + 0.1508737338008359 + ], "size": [ 0.1349780037999153, 0.13485900312662125, 0.15037400383153 - ] + ], + "units": "m" }, "description": "D00895 Utensil Holder Container", "name": "D00895 Utensil Holder Container", "object_type": "rigid_bodies", - "total_mass": 0.54 + "total_mass": 0.5400000214576721, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00895", "parts": [ { "bounds": { - "center": [ - 7.199868559837341e-05, - -0.0014364980161190033, - 0.07568673188507091 + "min": [ + -0.06741700321435928, + -0.06886599957942963, + 0.0004997299693059176 ], "max": [ 0.06756100058555603, 0.06599300354719162, 0.1508737338008359 ], - "min": [ - -0.06741700321435928, - -0.06886599957942963, - 0.0004997299693059176 - ] + "size": [ + 0.1349780037999153, + 0.13485900312662125, + 0.15037400383153 + ], + "units": "m" }, "center_of_mass": [ 9.691165178082883e-05, @@ -59,7 +65,7 @@ 0.0019916279707103968, 0.0020070725586265326 ], - "mass": 0.54, + "mass": 0.5400000214576721, "material": "ceramic", "name": "D00895 Utensil Holder Container", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00895 Utensil Holder Container", "part_name": "D00895 Utensil Holder Container" }, - "volume": 0.00022500000894069673 + "volume": 0.00022500000894069673, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "381ee759d052fa77af45f6f53b2ea0a14f00e0881cdfda1c73879d0ae9e36cfa" + }, + "usd_path": "batch18/D00895 Utensil Holder Container/IsaacSim_assets_6a68a772cb2d3efc6581a1f0/IsaacSim_asset_6a68a772cb2d3efc6581a1f0.usd", + "usd_sha256": "2bc6edbb4f23e768609181190156ee0dfaa3765b99e172084b4d09f7a264ca07", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1349780037999153, 0.13485900312662125, 0.15037400383153 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bc6edbb4f23e768609181190156ee0dfaa3765b99e172084b4d09f7a264ca07", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.54 + "value_kg": 0.5400000214576721, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bc6edbb4f23e768609181190156ee0dfaa3765b99e172084b4d09f7a264ca07", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5400000214576721, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 256, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bc6edbb4f23e768609181190156ee0dfaa3765b99e172084b4d09f7a264ca07", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 256, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bc6edbb4f23e768609181190156ee0dfaa3765b99e172084b4d09f7a264ca07", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00917 Water Bottle/IsaacSim_assets_6a689f0dcb2d3efc658071be/physics_6a689f0dcb2d3efc658071be.json b/batch18/D00917 Water Bottle/IsaacSim_assets_6a689f0dcb2d3efc658071be/physics_6a689f0dcb2d3efc658071be.json index 1c7ad32793f79a4f9c19067c4b0d1b2c3c1ea001..ea0adfe4b92f247f91fd0f29664054e48c5398b9 100644 --- a/batch18/D00917 Water Bottle/IsaacSim_assets_6a689f0dcb2d3efc658071be/physics_6a689f0dcb2d3efc658071be.json +++ b/batch18/D00917 Water Bottle/IsaacSim_assets_6a689f0dcb2d3efc658071be/physics_6a689f0dcb2d3efc658071be.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04105599969625473, - 0.04100999981164932, - 0.21877064555883408 - ], "min": [ -0.04104999825358391, -0.04095200076699257, 0.0007396502014671569 ], + "max": [ + 0.04105599969625473, + 0.04100999981164932, + 0.21877064555883408 + ], "size": [ 0.08210599794983864, 0.08196200057864189, 0.21803099535736692 - ] + ], + "units": "m" }, "description": "D00917 Water Bottle", "name": "D00917 Water Bottle", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00917", "parts": [ { "bounds": { - "center": [ - 3.0007213354110718e-06, - 2.899952232837677e-05, - 0.10975514788015062 + "min": [ + -0.04104999825358391, + -0.04095200076699257, + 0.0007396502014671569 ], "max": [ 0.04105599969625473, 0.04100999981164932, 0.21877064555883408 ], - "min": [ - -0.04104999825358391, - -0.04095200076699257, - 0.0007396502014671569 - ] + "size": [ + 0.08210599794983864, + 0.08196200057864189, + 0.21803099535736692 + ], + "units": "m" }, "center_of_mass": [ -1.0231349733658135e-05, @@ -59,7 +65,7 @@ 0.0016182782128453255, 0.0016190622700378299 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "foam", "name": "D00917 Water Bottle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00917 Water Bottle", "part_name": "D00917 Water Bottle" }, - "volume": 0.0010000000149011613 + "volume": 0.0010000000149011613, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3b4fdc89b9779c4c6ca00bd5b4dfa476f4960e43e335de2a38e828c95a985fe2" + }, + "usd_path": "batch18/D00917 Water Bottle/IsaacSim_assets_6a689f0dcb2d3efc658071be/IsaacSim_asset_6a689f0dcb2d3efc658071be.usd", + "usd_sha256": "a5167b4177e50a3f59d8abc9151e9ee05e803ea5843a293e677e0b321686180d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08210599794983864, 0.08196200057864189, 0.21803099535736692 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a5167b4177e50a3f59d8abc9151e9ee05e803ea5843a293e677e0b321686180d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a5167b4177e50a3f59d8abc9151e9ee05e803ea5843a293e677e0b321686180d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a5167b4177e50a3f59d8abc9151e9ee05e803ea5843a293e677e0b321686180d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a5167b4177e50a3f59d8abc9151e9ee05e803ea5843a293e677e0b321686180d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00918 Water Jug/IsaacSim_assets_6a68604a7b2f45263f550e30/physics_6a68604a7b2f45263f550e30.json b/batch18/D00918 Water Jug/IsaacSim_assets_6a68604a7b2f45263f550e30/physics_6a68604a7b2f45263f550e30.json index 84c1e53b878264638d5168b71a274e995c4c8d0e..91eb37a0b99b6047cce4c50efc302680323b1b2d 100644 --- a/batch18/D00918 Water Jug/IsaacSim_assets_6a68604a7b2f45263f550e30/physics_6a68604a7b2f45263f550e30.json +++ b/batch18/D00918 Water Jug/IsaacSim_assets_6a68604a7b2f45263f550e30/physics_6a68604a7b2f45263f550e30.json @@ -1,65 +1,88 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { + "min": [ + -0.09240700304508209, + -0.06377699971199036, + 0.001532026898530603 + ], "max": [ - 0.093437001109123, + 0.09343700110912323, 0.063339002430439, - 0.291487023234367 - ], - "min": [ - -0.092407003045082, - -0.06377699971199, - 0.001532026898531 + 0.29148702323436737 ], "size": [ - 0.185844004154205, - 0.127116002142429, - 0.289954996335836 - ] + 0.18584400415420532, + 0.12711600214242935, + 0.28995499633583677 + ], + "units": "m" }, "description": "A rectangular translucent plastic water jug with corrugated sides, an integrated handle, and an opaque blue screw-on cap.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00918", "parts": [ { "bounds": { - "center": [ - 4.3663302356e-05, - -0.000221532641194, - 0.136233483111479 + "min": [ + -0.09240700304508209, + -0.06377699971199036, + 0.001532026898530603 ], "max": [ - 0.093437001109123, + 0.09343700110912323, 0.063339002430439, - 0.291487023234367 + 0.29148702323436737 ], - "min": [ - -0.092407003045082, - -0.06377699971199, - 0.001532026898531 - ] + "size": [ + 0.18584400415420532, + 0.12711600214242935, + 0.28995499633583677 + ], + "units": "m" }, "collision": {}, "density": 950, "id": "part_00", - "mass": 0.4, + "mass": 0.4000000059604645, "material": "hdpe_plastic", "name": "generated reference 01", "physics_type": "rigid", "source": { "object_name": "generated reference 01", "part_name": "generated reference 01" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "73537b52330a6302fbbf5a90da465d1633490289b7b3ab525c51e6e702fe61d2" + }, + "usd_path": "batch18/D00918 Water Jug/IsaacSim_assets_6a68604a7b2f45263f550e30/IsaacSim_asset_6a68604a7b2f45263f550e30.usd", + "usd_sha256": "d9847f2593096c582545539f80078811055621b8e97cfe546f074cfc4d8f627f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -77,25 +100,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.185844004154205, - 0.127116002142429, - 0.289954996335836 - ] + 0.18584400415420532, + 0.12711600214242935, + 0.28995499633583677 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9847f2593096c582545539f80078811055621b8e97cfe546f074cfc4d8f627f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9847f2593096c582545539f80078811055621b8e97cfe546f074cfc4d8f627f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9847f2593096c582545539f80078811055621b8e97cfe546f074cfc4d8f627f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9847f2593096c582545539f80078811055621b8e97cfe546f074cfc4d8f627f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00919 Water Pitcher/IsaacSim_assets_6a685d207b2f45263f54a152/physics_6a685d207b2f45263f54a152.json b/batch18/D00919 Water Pitcher/IsaacSim_assets_6a685d207b2f45263f54a152/physics_6a685d207b2f45263f54a152.json index 4ee628dbfc36d8f3478846fee2020e124b2eba56..82d451b5e6bd2facb938f209615dc28c446563b8 100644 --- a/batch18/D00919 Water Pitcher/IsaacSim_assets_6a685d207b2f45263f54a152/physics_6a685d207b2f45263f54a152.json +++ b/batch18/D00919 Water Pitcher/IsaacSim_assets_6a685d207b2f45263f54a152/physics_6a685d207b2f45263f54a152.json @@ -1,65 +1,88 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.098810002207756, - 0.056744001805782, - 0.19808723567985 - ], "min": [ - -0.078859001398087, - -0.056690998375416, - 0.001062229764102 + -0.07885900139808655, + -0.0566909983754158, + 0.001062229764102085 + ], + "max": [ + 0.09881000220775604, + 0.05674400180578232, + 0.19808723567984998 ], "size": [ - 0.177669003605843, - 0.11343500018119801, - 0.197025005915748 - ] + 0.1776690036058426, + 0.11343500018119812, + 0.1970250059157479 + ], + "units": "m" }, "description": "A cylindrical transparent glass pitcher featuring a molded spout and an attached curved handle.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.619 + "total_mass": 0.6190000176429749, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00919", "parts": [ { "bounds": { - "center": [ - -0.003383554392151, - 6.181340906e-06, - 0.091913598971523 + "min": [ + -0.07885900139808655, + -0.0566909983754158, + 0.001062229764102085 ], "max": [ - 0.098810002207756, - 0.056744001805782, - 0.19808723567985 + 0.09881000220775604, + 0.05674400180578232, + 0.19808723567984998 ], - "min": [ - -0.078859001398087, - -0.056690998375416, - 0.001062229764102 - ] + "size": [ + 0.1776690036058426, + 0.11343500018119812, + 0.1970250059157479 + ], + "units": "m" }, "collision": {}, "density": 2500, "id": "part_00", - "mass": 0.619, + "mass": 0.6190000176429749, "material": "glass", "name": "generated reference 01", "physics_type": "rigid", "source": { "object_name": "generated reference 01", "part_name": "generated reference 01" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "00a425b855d8bc75a933576bd6ce581bdf0a3b63a2a1072a19022592a155f5cc" + }, + "usd_path": "batch18/D00919 Water Pitcher/IsaacSim_assets_6a685d207b2f45263f54a152/IsaacSim_asset_6a685d207b2f45263f54a152.usd", + "usd_sha256": "ce0f1010bb6b8e2da4065014c5710c3561da7b0b94f70b9d01362c84d5f3a27b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -77,25 +100,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.177669003605843, - 0.11343500018119801, - 0.197025005915748 - ] + 0.1776690036058426, + 0.11343500018119812, + 0.1970250059157479 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ce0f1010bb6b8e2da4065014c5710c3561da7b0b94f70b9d01362c84d5f3a27b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.619 + "value_kg": 0.6190000176429749, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ce0f1010bb6b8e2da4065014c5710c3561da7b0b94f70b9d01362c84d5f3a27b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6190000176429749, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ce0f1010bb6b8e2da4065014c5710c3561da7b0b94f70b9d01362c84d5f3a27b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ce0f1010bb6b8e2da4065014c5710c3561da7b0b94f70b9d01362c84d5f3a27b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00933 Whisk Wooden Spoon Rest/IsaacSim_assets_6a6856e4171604926a4a094d/physics_6a6856e4171604926a4a094d.json b/batch18/D00933 Whisk Wooden Spoon Rest/IsaacSim_assets_6a6856e4171604926a4a094d/physics_6a6856e4171604926a4a094d.json index 81aa194368c33f658f23e0caec50364e27e1adf8..3986cda7fa9bf16dde68461427cf18ab27f80ed4 100644 --- a/batch18/D00933 Whisk Wooden Spoon Rest/IsaacSim_assets_6a6856e4171604926a4a094d/physics_6a6856e4171604926a4a094d.json +++ b/batch18/D00933 Whisk Wooden Spoon Rest/IsaacSim_assets_6a6856e4171604926a4a094d/physics_6a6856e4171604926a4a094d.json @@ -1,65 +1,88 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.068887002766132, - 0.094543002545834, - 0.029592090286314 - ], "min": [ - -0.069557003676891, - -0.107960999011993, - 0.001117089912441 + -0.06955700367689133, + -0.10796099901199341, + 0.0011170899124408606 + ], + "max": [ + 0.06888700276613235, + 0.09454300254583359, + 0.029592090286314487 ], "size": [ - 0.138444006443023, + 0.13844400644302368, 0.202504001557827, - 0.028475000373873002 - ] + 0.028475000373873627 + ], + "units": "m" }, "description": "A carved wooden spoon rest with a shallow bowl and an extended, grooved handle. The object features a natural wood grain finish with smooth, rounded exterior edges.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.059 + "total_mass": 0.05900000035762787, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00933", "parts": [ { "bounds": { - "center": [ - -0.000236641901869, - -0.001602447741321, - 0.012979903226662 + "min": [ + -0.06955700367689133, + -0.10796099901199341, + 0.0011170899124408606 ], "max": [ - 0.068887002766132, - 0.094543002545834, - 0.029592090286314 + 0.06888700276613235, + 0.09454300254583359, + 0.029592090286314487 ], - "min": [ - -0.069557003676891, - -0.107960999011993, - 0.001117089912441 - ] + "size": [ + 0.13844400644302368, + 0.202504001557827, + 0.028475000373873627 + ], + "units": "m" }, "collision": {}, "density": 700, "id": "part_00", - "mass": 0.059, + "mass": 0.05900000035762787, "material": "wood", "name": "generated reference 01", "physics_type": "rigid", "source": { "object_name": "generated reference 01", "part_name": "generated reference 01" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e8ce0502c7bffa612966888b07d8b99c8dc29bf5e00e3026bfc92fcf161d9995" + }, + "usd_path": "batch18/D00933 Whisk Wooden Spoon Rest/IsaacSim_assets_6a6856e4171604926a4a094d/IsaacSim_asset_6a6856e4171604926a4a094d.usd", + "usd_sha256": "ca0940124dbfdba9d30840e57462f89d0c58a9f4084c3b23e2633c414ee5de8b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -77,25 +100,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.138444006443023, + 0.13844400644302368, 0.202504001557827, - 0.028475000373873002 - ] + 0.028475000373873627 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ca0940124dbfdba9d30840e57462f89d0c58a9f4084c3b23e2633c414ee5de8b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.059 + "value_kg": 0.05900000035762787, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ca0940124dbfdba9d30840e57462f89d0c58a9f4084c3b23e2633c414ee5de8b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05900000035762787, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ca0940124dbfdba9d30840e57462f89d0c58a9f4084c3b23e2633c414ee5de8b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ca0940124dbfdba9d30840e57462f89d0c58a9f4084c3b23e2633c414ee5de8b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch18/D00934 White Bowl/IsaacSim_assets_69f70e5b7f5104dbf2145790/physics_69f70e5b7f5104dbf2145790.json b/batch18/D00934 White Bowl/IsaacSim_assets_69f70e5b7f5104dbf2145790/physics_69f70e5b7f5104dbf2145790.json index 34388e63a385f62ea6b6adfd1a8f253181ef048d..bfee5ec7d708e102515f9ec338d68d31dd2cc039 100644 --- a/batch18/D00934 White Bowl/IsaacSim_assets_69f70e5b7f5104dbf2145790/physics_69f70e5b7f5104dbf2145790.json +++ b/batch18/D00934 White Bowl/IsaacSim_assets_69f70e5b7f5104dbf2145790/physics_69f70e5b7f5104dbf2145790.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.075597003102303, - 0.07540500164032, - 0.077016662340611 - ], "min": [ - -0.075294002890587, - -0.075416997075081, - 0.00061766012368 + -0.07529400289058685, + -0.07541699707508087, + 0.0006176601236802526 + ], + "max": [ + 0.07559700310230255, + 0.07540500164031982, + 0.07701666234061122 ], "size": [ - 0.15089100599289001, - 0.150821998715401, - 0.076399002216931 - ] + 0.1508910059928894, + 0.1508219987154007, + 0.07639900221693097 + ], + "units": "m" }, "description": "A white ceramic bowl with a smooth surface and a small footed base.", "name": "D00934 White Bowl", "object_type": "rigid_bodies", - "total_mass": 0.219 + "total_mass": 0.21899999678134918, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00934", "parts": [ { "bounds": { - "center": [ - 0.000179328467989, - 0.000107194383494, - 0.037582227909214 + "min": [ + -0.07529400289058685, + -0.07541699707508087, + 0.0006176601236802526 ], "max": [ - 0.075597003102303, - 0.07540500164032, - 0.077016662340611 + 0.07559700310230255, + 0.07540500164031982, + 0.07701666234061122 ], - "min": [ - -0.075294002890587, - -0.075416997075081, - 0.00061766012368 - ] + "size": [ + 0.1508910059928894, + 0.1508219987154007, + 0.07639900221693097 + ], + "units": "m" }, "center_of_mass": [ 0.000236396110267, @@ -59,7 +65,7 @@ 0.00046734937703823504, 0.0007113703221993034 ], - "mass": 0.219, + "mass": 0.21899999678134918, "material": "ceramic", "name": "D00934 White Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00934 White Bowl", "part_name": "D00934 White Bowl" }, - "volume": 0.0002238312547310186 + "volume": 0.0002238312547310186, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "35e14a68f227fbd14e5abce5fee7445deea525f2ce92e1548b9793f91c3292c3" + }, + "usd_path": "batch18/D00934 White Bowl/IsaacSim_assets_69f70e5b7f5104dbf2145790/IsaacSim_asset_69f70e5b7f5104dbf2145790.usd", + "usd_sha256": "4773dffead789b623479f4958e925a3d975b65adb0ceeaf86c52c634df794fe4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.15089100599289001, - 0.150821998715401, - 0.076399002216931 - ] + 0.1508910059928894, + 0.1508219987154007, + 0.07639900221693097 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4773dffead789b623479f4958e925a3d975b65adb0ceeaf86c52c634df794fe4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.219 + "value_kg": 0.21899999678134918, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4773dffead789b623479f4958e925a3d975b65adb0ceeaf86c52c634df794fe4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.21899999678134918, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 75, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4773dffead789b623479f4958e925a3d975b65adb0ceeaf86c52c634df794fe4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 75, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4773dffead789b623479f4958e925a3d975b65adb0ceeaf86c52c634df794fe4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00003 Assorted Fruit/IsaacSim_assets_6a6c4c3fcb2d3efc65baf299/physics_6a6c4c3fcb2d3efc65baf299.json b/batch19/D00003 Assorted Fruit/IsaacSim_assets_6a6c4c3fcb2d3efc65baf299/physics_6a6c4c3fcb2d3efc65baf299.json index d5d213bcdce03f2f330a26d99bfec9a63f104239..7dd20766787419f4db89706b173423c11af3604c 100644 --- a/batch19/D00003 Assorted Fruit/IsaacSim_assets_6a6c4c3fcb2d3efc65baf299/physics_6a6c4c3fcb2d3efc65baf299.json +++ b/batch19/D00003 Assorted Fruit/IsaacSim_assets_6a6c4c3fcb2d3efc65baf299/physics_6a6c4c3fcb2d3efc65baf299.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.027367999777197838, - 0.027792999520897865, - 0.05745600163936615 - ], "min": [ -0.027698999270796776, -0.027428999543190002, 0.00022800105216447264 ], + "max": [ + 0.027367999777197838, + 0.027792999520897865, + 0.05745600163936615 + ], "size": [ 0.055066999047994614, 0.05522199906408787, 0.05722800058720168 - ] + ], + "units": "m" }, "description": "D00003 Assorted Fruit", "name": "D00003 Assorted Fruit", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00003", "parts": [ { "bounds": { - "center": [ - -0.000165499746799469, - 0.00018199998885393143, - 0.02884200134576531 + "min": [ + -0.027698999270796776, + -0.027428999543190002, + 0.00022800105216447264 ], "max": [ 0.027367999777197838, 0.027792999520897865, 0.05745600163936615 ], - "min": [ - -0.027698999270796776, - -0.027428999543190002, - 0.00022800105216447264 - ] + "size": [ + 0.055066999047994614, + 0.05522199906408787, + 0.05722800058720168 + ], + "units": "m" }, "center_of_mass": [ 0.00020678486907854676, @@ -59,7 +65,7 @@ 4.746459308080375e-05, 4.8291185521520674e-05 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "wood", "name": "D00003 Assorted Fruit", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00003 Assorted Fruit", "part_name": "D00003 Assorted Fruit" }, - "volume": 0.0001875000074505806 + "volume": 0.0001875000074505806, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8ae11ab05c8ac9b16bec1df605b1320c2f036c27e07c91dcf98561d17b06b0a3" + }, + "usd_path": "batch19/D00003 Assorted Fruit/IsaacSim_assets_6a6c4c3fcb2d3efc65baf299/IsaacSim_asset_6a6c4c3fcb2d3efc65baf299.usd", + "usd_sha256": "734ed839a05705769e8b0e1db9210a61b4dce7e4e4d47530f6daad6f626b77f8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.055066999047994614, 0.05522199906408787, 0.05722800058720168 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "734ed839a05705769e8b0e1db9210a61b4dce7e4e4d47530f6daad6f626b77f8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "734ed839a05705769e8b0e1db9210a61b4dce7e4e4d47530f6daad6f626b77f8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "734ed839a05705769e8b0e1db9210a61b4dce7e4e4d47530f6daad6f626b77f8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "734ed839a05705769e8b0e1db9210a61b4dce7e4e4d47530f6daad6f626b77f8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "734ed839a05705769e8b0e1db9210a61b4dce7e4e4d47530f6daad6f626b77f8", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:40.238623+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "eab4259cd1c583cb8316b27769e994da78b88c5ce36165bf614da6b3858374f8", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00009 Bamboo Skewers/IsaacSim_assets_6a6c4db3cb2d3efc65bb1322/physics_6a6c4db3cb2d3efc65bb1322.json b/batch19/D00009 Bamboo Skewers/IsaacSim_assets_6a6c4db3cb2d3efc65bb1322/physics_6a6c4db3cb2d3efc65bb1322.json index e346716d7ffab0297363909014928e41458ff1cd..750256c8bb7bdfe041c664de058cf59fd8048aad 100644 --- a/batch19/D00009 Bamboo Skewers/IsaacSim_assets_6a6c4db3cb2d3efc65bb1322/physics_6a6c4db3cb2d3efc65bb1322.json +++ b/batch19/D00009 Bamboo Skewers/IsaacSim_assets_6a6c4db3cb2d3efc65bb1322/physics_6a6c4db3cb2d3efc65bb1322.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15505599975585938, - 0.005229999776929617, - 0.011214420199394226 - ], "min": [ -0.14431799948215485, -0.005125000141561031, 0.0009674202301539481 ], + "max": [ + 0.15505599975585938, + 0.005229999776929617, + 0.011214420199394226 + ], "size": [ 0.2993739992380142, 0.010354999918490648, 0.010246999969240278 - ] + ], + "units": "m" }, "description": "D00009 Bamboo Skewers", "name": "D00009 Bamboo Skewers", "object_type": "rigid_bodies", - "total_mass": 0.00189 + "total_mass": 0.0018899999558925629, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00009", "parts": [ { "bounds": { - "center": [ - 0.005369000136852264, - 5.249981768429279e-05, - 0.006090920214774087 + "min": [ + -0.14431799948215485, + -0.005125000141561031, + 0.0009674202301539481 ], "max": [ 0.15505599975585938, 0.005229999776929617, 0.011214420199394226 ], - "min": [ - -0.14431799948215485, - -0.005125000141561031, - 0.0009674202301539481 - ] + "size": [ + 0.2993739992380142, + 0.010354999918490648, + 0.010246999969240278 + ], + "units": "m" }, "center_of_mass": [ -0.004131138790398836, @@ -59,7 +65,7 @@ 1.242674989043735e-05, 1.2426964531186968e-05 ], - "mass": 0.00189, + "mass": 0.0018899999558925629, "material": "wood", "name": "D00009 Bamboo Skewers", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00009 Bamboo Skewers", "part_name": "D00009 Bamboo Skewers" }, - "volume": 2.6999999369893753e-06 + "volume": 2.6999999369893753e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9dc66d5b1497aedbe0acbdb995a320a166f13ecb6cb58ad7b957d769197aa627" + }, + "usd_path": "batch19/D00009 Bamboo Skewers/IsaacSim_assets_6a6c4db3cb2d3efc65bb1322/IsaacSim_asset_6a6c4db3cb2d3efc65bb1322.usd", + "usd_sha256": "7ac2133444605f1827ea88f6c1ec432ee4f613276382ba7795cb26cb58d2937a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.2993739992380142, 0.010354999918490648, 0.010246999969240278 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ac2133444605f1827ea88f6c1ec432ee4f613276382ba7795cb26cb58d2937a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.00189 + "value_kg": 0.0018899999558925629, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ac2133444605f1827ea88f6c1ec432ee4f613276382ba7795cb26cb58d2937a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0018899999558925629, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ac2133444605f1827ea88f6c1ec432ee4f613276382ba7795cb26cb58d2937a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ac2133444605f1827ea88f6c1ec432ee4f613276382ba7795cb26cb58d2937a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "7ac2133444605f1827ea88f6c1ec432ee4f613276382ba7795cb26cb58d2937a", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:21.861012+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "c50c49aa79e3e3b6e7ce9e0e13c8d6e4cc7bfdf93dfc1a621b6020be55484b8e", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00011 Bamboo Steamer Board Wooden Container/IsaacSim_assets_6a702e45cb2d3efc65ded96b/physics_6a702e45cb2d3efc65ded96b.json b/batch19/D00011 Bamboo Steamer Board Wooden Container/IsaacSim_assets_6a702e45cb2d3efc65ded96b/physics_6a702e45cb2d3efc65ded96b.json index 47c18db833a5fbde6baf999773a4f1564c0ee91c..be01b48463a2a925554942ae3f21e6a9fbff99ea 100644 --- a/batch19/D00011 Bamboo Steamer Board Wooden Container/IsaacSim_assets_6a702e45cb2d3efc65ded96b/physics_6a702e45cb2d3efc65ded96b.json +++ b/batch19/D00011 Bamboo Steamer Board Wooden Container/IsaacSim_assets_6a702e45cb2d3efc65ded96b/physics_6a702e45cb2d3efc65ded96b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1533530056476593, - 0.1545020043849945, - 0.12363061308860779 - ], "min": [ -0.1529799997806549, -0.15179699659347534, 0.0012246101396158338 ], + "max": [ + 0.1533530056476593, + 0.1545020043849945, + 0.12363061308860779 + ], "size": [ 0.3063330054283142, 0.30629900097846985, 0.12240600294899195 - ] + ], + "units": "m" }, "description": "D00011 Bamboo Steamer Board Wooden Container", "name": "D00011 Bamboo Steamer Board Wooden Container", "object_type": "rigid_bodies", - "total_mass": 0.417 + "total_mass": 0.4169999957084656, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00011", "parts": [ { "bounds": { - "center": [ - 0.00018650293350219727, - 0.0013525038957595825, - 0.06242761161411181 + "min": [ + -0.1529799997806549, + -0.15179699659347534, + 0.0012246101396158338 ], "max": [ 0.1533530056476593, 0.1545020043849945, 0.12363061308860779 ], - "min": [ - -0.1529799997806549, - -0.15179699659347534, - 0.0012246101396158338 - ] + "size": [ + 0.3063330054283142, + 0.30629900097846985, + 0.12240600294899195 + ], + "units": "m" }, "center_of_mass": [ 0.00018237780022900552, @@ -59,7 +65,7 @@ 0.0037740690167993307, 0.006509954575449228 ], - "mass": 0.417, + "mass": 0.4169999957084656, "material": "wood", "name": "D00011 Bamboo Steamer Board Wooden Container", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00011 Bamboo Steamer Board Wooden Container", "part_name": "D00011 Bamboo Steamer Board Wooden Container" }, - "volume": 0.0008339999914169312 + "volume": 0.0008339999914169312, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bb15576fc01b6ff7c16f2d3f87006718d4066f869411d8f1475fe87d8a637fe0" + }, + "usd_path": "batch19/D00011 Bamboo Steamer Board Wooden Container/IsaacSim_assets_6a702e45cb2d3efc65ded96b/IsaacSim_asset_6a702e45cb2d3efc65ded96b.usd", + "usd_sha256": "259771dfe20104a2096a44a7fe4e2fbc12628c1153bc90ffa56a956fa938fca7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.3063330054283142, 0.30629900097846985, 0.12240600294899195 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "259771dfe20104a2096a44a7fe4e2fbc12628c1153bc90ffa56a956fa938fca7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.417 + "value_kg": 0.4169999957084656, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "259771dfe20104a2096a44a7fe4e2fbc12628c1153bc90ffa56a956fa938fca7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4169999957084656, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 60, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "259771dfe20104a2096a44a7fe4e2fbc12628c1153bc90ffa56a956fa938fca7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 60, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "259771dfe20104a2096a44a7fe4e2fbc12628c1153bc90ffa56a956fa938fca7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "259771dfe20104a2096a44a7fe4e2fbc12628c1153bc90ffa56a956fa938fca7", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:40.591081+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "ef15426e7c698dfe984e97aedc3a0275f67e786412e32d88c219ae4b5e2381c3", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00040 Board Placemat/IsaacSim_assets_6a6c6270cb2d3efc65bcde8d/physics_6a6c6270cb2d3efc65bcde8d.json b/batch19/D00040 Board Placemat/IsaacSim_assets_6a6c6270cb2d3efc65bcde8d/physics_6a6c6270cb2d3efc65bcde8d.json index 4e9a417241dcc49bdd2b8291cc4bf7ac548186a2..14fbbb8d7e0b945f36204bd37351c4462f2d0059 100644 --- a/batch19/D00040 Board Placemat/IsaacSim_assets_6a6c6270cb2d3efc65bcde8d/physics_6a6c6270cb2d3efc65bcde8d.json +++ b/batch19/D00040 Board Placemat/IsaacSim_assets_6a6c6270cb2d3efc65bcde8d/physics_6a6c6270cb2d3efc65bcde8d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.19963499903678894, - 0.17116400599479675, - 0.06256099790334702 - ], "min": [ -0.1991650015115738, -0.17094500362873077, 0.0 ], + "max": [ + 0.19963499903678894, + 0.17116400599479675, + 0.06256099790334702 + ], "size": [ 0.39880000054836273, 0.3421090096235275, 0.06256099790334702 - ] + ], + "units": "m" }, "description": "D00040 Board Placemat", "name": "D00040 Board Placemat", "object_type": "rigid_bodies", - "total_mass": 0.162 + "total_mass": 0.16200000047683716, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00040", "parts": [ { "bounds": { - "center": [ - 0.00023499876260757446, - 0.0001095011830329895, - 0.03128049895167351 + "min": [ + -0.1991650015115738, + -0.17094500362873077, + 0.0 ], "max": [ 0.19963499903678894, 0.17116400599479675, 0.06256099790334702 ], - "min": [ - -0.1991650015115738, - -0.17094500362873077, - 0.0 - ] + "size": [ + 0.39880000054836273, + 0.3421090096235275, + 0.06256099790334702 + ], + "units": "m" }, "center_of_mass": [ -0.0003624525270424783, @@ -59,7 +65,7 @@ 0.0021029177587479353, 0.0035927947610616684 ], - "mass": 0.162, + "mass": 0.16200000047683716, "material": "generic", "name": "D00040 Board Placemat", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00040 Board Placemat", "part_name": "D00040 Board Placemat" }, - "volume": 0.0006750000019868214 + "volume": 0.0006750000019868214, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "972b86349e087bc0f282bef1592d65c1e575de09336b5bbb4a46b88b5cd72120" + }, + "usd_path": "batch19/D00040 Board Placemat/IsaacSim_assets_6a6c6270cb2d3efc65bcde8d/IsaacSim_asset_6a6c6270cb2d3efc65bcde8d.usd", + "usd_sha256": "a97db9226d3a5ce34b91245451734eaf77e931048f87a354d269fc2cf6840867", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.39880000054836273, 0.3421090096235275, 0.06256099790334702 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a97db9226d3a5ce34b91245451734eaf77e931048f87a354d269fc2cf6840867", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.162 + "value_kg": 0.16200000047683716, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a97db9226d3a5ce34b91245451734eaf77e931048f87a354d269fc2cf6840867", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.16200000047683716, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a97db9226d3a5ce34b91245451734eaf77e931048f87a354d269fc2cf6840867", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a97db9226d3a5ce34b91245451734eaf77e931048f87a354d269fc2cf6840867", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "a97db9226d3a5ce34b91245451734eaf77e931048f87a354d269fc2cf6840867", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:42.046377+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "5225b0110dd7552c46ef217e9c4bbd29172f1d5c393bf9c0a71eae7ce718f6df", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00071 Bowl Stack/IsaacSim_assets_6a715b8bb22aed4dbad40d88/physics_6a715b8bb22aed4dbad40d88.json b/batch19/D00071 Bowl Stack/IsaacSim_assets_6a715b8bb22aed4dbad40d88/physics_6a715b8bb22aed4dbad40d88.json index b4a9be8a3b6a2eafb7bd49edc719955e0ac64cca..a1782da181d4d15938adf95beb89960b252fda81 100644 --- a/batch19/D00071 Bowl Stack/IsaacSim_assets_6a715b8bb22aed4dbad40d88/physics_6a715b8bb22aed4dbad40d88.json +++ b/batch19/D00071 Bowl Stack/IsaacSim_assets_6a715b8bb22aed4dbad40d88/physics_6a715b8bb22aed4dbad40d88.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08290497785278553, - 0.08328066695697904, - 0.15472467545782118 - ], "min": [ - -0.0785821411128906, - -0.07973811961967855, + -0.056540086644216496, + -0.056238284756909576, 0.0006071170791983604 ], + "max": [ + 0.056808974456825714, + 0.05618496796555689, + 0.1523376832948287 + ], "size": [ - 0.16148711896567614, - 0.16301878657665758, - 0.15411755837862282 - ] + 0.1133490611010422, + 0.11242325272246646, + 0.15173056621563033 + ], + "units": "m" }, "description": "D00071 Bowl Stack", "name": "D00071 Bowl Stack", "object_type": "rigid_bodies", - "total_mass": 2.0 + "total_mass": 2.0000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00071", "parts": [ { "bounds": { - "center": [ - -8.039362728595734e-05, - 0.00013001635670661926, - 0.023559391032904387 + "min": [ + -0.05596078932285309, + -0.055613525211811066, + 0.0006071170791983604 ], "max": [ 0.055800002068281174, 0.055873557925224304, 0.04651166498661041 ], - "min": [ - -0.05596078932285309, - -0.055613525211811066, - 0.0006071170791983604 - ] + "size": [ + 0.11176079139113426, + 0.11148708313703537, + 0.04590454790741205 + ], + "units": "m" }, "center_of_mass": [ -0.0002840933739207685, @@ -59,7 +65,7 @@ 0.0004109967267140746, 0.0006847220356576145 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic", "name": "D00071 Bowl Stack", "physics_type": "rigid", @@ -67,25 +73,28 @@ "object_name": "D00071 Bowl Stack", "part_name": "D00071 Bowl Stack" }, - "volume": 0.00016666666915019353 + "volume": 0.00016666666915019353, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -8.271777536226349e-05, - 0.0011113158972915413, - 0.04673947994652016 + "min": [ + -0.05564532784639248, + -0.055236629075833495, + 0.02300708810237155 ], "max": [ - 0.07841670556216607, - 0.08004220873613233, - 0.07190882947378212 + 0.05583768052287433, + 0.05618496796555689, + 0.07126312316310116 ], - "min": [ - -0.0785821411128906, - -0.07781957694154924, - 0.021570130419258208 - ] + "size": [ + 0.1114830083692668, + 0.11142159704139037, + 0.048256035060729605 + ], + "units": "m" }, "center_of_mass": [ -0.00026217757840640843, @@ -100,7 +109,7 @@ 0.0004109967267140746, 0.0006847220356576145 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic", "name": "D00071 Bowl Stack", "physics_type": "rigid", @@ -108,25 +117,28 @@ "object_name": "D00071 Bowl Stack", "part_name": "D00071 Bowl Stack" }, - "volume": 0.00016666666915019353 + "volume": 0.00016666666915019353, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.002662154265902661, - -0.0006934683804120031, - 0.06898865036427387 + "min": [ + -0.05437306423278541, + -0.056238284756909576, + 0.04420890492033924 ], "max": [ - 0.08290497785278553, - 0.07835118285885455, - 0.09737093693408896 + 0.056808974456825714, + 0.055215090470862614, + 0.09552252248015494 ], - "min": [ - -0.0775806693209802, - -0.07973811961967855, - 0.04060636379445879 - ] + "size": [ + 0.11118203868961113, + 0.11145337522777218, + 0.0513136175598157 + ], + "units": "m" }, "center_of_mass": [ -0.00026217757840640843, @@ -141,7 +153,7 @@ 0.0004109967267140746, 0.0006847220356576145 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic", "name": "D00071 Bowl Stack", "physics_type": "rigid", @@ -149,25 +161,28 @@ "object_name": "D00071 Bowl Stack", "part_name": "D00071 Bowl Stack" }, - "volume": 0.00016666666915019353 + "volume": 0.00016666666915019353, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0007020401091839684, - 0.0007240417216529058, - 0.09120232598697248 + "min": [ + -0.056540086644216496, + -0.05564052388771727, + 0.06746773955043386 ], "max": [ - 0.07625304912320773, - 0.07817557587546535, - 0.11619513555238112 + 0.05487264835208832, + 0.05583697064809712, + 0.11569970707719737 ], - "min": [ - -0.07765712934157566, - -0.07672749243215954, - 0.06620951642156382 - ] + "size": [ + 0.11141273499630482, + 0.11147749453581439, + 0.04823196752676351 + ], + "units": "m" }, "center_of_mass": [ -0.00026217757840640843, @@ -182,7 +197,7 @@ 0.0004109967267140746, 0.0006847220356576145 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic", "name": "D00071 Bowl Stack", "physics_type": "rigid", @@ -190,25 +205,28 @@ "object_name": "D00071 Bowl Stack", "part_name": "D00071 Bowl Stack" }, - "volume": 0.00016666666915019353 + "volume": 0.00016666666915019353, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0027393502024173552, - 0.006416195093767563, - 0.11553450991770178 + "min": [ + -0.05521600994615452, + -0.0527408918092727, + 0.08556801143431632 ], "max": [ - 0.07756360918658486, - 0.08328066695697904, - 0.15472467545782118 + 0.05528995042495434, + 0.05562440928224237, + 0.1523376832948287 ], - "min": [ - -0.07208490878175015, - -0.07044827676944392, - 0.07634434437758238 - ] + "size": [ + 0.11050596037110885, + 0.10836530109151507, + 0.06676967186051237 + ], + "units": "m" }, "center_of_mass": [ -0.00026217757840640843, @@ -223,7 +241,7 @@ 0.0004109967267140746, 0.0006847220356576145 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic", "name": "D00071 Bowl Stack", "physics_type": "rigid", @@ -231,10 +249,27 @@ "object_name": "D00071 Bowl Stack", "part_name": "D00071 Bowl Stack" }, - "volume": 0.00016666666915019353 + "volume": 0.00016666666915019353, + "source_prim_path": "/World/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "231b8c2d693e3b7d52f2f0ebdbaa126b87439877912be9b52ffeee0166f9a7cb" + }, + "usd_path": "batch19/D00071 Bowl Stack/IsaacSim_assets_6a715b8bb22aed4dbad40d88/IsaacSim_asset_6a715b8bb22aed4dbad40d88.usd", + "usd_sha256": "7a3dcc364e9f8e12a62e0ad5f7289f5b8de4f9fd35c1e933821de6adde47771e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -252,25 +287,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.16148711896567614, - 0.16301878657665758, - 0.15411755837862282 - ] + 0.1133490611010422, + 0.11242325272246646, + 0.15173056621563033 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7a3dcc364e9f8e12a62e0ad5f7289f5b8de4f9fd35c1e933821de6adde47771e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.0 + "value_kg": 2.0000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7a3dcc364e9f8e12a62e0ad5f7289f5b8de4f9fd35c1e933821de6adde47771e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.0000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 150, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7a3dcc364e9f8e12a62e0ad5f7289f5b8de4f9fd35c1e933821de6adde47771e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 150, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7a3dcc364e9f8e12a62e0ad5f7289f5b8de4f9fd35c1e933821de6adde47771e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "7a3dcc364e9f8e12a62e0ad5f7289f5b8de4f9fd35c1e933821de6adde47771e", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:44.664807+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "e8e202a9d0fd5246ebb36ac0d0dda79513aa135fd590adffd5dd4a7d97462fe2", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00107 Canister Mug/IsaacSim_assets_6a6ff759cb2d3efc65d9aed9/physics_6a6ff759cb2d3efc65d9aed9.json b/batch19/D00107 Canister Mug/IsaacSim_assets_6a6ff759cb2d3efc65d9aed9/physics_6a6ff759cb2d3efc65d9aed9.json index 364f020fd9a173c65a3d6967f1309c7ee0b6641c..141831064dd1fdaed4c617ac77828431ef0fb720 100644 --- a/batch19/D00107 Canister Mug/IsaacSim_assets_6a6ff759cb2d3efc65d9aed9/physics_6a6ff759cb2d3efc65d9aed9.json +++ b/batch19/D00107 Canister Mug/IsaacSim_assets_6a6ff759cb2d3efc65d9aed9/physics_6a6ff759cb2d3efc65d9aed9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04723700135946274, - 0.0497249998152256, - 0.10333184152841568 - ], "min": [ -0.040445998311042786, -0.06562799960374832, 0.0004878400650341064 ], + "max": [ + 0.04723700135946274, + 0.0497249998152256, + 0.10333184152841568 + ], "size": [ 0.08768299967050552, 0.11535299941897392, 0.10284400146338157 - ] + ], + "units": "m" }, "description": "D00107 Canister Mug", "name": "D00107 Canister Mug", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.3499999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00107", "parts": [ { "bounds": { - "center": [ - 0.003395501524209976, - -0.00795149989426136, - 0.05190984079672489 + "min": [ + -0.040445998311042786, + -0.06562799960374832, + 0.0004878400650341064 ], "max": [ 0.04723700135946274, 0.0497249998152256, 0.10333184152841568 ], - "min": [ - -0.040445998311042786, - -0.06562799960374832, - 0.0004878400650341064 - ] + "size": [ + 0.08768299967050552, + 0.11535299941897392, + 0.10284400146338157 + ], + "units": "m" }, "center_of_mass": [ 0.0022080871276557446, @@ -59,7 +65,7 @@ 0.0005988359916955233, 0.0006834631785750389 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "ceramic", "name": "D00107 Canister Mug", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00107 Canister Mug", "part_name": "D00107 Canister Mug" }, - "volume": 0.00014583333084980648 + "volume": 0.00014583333084980648, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "002fc02471b77a7329fb8ea83ea6b9e67de546d5fc2bd6bb1faee8ed43c4b772" + }, + "usd_path": "batch19/D00107 Canister Mug/IsaacSim_assets_6a6ff759cb2d3efc65d9aed9/IsaacSim_asset_6a6ff759cb2d3efc65d9aed9.usd", + "usd_sha256": "5228c2caceefe64b642a98c5ae84073cf986c95c68bbc91eb399f0ec0e4ca788", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.08768299967050552, 0.11535299941897392, 0.10284400146338157 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5228c2caceefe64b642a98c5ae84073cf986c95c68bbc91eb399f0ec0e4ca788", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.3499999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5228c2caceefe64b642a98c5ae84073cf986c95c68bbc91eb399f0ec0e4ca788", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3499999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 67, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5228c2caceefe64b642a98c5ae84073cf986c95c68bbc91eb399f0ec0e4ca788", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 67, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5228c2caceefe64b642a98c5ae84073cf986c95c68bbc91eb399f0ec0e4ca788", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "5228c2caceefe64b642a98c5ae84073cf986c95c68bbc91eb399f0ec0e4ca788", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:44.731878+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "76c8d7dc099056b4dcb9bc90b09692afd522a34312608e683f832c780cdecd6f", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00117 Ceramic Mug/IsaacSim_assets_6a6ffbe9cb2d3efc65da1bb0/physics_6a6ffbe9cb2d3efc65da1bb0.json b/batch19/D00117 Ceramic Mug/IsaacSim_assets_6a6ffbe9cb2d3efc65da1bb0/physics_6a6ffbe9cb2d3efc65da1bb0.json index 69a269a2f4cb4d4971adfffe3c36a9d27e17157d..d37c69de981b7131cd46789a26c425eb50f6692b 100644 --- a/batch19/D00117 Ceramic Mug/IsaacSim_assets_6a6ffbe9cb2d3efc65da1bb0/physics_6a6ffbe9cb2d3efc65da1bb0.json +++ b/batch19/D00117 Ceramic Mug/IsaacSim_assets_6a6ffbe9cb2d3efc65da1bb0/physics_6a6ffbe9cb2d3efc65da1bb0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.057757001370191574, - 0.034602999687194824, - 0.07994621247053146 - ], "min": [ -0.041032999753952026, -0.034728001803159714, 0.00038320981548167765 ], + "max": [ + 0.057757001370191574, + 0.034602999687194824, + 0.07994621247053146 + ], "size": [ 0.0987900011241436, 0.06933100149035454, 0.07956300265504979 - ] + ], + "units": "m" }, "description": "D00117 Ceramic Mug", "name": "D00117 Ceramic Mug", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.3499999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00117", "parts": [ { "bounds": { - "center": [ - 0.008362000808119774, - -6.250105798244476e-05, - 0.04016471114300657 + "min": [ + -0.041032999753952026, + -0.034728001803159714, + 0.00038320981548167765 ], "max": [ 0.057757001370191574, 0.034602999687194824, 0.07994621247053146 ], - "min": [ - -0.041032999753952026, - -0.034728001803159714, - 0.00038320981548167765 - ] + "size": [ + 0.0987900011241436, + 0.06933100149035454, + 0.07956300265504979 + ], + "units": "m" }, "center_of_mass": [ -0.002576373517513275, @@ -59,7 +65,7 @@ 0.0003799473342951387, 0.0004234470543451607 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "ceramic", "name": "D00117 Ceramic Mug", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00117 Ceramic Mug", "part_name": "D00117 Ceramic Mug" }, - "volume": 0.00015909090638160705 + "volume": 0.00015909090638160705, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "43048787f2475aaea747f4c4e83a68edc1f5384098d6bcd7dc022f7f86f4f2dd" + }, + "usd_path": "batch19/D00117 Ceramic Mug/IsaacSim_assets_6a6ffbe9cb2d3efc65da1bb0/IsaacSim_asset_6a6ffbe9cb2d3efc65da1bb0.usd", + "usd_sha256": "535f0148ae8ea85464b9a30747463376fd613324e84357a64e51b99e7bdc21b4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.0987900011241436, 0.06933100149035454, 0.07956300265504979 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "535f0148ae8ea85464b9a30747463376fd613324e84357a64e51b99e7bdc21b4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.3499999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "535f0148ae8ea85464b9a30747463376fd613324e84357a64e51b99e7bdc21b4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3499999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 46, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "535f0148ae8ea85464b9a30747463376fd613324e84357a64e51b99e7bdc21b4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 46, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "535f0148ae8ea85464b9a30747463376fd613324e84357a64e51b99e7bdc21b4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "535f0148ae8ea85464b9a30747463376fd613324e84357a64e51b99e7bdc21b4", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:44.910467+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "97515431a05b694dc988ae98af3bf7203d1bd09157e613f6ef363b084251327a", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00120 Cereal Box/IsaacSim_assets_6a6ffce9cb2d3efc65da374c/physics_6a6ffce9cb2d3efc65da374c.json b/batch19/D00120 Cereal Box/IsaacSim_assets_6a6ffce9cb2d3efc65da374c/physics_6a6ffce9cb2d3efc65da374c.json index 8f4b80a8662acae56a1f7f4a4710fc2ac013c35b..5e2f9ea1114eb3883bc9a95177a32407e8fbf1f4 100644 --- a/batch19/D00120 Cereal Box/IsaacSim_assets_6a6ffce9cb2d3efc65da374c/physics_6a6ffce9cb2d3efc65da374c.json +++ b/batch19/D00120 Cereal Box/IsaacSim_assets_6a6ffce9cb2d3efc65da374c/physics_6a6ffce9cb2d3efc65da374c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04425999894738197, - 0.10107699781656265, - 0.29569897055625916 - ], "min": [ -0.043125998228788376, -0.10032899677753448, 0.0012829701881855726 ], + "max": [ + 0.04425999894738197, + 0.10107699781656265, + 0.29569897055625916 + ], "size": [ 0.08738599717617035, 0.20140599459409714, 0.2944160003680736 - ] + ], + "units": "m" }, "description": "D00120 Cereal Box", "name": "D00120 Cereal Box", "object_type": "rigid_bodies", - "total_mass": 0.55 + "total_mass": 0.550000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00120", "parts": [ { "bounds": { - "center": [ - 0.0005670003592967987, - 0.00037400051951408386, - 0.14849097037222236 + "min": [ + -0.043125998228788376, + -0.10032899677753448, + 0.0012829701881855726 ], "max": [ 0.04425999894738197, 0.10107699781656265, 0.29569897055625916 ], - "min": [ - -0.043125998228788376, - -0.10032899677753448, - 0.0012829701881855726 - ] + "size": [ + 0.08738599717617035, + 0.20140599459409714, + 0.2944160003680736 + ], + "units": "m" }, "center_of_mass": [ 0.0005701715126633644, @@ -59,7 +65,7 @@ 0.004282454028725624, 0.005790831055492163 ], - "mass": 0.55, + "mass": 0.550000011920929, "material": "generic", "name": "D00120 Cereal Box", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00120 Cereal Box", "part_name": "D00120 Cereal Box" }, - "volume": 0.004198473373442205 + "volume": 0.004198473373442205, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ea46198d09a92884e9aca20d7fc187976a8943d9d47f2b609927970734d124a3" + }, + "usd_path": "batch19/D00120 Cereal Box/IsaacSim_assets_6a6ffce9cb2d3efc65da374c/IsaacSim_asset_6a6ffce9cb2d3efc65da374c.usd", + "usd_sha256": "752a455cf313bb537d62b760ee9ec8050f4f24e9282d82412e437ac95eb465f1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.08738599717617035, 0.20140599459409714, 0.2944160003680736 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "752a455cf313bb537d62b760ee9ec8050f4f24e9282d82412e437ac95eb465f1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.55 + "value_kg": 0.550000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "752a455cf313bb537d62b760ee9ec8050f4f24e9282d82412e437ac95eb465f1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.550000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "752a455cf313bb537d62b760ee9ec8050f4f24e9282d82412e437ac95eb465f1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "752a455cf313bb537d62b760ee9ec8050f4f24e9282d82412e437ac95eb465f1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "752a455cf313bb537d62b760ee9ec8050f4f24e9282d82412e437ac95eb465f1", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:01.579925+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "7d81be252e7d961cff0b6491a6bbf8b274acf7b40dde47c023b7470f7592de54", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00128 Chop/IsaacSim_assets_6a7002becb2d3efc65dac0bb/physics_6a7002becb2d3efc65dac0bb.json b/batch19/D00128 Chop/IsaacSim_assets_6a7002becb2d3efc65dac0bb/physics_6a7002becb2d3efc65dac0bb.json index f53f364c637e48b66fa91dc23fc60305afed585b..d3488536b5ac331c05f882a8459706460d2bfb1a 100644 --- a/batch19/D00128 Chop/IsaacSim_assets_6a7002becb2d3efc65dac0bb/physics_6a7002becb2d3efc65dac0bb.json +++ b/batch19/D00128 Chop/IsaacSim_assets_6a7002becb2d3efc65dac0bb/physics_6a7002becb2d3efc65dac0bb.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06099100038409233, - 0.039524998515844345, - 0.014440549537539482 - ], "min": [ -0.04958600178360939, -0.03425399959087372, 0.0005045502912253141 ], + "max": [ + 0.06099100038409233, + 0.039524998515844345, + 0.014440549537539482 + ], "size": [ 0.11057700216770172, 0.07377899810671806, 0.013935999246314168 - ] + ], + "units": "m" }, "description": "D00128 Chop", "name": "D00128 Chop", "object_type": "rigid_bodies", - "total_mass": 0.124 + "total_mass": 0.12399999797344208, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00128", "parts": [ { "bounds": { - "center": [ - 0.00570249930024147, - 0.0026354994624853134, - 0.007472549914382398 + "min": [ + -0.04958600178360939, + -0.03425399959087372, + 0.0005045502912253141 ], "max": [ 0.06099100038409233, 0.039524998515844345, 0.014440549537539482 ], - "min": [ - -0.04958600178360939, - -0.03425399959087372, - 0.0005045502912253141 - ] + "size": [ + 0.11057700216770172, + 0.07377899810671806, + 0.013935999246314168 + ], + "units": "m" }, "center_of_mass": [ 0.0018203763756901026, @@ -59,7 +65,7 @@ 9.146281809080392e-05, 0.00012895921827293932 ], - "mass": 0.124, + "mass": 0.12399999797344208, "material": "plastic", "name": "D00128 Chop", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00128 Chop", "part_name": "D00128 Chop" }, - "volume": 0.00011809523616518294 + "volume": 0.00011809523616518294, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c688fdbccdd21e538297d2116b00fc95c75667171da84e37c18e8b4b644dcde3" + }, + "usd_path": "batch19/D00128 Chop/IsaacSim_assets_6a7002becb2d3efc65dac0bb/IsaacSim_asset_6a7002becb2d3efc65dac0bb.usd", + "usd_sha256": "2caa2f89604cd8962a0739f45442b8dfa1e721898b93ef9fec14bd27b84bfd81", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,75 @@ 0.11057700216770172, 0.07377899810671806, 0.013935999246314168 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2caa2f89604cd8962a0739f45442b8dfa1e721898b93ef9fec14bd27b84bfd81", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.124 + "value_kg": 0.12399999797344208, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2caa2f89604cd8962a0739f45442b8dfa1e721898b93ef9fec14bd27b84bfd81", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.12399999797344208, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 14, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2caa2f89604cd8962a0739f45442b8dfa1e721898b93ef9fec14bd27b84bfd81", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 14, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2caa2f89604cd8962a0739f45442b8dfa1e721898b93ef9fec14bd27b84bfd81", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "2caa2f89604cd8962a0739f45442b8dfa1e721898b93ef9fec14bd27b84bfd81", + "supplemental_accepted": false, + "planned_test_count": 12, + "result_count": 12, + "passed": 10, + "skipped": 1, + "failed": 1, + "issues": [ + "preview_surface_renders:fail" + ], + "warnings": [], + "completed_at": "2026-10-13T21:36:02.093626+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "bbc1395bbf984e89759bd54c495eddde4da19808dcb4a78817dde5c97f686e2d", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00135 Citrus/IsaacSim_assets_6a701420cb2d3efc65dc55d1/physics_6a701420cb2d3efc65dc55d1.json b/batch19/D00135 Citrus/IsaacSim_assets_6a701420cb2d3efc65dc55d1/physics_6a701420cb2d3efc65dc55d1.json index fa099d479fa31f9ff30ed0d0e4ccc5c9527b1eb4..8aa8bf734f23a1b6fd25c8a902f5feadb807c1e9 100644 --- a/batch19/D00135 Citrus/IsaacSim_assets_6a701420cb2d3efc65dc55d1/physics_6a701420cb2d3efc65dc55d1.json +++ b/batch19/D00135 Citrus/IsaacSim_assets_6a701420cb2d3efc65dc55d1/physics_6a701420cb2d3efc65dc55d1.json @@ -1,50 +1,105 @@ { "articulation": { - "has_joints": false, - "joints": [] + "has_joints": true, + "joints": [ + { + "id": "joint_orange_body__stem", + "path": "/World/textured_mesh_6a701420cb2d3efc65dc55d1/Joints/joint_orange_body__stem", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a701420cb2d3efc65dc55d1/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a701420cb2d3efc65dc55d1/part_01" + ], + "authored_usd": { + "id": "joint_orange_body__stem", + "source_prim_path": "/World/textured_mesh_6a701420cb2d3efc65dc55d1/Joints/joint_orange_body__stem", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a701420cb2d3efc65dc55d1/part_00" + ], + "body1": [ + "/World/textured_mesh_6a701420cb2d3efc65dc55d1/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + } + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.026094000786542892, - 0.026321999728679657, - 0.05093799903988838 - ], "min": [ -0.025074999779462814, -0.02472499944269657, 1.4000000192027073e-05 ], + "max": [ + 0.026094000786542892, + 0.026321999728679657, + 0.05093799903988838 + ], "size": [ 0.05116900056600571, 0.05104699917137623, 0.050923999039696355 - ] + ], + "units": "m" }, "description": "D00135 Citrus", "name": "D00135 Citrus", "object_type": "rigid_bodies", - "total_mass": 0.151 + "total_mass": 0.15100000600796193, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00135", "parts": [ { "bounds": { - "center": [ - 0.0005095005035400391, - 0.0007985001429915428, - 0.025475999520040205 + "min": [ + -0.025074999779462814, + -0.02472499944269657, + 1.4000000192027073e-05 ], "max": [ 0.026094000786542892, 0.026321999728679657, 0.05093799903988838 ], - "min": [ - -0.025074999779462814, - -0.02472499944269657, - 1.4000000192027073e-05 - ] + "size": [ + 0.05116900056600571, + 0.05104699917137623, + 0.050923999039696355 + ], + "units": "m" }, "center_of_mass": [ 0.0005128915654495358, @@ -59,7 +114,7 @@ 3.877980634570122e-05, 3.90239802072756e-05 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "plastic", "name": "D00135 Citrus", "physics_type": "rigid", @@ -67,25 +122,28 @@ "object_name": "D00135 Citrus", "part_name": "D00135 Citrus" }, - "volume": 0.0001578947431162784 + "volume": 0.0001578947431162784, + "source_prim_path": "/World/textured_mesh_6a701420cb2d3efc65dc55d1/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.011020499747246504, - -0.018952500075101852, - 0.027903500944375992 + "min": [ + -0.01337399985641241, + -0.0211970005184412, + 0.024418000131845474 ], "max": [ -0.008666999638080597, -0.016707999631762505, 0.03138900175690651 ], - "min": [ - -0.01337399985641241, - -0.0211970005184412, - 0.024418000131845474 - ] + "size": [ + 0.004707000218331814, + 0.004489000886678696, + 0.006971001625061035 + ], + "units": "m" }, "center_of_mass": [ -0.011377519927918911, @@ -100,7 +158,7 @@ 2.371443930115902e-09, 3.767550715849666e-09 ], - "mass": 0.001, + "mass": 0.0010000000474974513, "material": "foam", "name": "D00135 Citrus", "physics_type": "rigid", @@ -108,10 +166,27 @@ "object_name": "D00135 Citrus", "part_name": "D00135 Citrus" }, - "volume": 2.5000001187436284e-06 + "volume": 2.5000001187436284e-06, + "source_prim_path": "/World/textured_mesh_6a701420cb2d3efc65dc55d1/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a2c04a0bd52e387d46b2895416d74628b9217c5e4985d029fd1deac0d7135a5e" + }, + "usd_path": "batch19/D00135 Citrus/IsaacSim_assets_6a701420cb2d3efc65dc55d1/IsaacSim_asset_6a701420cb2d3efc65dc55d1.usd", + "usd_sha256": "63eb3a12626d7db8c1103cdc9600c2146a9322493e8f333ba4dc27d015d65132", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -132,22 +207,73 @@ 0.05116900056600571, 0.05104699917137623, 0.050923999039696355 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "63eb3a12626d7db8c1103cdc9600c2146a9322493e8f333ba4dc27d015d65132", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.151 + "value_kg": 0.15100000600796193, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "63eb3a12626d7db8c1103cdc9600c2146a9322493e8f333ba4dc27d015d65132", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15100000600796193, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 23, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "63eb3a12626d7db8c1103cdc9600c2146a9322493e8f333ba4dc27d015d65132", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 23, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "63eb3a12626d7db8c1103cdc9600c2146a9322493e8f333ba4dc27d015d65132", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "63eb3a12626d7db8c1103cdc9600c2146a9322493e8f333ba4dc27d015d65132", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:16:00.339126+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "998b5e6e49af8186239afbbe79cb8bda21286001bf91713e96d39cb9f71e906e", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00146 Coaster Board/IsaacSim_assets_6a7012eccb2d3efc65dc3ab0/physics_6a7012eccb2d3efc65dc3ab0.json b/batch19/D00146 Coaster Board/IsaacSim_assets_6a7012eccb2d3efc65dc3ab0/physics_6a7012eccb2d3efc65dc3ab0.json index 1bd7698f6ff120809a32c54cdeb45f6ad5f04535..1e74a3a4717f35ca3ca923e8129223b8025c9ea2 100644 --- a/batch19/D00146 Coaster Board/IsaacSim_assets_6a7012eccb2d3efc65dc3ab0/physics_6a7012eccb2d3efc65dc3ab0.json +++ b/batch19/D00146 Coaster Board/IsaacSim_assets_6a7012eccb2d3efc65dc3ab0/physics_6a7012eccb2d3efc65dc3ab0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04988100007176399, - 0.04979100078344345, - 0.01926383003592491 - ], "min": [ -0.04947299882769585, -0.04958200082182884, 0.0004578299995046109 ], + "max": [ + 0.04988100007176399, + 0.04979100078344345, + 0.01926383003592491 + ], "size": [ 0.09935399889945984, 0.0993730016052723, 0.0188060000364203 - ] + ], + "units": "m" }, "description": "D00146 Coaster Board", "name": "D00146 Coaster Board", "object_type": "rigid_bodies", - "total_mass": 0.07 + "total_mass": 0.07000000029802322, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00146", "parts": [ { "bounds": { - "center": [ - 0.00020400062203407288, - 0.00010449998080730438, - 0.009860830017714761 + "min": [ + -0.04947299882769585, + -0.04958200082182884, + 0.0004578299995046109 ], "max": [ 0.04988100007176399, 0.04979100078344345, 0.01926383003592491 ], - "min": [ - -0.04947299882769585, - -0.04958200082182884, - 0.0004578299995046109 - ] + "size": [ + 0.09935399889945984, + 0.0993730016052723, + 0.0188060000364203 + ], + "units": "m" }, "center_of_mass": [ 0.00020833805319853127, @@ -59,7 +65,7 @@ 5.712240090360865e-05, 0.00011029401503037661 ], - "mass": 0.07, + "mass": 0.07000000029802322, "material": "wood", "name": "D00146 Coaster Board", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00146 Coaster Board", "part_name": "D00146 Coaster Board" }, - "volume": 0.00010000000042574747 + "volume": 0.00010000000042574747, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "69d6be30f902e689f0dbc43567666093019c2c657ed16b7da6971aeda32baab0" + }, + "usd_path": "batch19/D00146 Coaster Board/IsaacSim_assets_6a7012eccb2d3efc65dc3ab0/IsaacSim_asset_6a7012eccb2d3efc65dc3ab0.usd", + "usd_sha256": "f352c41696cc0a3d6dd877aac6832633d61d40929571e2b8a172f275811646c1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.09935399889945984, 0.0993730016052723, 0.0188060000364203 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f352c41696cc0a3d6dd877aac6832633d61d40929571e2b8a172f275811646c1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.07 + "value_kg": 0.07000000029802322, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f352c41696cc0a3d6dd877aac6832633d61d40929571e2b8a172f275811646c1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07000000029802322, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f352c41696cc0a3d6dd877aac6832633d61d40929571e2b8a172f275811646c1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f352c41696cc0a3d6dd877aac6832633d61d40929571e2b8a172f275811646c1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "f352c41696cc0a3d6dd877aac6832633d61d40929571e2b8a172f275811646c1", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:11:00.915779+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "a33670ef0dbdba3d8ae5654c935c12230c2bf2b69ac206e99ad1b86ea74c3fbf", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00148 Coffee Beans/IsaacSim_assets_6a701488cb2d3efc65dc611a/physics_6a701488cb2d3efc65dc611a.json b/batch19/D00148 Coffee Beans/IsaacSim_assets_6a701488cb2d3efc65dc611a/physics_6a701488cb2d3efc65dc611a.json index 628f2b7ddb3422865a51ecc08f1cc90f0626c3dc..97e4048fa08d523a8a053175478228e9cd15939a 100644 --- a/batch19/D00148 Coffee Beans/IsaacSim_assets_6a701488cb2d3efc65dc611a/physics_6a701488cb2d3efc65dc611a.json +++ b/batch19/D00148 Coffee Beans/IsaacSim_assets_6a701488cb2d3efc65dc611a/physics_6a701488cb2d3efc65dc611a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0038689998909831047, - 0.0031129999551922083, - 0.004229709971696138 - ], "min": [ -0.0042929998598992825, -0.0030380000825971365, 3.1710042094346136e-05 ], + "max": [ + 0.0038689998909831047, + 0.0031129999551922083, + 0.004229709971696138 + ], "size": [ 0.008161999750882387, 0.006151000037789345, 0.004197999929601792 - ] + ], + "units": "m" }, "description": "D00148 Coffee Beans", "name": "D00148 Coffee Beans", "object_type": "rigid_bodies", - "total_mass": 0.00013 + "total_mass": 0.00013000000035390258, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00148", "parts": [ { "bounds": { - "center": [ - -0.00021199998445808887, - 3.7499936297535896e-05, - 0.0021307100068952423 + "min": [ + -0.0042929998598992825, + -0.0030380000825971365, + 3.1710042094346136e-05 ], "max": [ 0.0038689998909831047, 0.0031129999551922083, 0.004229709971696138 ], - "min": [ - -0.0042929998598992825, - -0.0030380000825971365, - 3.1710042094346136e-05 - ] + "size": [ + 0.008161999750882387, + 0.006151000037789345, + 0.004197999929601792 + ], + "units": "m" }, "center_of_mass": [ -7.873724825913087e-05, @@ -59,7 +65,7 @@ 5.749273834787516e-10, 7.281702463224349e-10 ], - "mass": 0.00013, + "mass": 0.00013000000035390258, "material": "wood", "name": "D00148 Coffee Beans", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00148 Coffee Beans", "part_name": "D00148 Coffee Beans" }, - "volume": 1.8571428621986082e-07 + "volume": 1.8571428621986082e-07, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "49ea29a593f834707bbb53aab3a01028d3f698e1f08355a3a60c4e24437846b1" + }, + "usd_path": "batch19/D00148 Coffee Beans/IsaacSim_assets_6a701488cb2d3efc65dc611a/IsaacSim_asset_6a701488cb2d3efc65dc611a.usd", + "usd_sha256": "3ca448fecb9aade71fb9025769e192b2ab7a2a56721019d8cd2df735a64dd4a2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,77 @@ 0.008161999750882387, 0.006151000037789345, 0.004197999929601792 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3ca448fecb9aade71fb9025769e192b2ab7a2a56721019d8cd2df735a64dd4a2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.00013 + "value_kg": 0.00013000000035390258, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3ca448fecb9aade71fb9025769e192b2ab7a2a56721019d8cd2df735a64dd4a2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.00013000000035390258, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 21, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3ca448fecb9aade71fb9025769e192b2ab7a2a56721019d8cd2df735a64dd4a2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 21, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3ca448fecb9aade71fb9025769e192b2ab7a2a56721019d8cd2df735a64dd4a2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "3ca448fecb9aade71fb9025769e192b2ab7a2a56721019d8cd2df735a64dd4a2", + "supplemental_accepted": false, + "planned_test_count": 12, + "result_count": 12, + "passed": 8, + "skipped": 1, + "failed": 3, + "issues": [ + "presence:fail", + "preview_surface_renders:fail", + "semantic_labels_seg_labelled:fail" + ], + "warnings": [], + "completed_at": "2026-10-13T21:38:45.666438+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "cddf1cc34edd24bdc6658d4b14c17f1577813a52e9509ba3ae3633c7e8004564", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00149 Coffee Cup/IsaacSim_assets_69f20a2959057a93105b012d/physics_69f20a2959057a93105b012d.json b/batch19/D00149 Coffee Cup/IsaacSim_assets_69f20a2959057a93105b012d/physics_69f20a2959057a93105b012d.json index 5a9eb8ba4e3e527436ad615bfc6f7af5cdac92a7..b01a864e4e9e009f6247c482937df479c7ab59ec 100644 --- a/batch19/D00149 Coffee Cup/IsaacSim_assets_69f20a2959057a93105b012d/physics_69f20a2959057a93105b012d.json +++ b/batch19/D00149 Coffee Cup/IsaacSim_assets_69f20a2959057a93105b012d/physics_69f20a2959057a93105b012d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06049799919128418, - 0.041120998561382294, - 0.0607450008392334 - ], "min": [ - -0.04671600088477135, - -0.040828000754117966, - -9.999999974752427e-07 + -0.04671499878168106, + -0.040835000574588776, + 0.0005680201575160027 + ], + "max": [ + 0.060495998710393906, + 0.041127998381853104, + 0.06132201850414276 ], "size": [ - 0.10721400007605553, - 0.08194899931550026, - 0.060746000839230874 - ] + 0.10721099749207497, + 0.08196299895644188, + 0.06075399834662676 + ], + "units": "m" }, "description": "A white glazed ceramic mug with a rounded cup body, thick rim, small foot, and curved loop handle.", "name": "D00149 Coffee Cup", "object_type": "rigid_bodies", - "total_mass": 0.34 + "total_mass": 0.3400000035762787, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00149", "parts": [ { "bounds": { - "center": [ - -0.002355784908340886, - 6.579035765484724e-05, - 0.0301593576919342 + "min": [ + -0.04671499878168106, + -0.040835000574588776, + 0.0005680201575160027 ], "max": [ - 0.06049799919128418, - 0.041120998561382294, - 0.0607450008392334 + 0.060495998710393906, + 0.041127998381853104, + 0.06132201850414276 ], - "min": [ - -0.04671600088477135, - -0.040828000754117966, - -9.999999974752427e-07 - ] + "size": [ + 0.10721099749207497, + 0.08196299895644188, + 0.06075399834662676 + ], + "units": "m" }, "center_of_mass": [ -0.0024584803528074728, @@ -59,7 +65,7 @@ 0.00035184359585124726, 0.00042171611587313226 ], - "mass": 0.34, + "mass": 0.3400000035762787, "material": "glazed_ceramic", "name": "D00149 Coffee Cup", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00149 Coffee Cup", "part_name": "D00149 Coffee Cup" }, - "volume": 6.539823224370167e-05 + "volume": 6.539823224370167e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "299818cf9bab2bc6fee4434cf651a562f2ecb6a3a1ee31ade096b3d604e4b3a0" + }, + "usd_path": "batch19/D00149 Coffee Cup/IsaacSim_assets_69f20a2959057a93105b012d/IsaacSim_asset_69f20a2959057a93105b012d.usd", + "usd_sha256": "66a0632512311fc5bf2d1e9bb2013135f13a3e8ac0583579554c818d22b82b78", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.10721400007605553, - 0.08194899931550026, - 0.060746000839230874 - ] + 0.10721099749207497, + 0.08196299895644188, + 0.06075399834662676 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "66a0632512311fc5bf2d1e9bb2013135f13a3e8ac0583579554c818d22b82b78", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.34 + "value_kg": 0.3400000035762787, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "66a0632512311fc5bf2d1e9bb2013135f13a3e8ac0583579554c818d22b82b78", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3400000035762787, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 31, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "66a0632512311fc5bf2d1e9bb2013135f13a3e8ac0583579554c818d22b82b78", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 31, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "66a0632512311fc5bf2d1e9bb2013135f13a3e8ac0583579554c818d22b82b78", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "66a0632512311fc5bf2d1e9bb2013135f13a3e8ac0583579554c818d22b82b78", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:16:01.061089+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "552089f08750a855cfed36e15774c0c57b6aaf1b6414bcd882077c9e9a4821b9", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00160 Coffee Mug/IsaacSim_assets_69fef61ff3726e6ad05387d4/physics_69fef61ff3726e6ad05387d4.json b/batch19/D00160 Coffee Mug/IsaacSim_assets_69fef61ff3726e6ad05387d4/physics_69fef61ff3726e6ad05387d4.json index 111bd2825f046bac05907604ced8877b50787af7..c592e5076fdaf7ef2cb8c31dc73b6652a5ce219e 100644 --- a/batch19/D00160 Coffee Mug/IsaacSim_assets_69fef61ff3726e6ad05387d4/physics_69fef61ff3726e6ad05387d4.json +++ b/batch19/D00160 Coffee Mug/IsaacSim_assets_69fef61ff3726e6ad05387d4/physics_69fef61ff3726e6ad05387d4.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.057092998176813126, - 0.033643998205661774, - 0.08023593574762344 - ], "min": [ -0.03965200111269951, -0.03414300084114075, 0.0004639301332645118 ], + "max": [ + 0.057092998176813126, + 0.033643998205661774, + 0.08023593574762344 + ], "size": [ 0.09674499928951263, 0.06778699904680252, 0.07977200561435893 - ] + ], + "units": "m" }, "description": "A glossy off-white ceramic mug with a cylindrical body, rounded rim, and large loop handle. The surface appears smooth and glazed with slightly rounded ceramic edges.", "name": "D00160 Coffee Mug", "object_type": "rigid_bodies", - "total_mass": 0.34 + "total_mass": 0.3400000035762787, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00160", "parts": [ { "bounds": { - "center": [ - 0.008720498532056808, - -0.0002495013177394867, - 0.04034993294044398 + "min": [ + -0.03965200111269951, + -0.03414300084114075, + 0.0004639301332645118 ], "max": [ 0.057092998176813126, 0.033643998205661774, 0.08023593574762344 ], - "min": [ - -0.03965200111269951, - -0.03414300084114075, - 0.0004639301332645118 - ] + "size": [ + 0.09674499928951263, + 0.06778699904680252, + 0.07977200561435893 + ], + "units": "m" }, "center_of_mass": [ -0.0024034548581181084, @@ -59,7 +65,7 @@ 0.0003487068673065038, 0.0003972053901795001 ], - "mass": 0.34, + "mass": 0.3400000035762787, "material": "glazed_ceramic", "name": "D00160 Coffee Mug", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00160 Coffee Mug", "part_name": "D00160 Coffee Mug" }, - "volume": 7.842895519260514e-05 + "volume": 7.842895519260514e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "43a7e2f0ed04e3db0e85a61c7e0dc1b23ffd4c67269529fe75510500a57be333" + }, + "usd_path": "batch19/D00160 Coffee Mug/IsaacSim_assets_69fef61ff3726e6ad05387d4/IsaacSim_asset_69fef61ff3726e6ad05387d4.usd", + "usd_sha256": "01ef6d6d217c631ae5a352b8a13b46cd5081a564c54a2a9dd595c5daaa167c3b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.09674499928951263, 0.06778699904680252, 0.07977200561435893 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "01ef6d6d217c631ae5a352b8a13b46cd5081a564c54a2a9dd595c5daaa167c3b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.34 + "value_kg": 0.3400000035762787, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "01ef6d6d217c631ae5a352b8a13b46cd5081a564c54a2a9dd595c5daaa167c3b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3400000035762787, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "01ef6d6d217c631ae5a352b8a13b46cd5081a564c54a2a9dd595c5daaa167c3b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "01ef6d6d217c631ae5a352b8a13b46cd5081a564c54a2a9dd595c5daaa167c3b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "01ef6d6d217c631ae5a352b8a13b46cd5081a564c54a2a9dd595c5daaa167c3b", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:16:01.449076+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "4a4046da17226fec23dc7186e167005915b19c293c5c88713db6b578cdc051bd", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00323 Fruit Basket/IsaacSim_assets_6a7049eacb2d3efc65e3f7dd/physics_6a7049eacb2d3efc65e3f7dd.json b/batch19/D00323 Fruit Basket/IsaacSim_assets_6a7049eacb2d3efc65e3f7dd/physics_6a7049eacb2d3efc65e3f7dd.json index ee6204182dd9d0860b67fefebc1bc4d8148a5294..6957aa9d2d1cc9e1c4f3927e3c4bd0bf8e556b7f 100644 --- a/batch19/D00323 Fruit Basket/IsaacSim_assets_6a7049eacb2d3efc65e3f7dd/physics_6a7049eacb2d3efc65e3f7dd.json +++ b/batch19/D00323 Fruit Basket/IsaacSim_assets_6a7049eacb2d3efc65e3f7dd/physics_6a7049eacb2d3efc65e3f7dd.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14158299565315247, - 0.143435999751091, - 0.12560702860355377 - ], "min": [ -0.14181500673294067, -0.13959799706935883, 0.001142029999755323 ], + "max": [ + 0.14158299565315247, + 0.143435999751091, + 0.12560702860355377 + ], "size": [ 0.28339800238609314, 0.28303399682044983, 0.12446499860379845 - ] + ], + "units": "m" }, "description": "D00323 Fruit Basket", "name": "D00323 Fruit Basket", "object_type": "rigid_bodies", - "total_mass": 0.34 + "total_mass": 0.3400000035762787, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00323", "parts": [ { "bounds": { - "center": [ - -0.000116005539894104, - 0.0019190013408660889, - 0.06337452930165455 + "min": [ + -0.14181500673294067, + -0.13959799706935883, + 0.001142029999755323 ], "max": [ 0.14158299565315247, 0.143435999751091, 0.12560702860355377 ], - "min": [ - -0.14181500673294067, - -0.13959799706935883, - 0.001142029999755323 - ] + "size": [ + 0.28339800238609314, + 0.28303399682044983, + 0.12446499860379845 + ], + "units": "m" }, "center_of_mass": [ 9.648080595070496e-05, @@ -59,7 +65,7 @@ 0.001978563377633691, 0.0029958486557006836 ], - "mass": 0.34, + "mass": 0.3400000035762787, "material": "wood", "name": "D00323 Fruit Basket", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00323 Fruit Basket", "part_name": "D00323 Fruit Basket" }, - "volume": 0.0006800000071525573 + "volume": 0.0006800000071525573, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "61117f457b72e80ab009d693051ae0a705efc74381b0c2cb9633fc470fe6b896" + }, + "usd_path": "batch19/D00323 Fruit Basket/IsaacSim_assets_6a7049eacb2d3efc65e3f7dd/IsaacSim_asset_6a7049eacb2d3efc65e3f7dd.usd", + "usd_sha256": "2db5a6910fc3904551f4ac23a15c82b1f54e070ff86c885b512baefe979e2504", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.28339800238609314, 0.28303399682044983, 0.12446499860379845 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2db5a6910fc3904551f4ac23a15c82b1f54e070ff86c885b512baefe979e2504", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.34 + "value_kg": 0.3400000035762787, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2db5a6910fc3904551f4ac23a15c82b1f54e070ff86c885b512baefe979e2504", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3400000035762787, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 62, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2db5a6910fc3904551f4ac23a15c82b1f54e070ff86c885b512baefe979e2504", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 62, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2db5a6910fc3904551f4ac23a15c82b1f54e070ff86c885b512baefe979e2504", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00358 Glass Pitcher/IsaacSim_assets_6a7048efcb2d3efc65e3c190/physics_6a7048efcb2d3efc65e3c190.json b/batch19/D00358 Glass Pitcher/IsaacSim_assets_6a7048efcb2d3efc65e3c190/physics_6a7048efcb2d3efc65e3c190.json index d2c5ff894bf1d18607934fe61a98374fee585c98..02d3acf4a6f54bf5145c2eaa4fd2a71f69857843 100644 --- a/batch19/D00358 Glass Pitcher/IsaacSim_assets_6a7048efcb2d3efc65e3c190/physics_6a7048efcb2d3efc65e3c190.json +++ b/batch19/D00358 Glass Pitcher/IsaacSim_assets_6a7048efcb2d3efc65e3c190/physics_6a7048efcb2d3efc65e3c190.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0787070021033287, - 0.05310399830341339, - 0.14561690390110016 - ], "min": [ -0.05741500109434128, -0.05309600010514259, 0.0005069000762887299 ], + "max": [ + 0.0787070021033287, + 0.05310399830341339, + 0.14561690390110016 + ], "size": [ 0.13612200319766998, 0.10619999840855598, 0.14511000382481143 - ] + ], + "units": "m" }, "description": "D00358 Glass Pitcher", "name": "D00358 Glass Pitcher", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00358", "parts": [ { "bounds": { - "center": [ - 0.010646000504493713, - 3.999099135398865e-06, - 0.07306190198869444 + "min": [ + -0.05741500109434128, + -0.05309600010514259, + 0.0005069000762887299 ], "max": [ 0.0787070021033287, 0.05310399830341339, 0.14561690390110016 ], - "min": [ - -0.05741500109434128, - -0.05309600010514259, - 0.0005069000762887299 - ] + "size": [ + 0.13612200319766998, + 0.10619999840855598, + 0.14511000382481143 + ], + "units": "m" }, "center_of_mass": [ 0.00470319390296936, @@ -59,7 +65,7 @@ 0.002964238403365016, 0.00355226150713861 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "ceramic", "name": "D00358 Glass Pitcher", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00358 Glass Pitcher", "part_name": "D00358 Glass Pitcher" }, - "volume": 0.00048000001907348635 + "volume": 0.00048000001907348635, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e53db30cca0e8d2906f570985eec7be31e104059000cc80f94ccceea66f4dec1" + }, + "usd_path": "batch19/D00358 Glass Pitcher/IsaacSim_assets_6a7048efcb2d3efc65e3c190/IsaacSim_asset_6a7048efcb2d3efc65e3c190.usd", + "usd_sha256": "9414c77b0dbe4368bd825ef19c786e3ac440c9ac690c1c32055a78182ca1a186", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.13612200319766998, 0.10619999840855598, 0.14511000382481143 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9414c77b0dbe4368bd825ef19c786e3ac440c9ac690c1c32055a78182ca1a186", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9414c77b0dbe4368bd825ef19c786e3ac440c9ac690c1c32055a78182ca1a186", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 235, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9414c77b0dbe4368bd825ef19c786e3ac440c9ac690c1c32055a78182ca1a186", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 235, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9414c77b0dbe4368bd825ef19c786e3ac440c9ac690c1c32055a78182ca1a186", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00360 Glass Vase/IsaacSim_assets_6a71a48acdde3c1658d1ea3c/physics_6a71a48acdde3c1658d1ea3c.json b/batch19/D00360 Glass Vase/IsaacSim_assets_6a71a48acdde3c1658d1ea3c/physics_6a71a48acdde3c1658d1ea3c.json index 214e47ce419226dde68e6f7af93bc02b90595ac7..ccf0adbba417f001819a3222fd429dd359d001d5 100644 --- a/batch19/D00360 Glass Vase/IsaacSim_assets_6a71a48acdde3c1658d1ea3c/physics_6a71a48acdde3c1658d1ea3c.json +++ b/batch19/D00360 Glass Vase/IsaacSim_assets_6a71a48acdde3c1658d1ea3c/physics_6a71a48acdde3c1658d1ea3c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06492881, - 0.26053867, - 0.06563888 - ], "min": [ - -0.06563334, - 0.0, - -0.06592387 + -0.06562399864196777, + -0.06562600284814835, + 0.0012187801767140627 + ], + "max": [ + 0.06492000073194504, + 0.06591100245714188, + 0.26177075505256653 ], "size": [ - 0.13056215, - 0.26053867, - 0.13156275 - ] + 0.1305439993739128, + 0.13153700530529022, + 0.26055197487585247 + ], + "units": "m" }, "description": "A clear glass vase with a flared rim, a tapered waist, and a slightly thickened base.", "name": "specialist-current", "object_type": "rigid_bodies", - "total_mass": 1.0 + "total_mass": 1.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00360", "parts": [ { "bounds": { - "center": [ - -0.000349445582505696, - 0.11475269009638862, - -0.00013523745900743318 + "min": [ + -0.06562399864196777, + -0.06562600284814835, + 0.0012187801767140627 ], "max": [ - 0.06492881, - 0.26053867, - 0.06563888 + 0.06492000073194504, + 0.06591100245714188, + 0.26177075505256653 ], - "min": [ - -0.06563334, - 0.0, - -0.06592387 - ] + "size": [ + 0.1305439993739128, + 0.13153700530529022, + 0.26055197487585247 + ], + "units": "m" }, "center_of_mass": [ -0.0003377664749264008, @@ -67,10 +73,27 @@ "object_name": "specialist-current", "part_name": "specialist-current" }, - "volume": 0.0035128781832924703 + "volume": 0.0035128781832924703, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5bfa2cf8b541c424312de73f4c5159bade83618668a5e52fe8e9c486a0ebc7a7" + }, + "usd_path": "batch19/D00360 Glass Vase/IsaacSim_assets_6a71a48acdde3c1658d1ea3c/IsaacSim_asset_6a71a48acdde3c1658d1ea3c.usd", + "usd_sha256": "fa06e65c8209028897ba5dc2aa9161da732a4bbfae35883eaccabe85ef571650", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.13056215, - 0.26053867, - 0.13156275 - ] + 0.1305439993739128, + 0.13153700530529022, + 0.26055197487585247 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fa06e65c8209028897ba5dc2aa9161da732a4bbfae35883eaccabe85ef571650", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0 + "value_kg": 1.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fa06e65c8209028897ba5dc2aa9161da732a4bbfae35883eaccabe85ef571650", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fa06e65c8209028897ba5dc2aa9161da732a4bbfae35883eaccabe85ef571650", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fa06e65c8209028897ba5dc2aa9161da732a4bbfae35883eaccabe85ef571650", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00374 Hand Soap/IsaacSim_assets_6a71a52acdde3c1658d24cd2/physics_6a71a52acdde3c1658d24cd2.json b/batch19/D00374 Hand Soap/IsaacSim_assets_6a71a52acdde3c1658d24cd2/physics_6a71a52acdde3c1658d24cd2.json index 83c06a655e884c5b0d31384c3ca0b3575b986e6b..abe91f3b33f7e9d9743d961c0cb14a25fd3162f9 100644 --- a/batch19/D00374 Hand Soap/IsaacSim_assets_6a71a52acdde3c1658d24cd2/physics_6a71a52acdde3c1658d24cd2.json +++ b/batch19/D00374 Hand Soap/IsaacSim_assets_6a71a52acdde3c1658d24cd2/physics_6a71a52acdde3c1658d24cd2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04078091, - 0.19985424, - 0.03913865 - ], "min": [ - -0.05225241, - 0.0, - -0.04012851 + -0.05226900056004524, + -0.03914999961853027, + 0.0007281977450475097 + ], + "max": [ + 0.040796998888254166, + 0.04013900086283684, + 0.20080220699310303 ], "size": [ - 0.09303332, - 0.19985424, - 0.07926716 - ] + 0.09306599944829941, + 0.07928900048136711, + 0.20007400924805552 + ], + "units": "m" }, "description": "A cylindrical white bottle with a black pump dispenser and minimalistic text.", "name": "specialist-current", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.44999998807907104, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00374", "parts": [ { "bounds": { - "center": [ - 0.0004855194356617759, - 0.08198181681516341, - -0.000462154114980649 + "min": [ + -0.05226900056004524, + -0.03914999961853027, + 0.0007281977450475097 ], "max": [ - 0.04078091, - 0.19985424, - 0.03913865 + 0.040796998888254166, + 0.04013900086283684, + 0.20080220699310303 ], - "min": [ - -0.05225241, - 0.0, - -0.04012851 - ] + "size": [ + 0.09306599944829941, + 0.07928900048136711, + 0.20007400924805552 + ], + "units": "m" }, "center_of_mass": [ -0.0014834224812850503, @@ -59,7 +65,7 @@ 0.0013330065746794317, 0.0013668502328859718 ], - "mass": 0.45, + "mass": 0.44999998807907104, "material": "plastic", "name": "specialist-current", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "specialist-current", "part_name": "specialist-current" }, - "volume": 0.0008650480793631138 + "volume": 0.0008650480793631138, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ce1b96b01ca29a80c6525a805b2251df8eabfc9bf1c92bda1861d8920f159f7c" + }, + "usd_path": "batch19/D00374 Hand Soap/IsaacSim_assets_6a71a52acdde3c1658d24cd2/IsaacSim_asset_6a71a52acdde3c1658d24cd2.usd", + "usd_sha256": "5f2d0e760ce2ddce0cb655f0fce8f56fe48c7a5657e7e74b6c2dd5ba73dd51a0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.09303332, - 0.19985424, - 0.07926716 - ] + 0.09306599944829941, + 0.07928900048136711, + 0.20007400924805552 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f2d0e760ce2ddce0cb655f0fce8f56fe48c7a5657e7e74b6c2dd5ba73dd51a0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.44999998807907104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f2d0e760ce2ddce0cb655f0fce8f56fe48c7a5657e7e74b6c2dd5ba73dd51a0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.44999998807907104, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f2d0e760ce2ddce0cb655f0fce8f56fe48c7a5657e7e74b6c2dd5ba73dd51a0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f2d0e760ce2ddce0cb655f0fce8f56fe48c7a5657e7e74b6c2dd5ba73dd51a0", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00376 Herb Basket/IsaacSim_assets_6a704737cb2d3efc65e35cc7/physics_6a704737cb2d3efc65e35cc7.json b/batch19/D00376 Herb Basket/IsaacSim_assets_6a704737cb2d3efc65e35cc7/physics_6a704737cb2d3efc65e35cc7.json index 3b1954dca9049dab3c1dc6211590adf39a9d2243..2511dd137a4c7021a900b52007ebb1bb2bc23ad9 100644 --- a/batch19/D00376 Herb Basket/IsaacSim_assets_6a704737cb2d3efc65e35cc7/physics_6a704737cb2d3efc65e35cc7.json +++ b/batch19/D00376 Herb Basket/IsaacSim_assets_6a704737cb2d3efc65e35cc7/physics_6a704737cb2d3efc65e35cc7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12365200370550156, - 0.09708400070667267, - 0.22604498267173767 - ], "min": [ -0.12388700246810913, -0.09687799960374832, 0.0005789920687675476 ], + "max": [ + 0.12365200370550156, + 0.09708400070667267, + 0.22604498267173767 + ], "size": [ 0.2475390061736107, 0.193962000310421, 0.22546599060297012 - ] + ], + "units": "m" }, "description": "D00376 Herb Basket", "name": "D00376 Herb Basket", "object_type": "rigid_bodies", - "total_mass": 0.34 + "total_mass": 0.3400000035762787, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00376", "parts": [ { "bounds": { - "center": [ - -0.00011749938130378723, - 0.00010300055146217346, - 0.11331198737025261 + "min": [ + -0.12388700246810913, + -0.09687799960374832, + 0.0005789920687675476 ], "max": [ 0.12365200370550156, 0.09708400070667267, 0.22604498267173767 ], - "min": [ - -0.12388700246810913, - -0.09687799960374832, - 0.0005789920687675476 - ] + "size": [ + 0.2475390061736107, + 0.193962000310421, + 0.22546599060297012 + ], + "units": "m" }, "center_of_mass": [ -8.311333658639342e-05, @@ -59,7 +65,7 @@ 0.002335339318960905, 0.002434713998809457 ], - "mass": 0.34, + "mass": 0.3400000035762787, "material": "wood", "name": "D00376 Herb Basket", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00376 Herb Basket", "part_name": "D00376 Herb Basket" }, - "volume": 0.0006800000071525573 + "volume": 0.0006800000071525573, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "05cabf7baf668a05e55aa4bd429ab662b94fd918e0d12ce2ce11e02239148ee3" + }, + "usd_path": "batch19/D00376 Herb Basket/IsaacSim_assets_6a704737cb2d3efc65e35cc7/IsaacSim_asset_6a704737cb2d3efc65e35cc7.usd", + "usd_sha256": "7b17467c32072e49fe2c9191918d16048c4b3da21b6c9b6db53a02b873739b61", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.2475390061736107, 0.193962000310421, 0.22546599060297012 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7b17467c32072e49fe2c9191918d16048c4b3da21b6c9b6db53a02b873739b61", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.34 + "value_kg": 0.3400000035762787, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7b17467c32072e49fe2c9191918d16048c4b3da21b6c9b6db53a02b873739b61", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3400000035762787, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 252, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7b17467c32072e49fe2c9191918d16048c4b3da21b6c9b6db53a02b873739b61", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 252, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7b17467c32072e49fe2c9191918d16048c4b3da21b6c9b6db53a02b873739b61", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00380 His Spoon/IsaacSim_assets_6a7046ebcb2d3efc65e34869/physics_6a7046ebcb2d3efc65e34869.json b/batch19/D00380 His Spoon/IsaacSim_assets_6a7046ebcb2d3efc65e34869/physics_6a7046ebcb2d3efc65e34869.json index 07ceb814ec2b0ee95f206e80f53996f2fab60883..d639a60573d9354f6ff481733c5db49c4de65211 100644 --- a/batch19/D00380 His Spoon/IsaacSim_assets_6a7046ebcb2d3efc65e34869/physics_6a7046ebcb2d3efc65e34869.json +++ b/batch19/D00380 His Spoon/IsaacSim_assets_6a7046ebcb2d3efc65e34869/physics_6a7046ebcb2d3efc65e34869.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11333999782800674, - 0.02330699935555458, - 0.016619890928268433 - ], "min": [ -0.06358099728822708, -0.023155000060796738, 0.0005888900486752391 ], + "max": [ + 0.11333999782800674, + 0.02330699935555458, + 0.016619890928268433 + ], "size": [ 0.17692099511623383, 0.04646199941635132, 0.016031000879593194 - ] + ], + "units": "m" }, "description": "D00380 His Spoon", "name": "D00380 His Spoon", "object_type": "rigid_bodies", - "total_mass": 0.0938 + "total_mass": 0.09380000084638596, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00380", "parts": [ { "bounds": { - "center": [ - 0.02487950026988983, - 7.599964737892151e-05, - 0.008604390488471836 + "min": [ + -0.06358099728822708, + -0.023155000060796738, + 0.0005888900486752391 ], "max": [ 0.11333999782800674, 0.02330699935555458, 0.016619890928268433 ], - "min": [ - -0.06358099728822708, - -0.023155000060796738, - 0.0005888900486752391 - ] + "size": [ + 0.17692099511623383, + 0.04646199941635132, + 0.016031000879593194 + ], + "units": "m" }, "center_of_mass": [ 0.006988654378801584, @@ -59,7 +65,7 @@ 0.0001547798456158489, 0.00016148788563441485 ], - "mass": 0.0938, + "mass": 0.09380000084638596, "material": "metal", "name": "D00380 His Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00380 His Spoon", "part_name": "D00380 His Spoon" }, - "volume": 1.1873417828656451e-05 + "volume": 1.1873417828656451e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a49fd877683547d5a7ab2be2cabd1b2f311769534ecd9f51212e364868f336f1" + }, + "usd_path": "batch19/D00380 His Spoon/IsaacSim_assets_6a7046ebcb2d3efc65e34869/IsaacSim_asset_6a7046ebcb2d3efc65e34869.usd", + "usd_sha256": "56a3e2bceb22a3180e2d8474161733c49fffdffc44bbeceadfb08f1b8ca625d6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.17692099511623383, 0.04646199941635132, 0.016031000879593194 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56a3e2bceb22a3180e2d8474161733c49fffdffc44bbeceadfb08f1b8ca625d6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0938 + "value_kg": 0.09380000084638596, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56a3e2bceb22a3180e2d8474161733c49fffdffc44bbeceadfb08f1b8ca625d6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.09380000084638596, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 16, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56a3e2bceb22a3180e2d8474161733c49fffdffc44bbeceadfb08f1b8ca625d6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 16, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56a3e2bceb22a3180e2d8474161733c49fffdffc44bbeceadfb08f1b8ca625d6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00388 Ing Pan/IsaacSim_assets_6a7045e3cb2d3efc65e2fd8c/physics_6a7045e3cb2d3efc65e2fd8c.json b/batch19/D00388 Ing Pan/IsaacSim_assets_6a7045e3cb2d3efc65e2fd8c/physics_6a7045e3cb2d3efc65e2fd8c.json index f35c05d35dc8e788cf181d68f83d0748ac9aedad..11f7a39de9249f9566a72b04077f0dffe3c5328a 100644 --- a/batch19/D00388 Ing Pan/IsaacSim_assets_6a7045e3cb2d3efc65e2fd8c/physics_6a7045e3cb2d3efc65e2fd8c.json +++ b/batch19/D00388 Ing Pan/IsaacSim_assets_6a7045e3cb2d3efc65e2fd8c/physics_6a7045e3cb2d3efc65e2fd8c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2674010097980499, - 0.12637099623680115, - 0.07506803423166275 - ], "min": [ -0.15909099578857422, -0.12565399706363678, 0.001324030221439898 ], + "max": [ + 0.2674010097980499, + 0.12637099623680115, + 0.07506803423166275 + ], "size": [ 0.42649200558662415, 0.2520249933004379, 0.07374400401022285 - ] + ], + "units": "m" }, "description": "D00388 Ing Pan", "name": "D00388 Ing Pan", "object_type": "rigid_bodies", - "total_mass": 2.0 + "total_mass": 2.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00388", "parts": [ { "bounds": { - "center": [ - 0.054155007004737854, - 0.00035849958658218384, - 0.038196032226551324 + "min": [ + -0.15909099578857422, + -0.12565399706363678, + 0.001324030221439898 ], "max": [ 0.2674010097980499, 0.12637099623680115, 0.07506803423166275 ], - "min": [ - -0.15909099578857422, - -0.12565399706363678, - 0.001324030221439898 - ] + "size": [ + 0.42649200558662415, + 0.2520249933004379, + 0.07374400401022285 + ], + "units": "m" }, "center_of_mass": [ 0.01259550079703331, @@ -67,10 +73,27 @@ "object_name": "D00388 Ing Pan", "part_name": "D00388 Ing Pan" }, - "volume": 0.00025316455696202533 + "volume": 0.00025316455696202533, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4f1209de9a81be253cdf90b7a5cd4e539d97661f3e4d61c4d9552cd9af33a3ca" + }, + "usd_path": "batch19/D00388 Ing Pan/IsaacSim_assets_6a7045e3cb2d3efc65e2fd8c/IsaacSim_asset_6a7045e3cb2d3efc65e2fd8c.usd", + "usd_sha256": "5d993aee7777f2b2e97b2c1d9e247ff9c909bb4b5aa61c4339e504e57c5c090c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.42649200558662415, 0.2520249933004379, 0.07374400401022285 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d993aee7777f2b2e97b2c1d9e247ff9c909bb4b5aa61c4339e504e57c5c090c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.0 + "value_kg": 2.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d993aee7777f2b2e97b2c1d9e247ff9c909bb4b5aa61c4339e504e57c5c090c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 53, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d993aee7777f2b2e97b2c1d9e247ff9c909bb4b5aa61c4339e504e57c5c090c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 53, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d993aee7777f2b2e97b2c1d9e247ff9c909bb4b5aa61c4339e504e57c5c090c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00400 Jar Cup/IsaacSim_assets_6a7043dfcb2d3efc65e2857b/physics_6a7043dfcb2d3efc65e2857b.json b/batch19/D00400 Jar Cup/IsaacSim_assets_6a7043dfcb2d3efc65e2857b/physics_6a7043dfcb2d3efc65e2857b.json index d10c1351bbe95073d9fb1367860fc188df9ff27a..6bb2635c0281c49ec2261e3a13a690015b8dfee8 100644 --- a/batch19/D00400 Jar Cup/IsaacSim_assets_6a7043dfcb2d3efc65e2857b/physics_6a7043dfcb2d3efc65e2857b.json +++ b/batch19/D00400 Jar Cup/IsaacSim_assets_6a7043dfcb2d3efc65e2857b/physics_6a7043dfcb2d3efc65e2857b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06051100045442581, - 0.038417998701334, - 0.09349161386489868 - ], "min": [ -0.04500399902462959, -0.03849999979138374, 0.00033561003510840237 ], + "max": [ + 0.06051100045442581, + 0.038417998701334, + 0.09349161386489868 + ], "size": [ 0.1055149994790554, 0.07691799849271774, 0.09315600382979028 - ] + ], + "units": "m" }, "description": "D00400 Jar Cup", "name": "D00400 Jar Cup", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00400", "parts": [ { "bounds": { - "center": [ - 0.0077535007148981094, - -4.1000545024871826e-05, - 0.04691361195000354 + "min": [ + -0.04500399902462959, + -0.03849999979138374, + 0.00033561003510840237 ], "max": [ 0.06051100045442581, 0.038417998701334, 0.09349161386489868 ], - "min": [ - -0.04500399902462959, - -0.03849999979138374, - 0.00033561003510840237 - ] + "size": [ + 0.1055149994790554, + 0.07691799849271774, + 0.09315600382979028 + ], + "units": "m" }, "center_of_mass": [ -0.002409256063401699, @@ -59,7 +65,7 @@ 0.0005465182475745678, 0.0006285227718763053 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic", "name": "D00400 Jar Cup", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00400 Jar Cup", "part_name": "D00400 Jar Cup" }, - "volume": 0.0001600000023841858 + "volume": 0.0001600000023841858, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "eda2212d3c55ca7de9ba0572b8618f9b0a00026cede7f0a4a45110a319093cc5" + }, + "usd_path": "batch19/D00400 Jar Cup/IsaacSim_assets_6a7043dfcb2d3efc65e2857b/IsaacSim_asset_6a7043dfcb2d3efc65e2857b.usd", + "usd_sha256": "728360cae14e113aef3972934b0e6d77d43c8589af1af68fe594fe2f2a69e1c7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1055149994790554, 0.07691799849271774, 0.09315600382979028 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "728360cae14e113aef3972934b0e6d77d43c8589af1af68fe594fe2f2a69e1c7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "728360cae14e113aef3972934b0e6d77d43c8589af1af68fe594fe2f2a69e1c7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 172, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "728360cae14e113aef3972934b0e6d77d43c8589af1af68fe594fe2f2a69e1c7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 172, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "728360cae14e113aef3972934b0e6d77d43c8589af1af68fe594fe2f2a69e1c7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00419 Jug/IsaacSim_assets_6a6c3d08cb2d3efc65b84f5a/physics_6a6c3d08cb2d3efc65b84f5a.json b/batch19/D00419 Jug/IsaacSim_assets_6a6c3d08cb2d3efc65b84f5a/physics_6a6c3d08cb2d3efc65b84f5a.json index a0375f281dced8f05e5081994ad52d3b7a226e75..f8c00a6505bc6fc5e5376e1f21e02bde73877471 100644 --- a/batch19/D00419 Jug/IsaacSim_assets_6a6c3d08cb2d3efc65b84f5a/physics_6a6c3d08cb2d3efc65b84f5a.json +++ b/batch19/D00419 Jug/IsaacSim_assets_6a6c3d08cb2d3efc65b84f5a/physics_6a6c3d08cb2d3efc65b84f5a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05654500052332878, - 0.052053000777959824, - 0.13858498632907867 - ], "min": [ -0.0764629989862442, -0.0520239993929863, 0.0005109800840727985 ], + "max": [ + 0.05654500052332878, + 0.052053000777959824, + 0.13858498632907867 + ], "size": [ 0.13300799950957298, 0.10407700017094612, 0.13807400624500588 - ] + ], + "units": "m" }, "description": "D00419 Jug", "name": "D00419 Jug", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00419", "parts": [ { "bounds": { - "center": [ - -0.00995899923145771, - 1.4500692486763e-05, - 0.06954798320657574 + "min": [ + -0.0764629989862442, + -0.0520239993929863, + 0.0005109800840727985 ], "max": [ 0.05654500052332878, 0.052053000777959824, 0.13858498632907867 ], - "min": [ - -0.0764629989862442, - -0.0520239993929863, - 0.0005109800840727985 - ] + "size": [ + 0.13300799950957298, + 0.10407700017094612, + 0.13807400624500588 + ], + "units": "m" }, "center_of_mass": [ -9.98644027276896e-05, @@ -67,10 +73,27 @@ "object_name": "D00419 Jug", "part_name": "D00419 Jug" }, - "volume": 0.00020833333333333335 + "volume": 0.00020833333333333335, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4e209c61d2ddac523d4ade486a28a25aa64160c63cf78e4b7866d2bd20bff0dc" + }, + "usd_path": "batch19/D00419 Jug/IsaacSim_assets_6a6c3d08cb2d3efc65b84f5a/IsaacSim_asset_6a6c3d08cb2d3efc65b84f5a.usd", + "usd_sha256": "02159ebb14b51b269a1fb423b6ff45be2bede3cfd4bf7568483e6eca140ef8e5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.13300799950957298, 0.10407700017094612, 0.13807400624500588 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "02159ebb14b51b269a1fb423b6ff45be2bede3cfd4bf7568483e6eca140ef8e5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "02159ebb14b51b269a1fb423b6ff45be2bede3cfd4bf7568483e6eca140ef8e5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 208, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "02159ebb14b51b269a1fb423b6ff45be2bede3cfd4bf7568483e6eca140ef8e5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 208, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "02159ebb14b51b269a1fb423b6ff45be2bede3cfd4bf7568483e6eca140ef8e5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00443 Kitchen Box/IsaacSim_assets_6a71a7e5cdde3c1658d3f823/physics_6a71a7e5cdde3c1658d3f823.json b/batch19/D00443 Kitchen Box/IsaacSim_assets_6a71a7e5cdde3c1658d3f823/physics_6a71a7e5cdde3c1658d3f823.json index 9e322c5186fa6e1c8dcfafb3fc053ac83f3463e5..95ce40abf50bc4e6c5ef855774118c7757eec6b9 100644 --- a/batch19/D00443 Kitchen Box/IsaacSim_assets_6a71a7e5cdde3c1658d3f823/physics_6a71a7e5cdde3c1658d3f823.json +++ b/batch19/D00443 Kitchen Box/IsaacSim_assets_6a71a7e5cdde3c1658d3f823/physics_6a71a7e5cdde3c1658d3f823.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.27032775, - 0.22117944, - 0.19486877 - ], "min": [ - -0.27145748, - 0.0, - -0.19527236 + -0.27145299315452576, + -0.19485999643802643, + 0.0029606125317513943 + ], + "max": [ + 0.2703230082988739, + 0.19526399672031403, + 0.224151611328125 ], "size": [ - 0.5417852299999999, - 0.22117944, - 0.39014113 - ] + 0.5417760014533997, + 0.39012399315834045, + 0.2211909987963736 + ], + "units": "m" }, "description": "A gray, rectangular plastic storage bin with a central dividing wall and a rolled top rim.", "name": "specialist-current", "object_type": "rigid_bodies", - "total_mass": 4.457 + "total_mass": 4.456999778747559, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00443", "parts": [ { "bounds": { - "center": [ - -0.0005863082998251693, - 0.08967252955116085, - -0.00018529394617912044 + "min": [ + -0.27145299315452576, + -0.19485999643802643, + 0.0029606125317513943 ], "max": [ - 0.27032775, - 0.22117944, - 0.19486877 + 0.2703230082988739, + 0.19526399672031403, + 0.224151611328125 ], - "min": [ - -0.27145748, - 0.0, - -0.19527236 - ] + "size": [ + 0.5417760014533997, + 0.39012399315834045, + 0.2211909987963736 + ], + "units": "m" }, "center_of_mass": [ 7.322524401522426e-05, @@ -59,7 +65,7 @@ 0.15416228226613798, 0.21143665686763638 ], - "mass": 4.457, + "mass": 4.456999778747559, "material": "plastic", "name": "specialist-current", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "specialist-current", "part_name": "specialist-current" }, - "volume": 0.005469683809475063 + "volume": 0.005469683809475063, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c9b38f31f3ce7a579e734e2aa72470db1acb0a4ffa9dd58b693152d6f342c0c8" + }, + "usd_path": "batch19/D00443 Kitchen Box/IsaacSim_assets_6a71a7e5cdde3c1658d3f823/IsaacSim_asset_6a71a7e5cdde3c1658d3f823.usd", + "usd_sha256": "59a0a452b5142be6f60dc3876d6e8f9c01a996daa5495afb66534bc410f6db07", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.5417852299999999, - 0.22117944, - 0.39014113 - ] + 0.5417760014533997, + 0.39012399315834045, + 0.2211909987963736 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "59a0a452b5142be6f60dc3876d6e8f9c01a996daa5495afb66534bc410f6db07", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.457 + "value_kg": 4.456999778747559, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "59a0a452b5142be6f60dc3876d6e8f9c01a996daa5495afb66534bc410f6db07", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.456999778747559, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 30, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "59a0a452b5142be6f60dc3876d6e8f9c01a996daa5495afb66534bc410f6db07", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 30, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "59a0a452b5142be6f60dc3876d6e8f9c01a996daa5495afb66534bc410f6db07", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch19/D00496 Lime/IsaacSim_assets_6a714f480035a1dbaf593ab0/physics_6a714f480035a1dbaf593ab0.json b/batch19/D00496 Lime/IsaacSim_assets_6a714f480035a1dbaf593ab0/physics_6a714f480035a1dbaf593ab0.json index cbf02bc53832bce32c0f799000ccf410d6b67f61..e11b9a35ae9349b05e2b24720ceacce4cfa2dfd0 100644 --- a/batch19/D00496 Lime/IsaacSim_assets_6a714f480035a1dbaf593ab0/physics_6a714f480035a1dbaf593ab0.json +++ b/batch19/D00496 Lime/IsaacSim_assets_6a714f480035a1dbaf593ab0/physics_6a714f480035a1dbaf593ab0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.021138999611139297, - 0.018466999754309654, - 0.0382508710026741 - ], "min": [ -0.02114200033247471, -0.01896600052714348, 0.00010486897372175008 ], + "max": [ + 0.021138999611139297, + 0.018466999754309654, + 0.0382508710026741 + ], "size": [ 0.042280999943614006, 0.03743300028145313, 0.03814600202895235 - ] + ], + "units": "m" }, "description": "D00496 Lime", "name": "D00496 Lime", "object_type": "rigid_bodies", - "total_mass": 0.087 + "total_mass": 0.08699999749660492, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00496", "parts": [ { "bounds": { - "center": [ - -1.5003606677055359e-06, - -0.0002495003864169121, - 0.019177869988197926 + "min": [ + -0.02114200033247471, + -0.01896600052714348, + 0.00010486897372175008 ], "max": [ 0.021138999611139297, 0.018466999754309654, 0.0382508710026741 ], - "min": [ - -0.02114200033247471, - -0.01896600052714348, - 0.00010486897372175008 - ] + "size": [ + 0.042280999943614006, + 0.03743300028145313, + 0.03814600202895235 + ], + "units": "m" }, "center_of_mass": [ 1.930938014993444e-05, @@ -59,7 +65,7 @@ 1.3821685570292175e-05, 1.406344472343335e-05 ], - "mass": 0.087, + "mass": 0.08699999749660492, "material": "plastic", "name": "D00496 Lime", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00496 Lime", "part_name": "D00496 Lime" }, - "volume": 8.699999749660491e-05 + "volume": 8.699999749660491e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "aa6800a85590c352329c5d0b12b41ad7cec1b4b7436670fa72726a565e604dee" + }, + "usd_path": "batch19/D00496 Lime/IsaacSim_assets_6a714f480035a1dbaf593ab0/IsaacSim_asset_6a714f480035a1dbaf593ab0.usd", + "usd_sha256": "14251f7785d55bc8b512910052a483d6e647745599d924d7c51fccd9d4e9f4c4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.042280999943614006, 0.03743300028145313, 0.03814600202895235 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14251f7785d55bc8b512910052a483d6e647745599d924d7c51fccd9d4e9f4c4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.087 + "value_kg": 0.08699999749660492, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14251f7785d55bc8b512910052a483d6e647745599d924d7c51fccd9d4e9f4c4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.08699999749660492, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14251f7785d55bc8b512910052a483d6e647745599d924d7c51fccd9d4e9f4c4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14251f7785d55bc8b512910052a483d6e647745599d924d7c51fccd9d4e9f4c4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00112 Cashew/physics_69f2027359057a93105a5b4a.json b/batch2/D00112 Cashew/physics_69f2027359057a93105a5b4a.json index 53dbe31777eb1a6d292c30ef6a0d33adb1ecebbc..da85c9333109ed711c40366ca259013584d08966 100644 --- a/batch2/D00112 Cashew/physics_69f2027359057a93105a5b4a.json +++ b/batch2/D00112 Cashew/physics_69f2027359057a93105a5b4a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.010439, - 0.005023, - 0.013987 - ], "min": [ - -0.010549, - -0.003786, - 1e-06 + -0.010552999563515186, + -0.003782999934628606, + 4.999999873689376e-06 + ], + "max": [ + 0.010444999672472477, + 0.005030000116676092, + 0.013989999890327454 ], "size": [ - 0.020988, - 0.008808999999999999, - 0.013986 - ] + 0.020997999235987663, + 0.008813000051304698, + 0.013984999890453764 + ], + "units": "m" }, "description": "Single cashew kernel modeled as a rigid organic food item with no articulation. The simulation treats it as a lightweight, dry, rough-surfaced body.", "name": "cashew kernel", "object_type": "rigid_bodies", - "total_mass": 0.0015 + "total_mass": 0.001500000013038516, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00112", "parts": [ { "bounds": { - "center": [ - -5.5e-05, - 0.000619, - 0.006994 + "min": [ + -0.010552999563515186, + -0.003782999934628606, + 4.999999873689376e-06 ], "max": [ - 0.010439, - 0.005023, - 0.013987 + 0.010444999672472477, + 0.005030000116676092, + 0.013989999890327454 ], - "min": [ - -0.010549, - -0.003786, - 1e-06 - ] + "size": [ + 0.020997999235987663, + 0.008813000051304698, + 0.013984999890453764 + ], + "units": "m" }, "center_of_mass": [ -0.00020497411823805053, @@ -59,7 +65,7 @@ 4.437263871408807e-08, 5.385606974962871e-08 ], - "mass": 0.0015, + "mass": 0.001500000013038516, "material": "dried_cashew_kernel", "name": "cashew kernel", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 1.4734723404513707e-06 + "volume": 1.4734723404513707e-06, + "source_prim_path": "/World/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8b91325032fb18ad36b22b63e04692f9824753445cbf64a87177a1ea1195ce57" + }, + "usd_path": "batch2/D00112 Cashew/D00112_Cashew.usd", + "usd_sha256": "c690180bd1e0550f9186cb844c316c63fd05d2768b3ebaab91797540a50bebbe", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,82 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.020988, - 0.008808999999999999, - 0.013986 - ] + 0.020997999235987663, + 0.008813000051304698, + 0.013984999890453764 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c690180bd1e0550f9186cb844c316c63fd05d2768b3ebaab91797540a50bebbe", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0015 + "value_kg": 0.001500000013038516, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c690180bd1e0550f9186cb844c316c63fd05d2768b3ebaab91797540a50bebbe", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.001500000013038516, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c690180bd1e0550f9186cb844c316c63fd05d2768b3ebaab91797540a50bebbe", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c690180bd1e0550f9186cb844c316c63fd05d2768b3ebaab91797540a50bebbe", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "c690180bd1e0550f9186cb844c316c63fd05d2768b3ebaab91797540a50bebbe", + "supplemental_accepted": false, + "planned_test_count": 12, + "result_count": 12, + "passed": 7, + "skipped": 1, + "failed": 4, + "issues": [ + "palatial_black_thumbnail:fail", + "presence:fail", + "preview_surface_renders:fail", + "semantic_labels_seg_labelled:fail", + "verified_native_thumbnail_missing" + ], + "warnings": [], + "completed_at": "2026-10-13T21:36:01.065603+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": null, + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00125 Chili/physics_69f2058259057a93105aa1af.json b/batch2/D00125 Chili/physics_69f2058259057a93105aa1af.json index 4ac20c5d632905d300c6fb85b44da81a36feaf35..ebc9d3cd7d0050eacce189dbba7f2ec8f87a8f44 100644 --- a/batch2/D00125 Chili/physics_69f2058259057a93105aa1af.json +++ b/batch2/D00125 Chili/physics_69f2058259057a93105aa1af.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.045126, - 0.02219, - 0.06066 - ], "min": [ - -0.042947, - -0.035232, - 2.6e-05 + -0.04293999820947647, + -0.03523600101470947, + 1.8000000636675395e-05 + ], + "max": [ + 0.045145001262426376, + 0.022235000506043434, + 0.06066400185227394 ], "size": [ - 0.088073, - 0.057422, - 0.060634 - ] + 0.08808499947190285, + 0.05747100152075291, + 0.060646001851637266 + ], + "units": "m" }, "description": "A single fresh chili pepper modeled as one rigid organic body with no articulated joints. Simulation assumes smooth, damped produce collision rather than deformable tissue.", "name": "whole chili pepper", "object_type": "rigid_bodies", - "total_mass": 0.02 + "total_mass": 0.019999999552965164, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00125", "parts": [ { "bounds": { - "center": [ - 0.001089, - -0.006521, - 0.030343 + "min": [ + -0.04293999820947647, + -0.03523600101470947, + 1.8000000636675395e-05 ], "max": [ - 0.045126, - 0.02219, - 0.06066 + 0.045145001262426376, + 0.022235000506043434, + 0.06066400185227394 ], - "min": [ - -0.042947, - -0.035232, - 2.6e-05 - ] + "size": [ + 0.08808499947190285, + 0.05747100152075291, + 0.060646001851637266 + ], + "units": "m" }, "center_of_mass": [ -0.0002032312679149351, @@ -59,7 +65,7 @@ 1.1692795306173714e-05, 1.1922530680313267e-05 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "fresh_chili_pepper_tissue", "name": "whole chili pepper", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 3.87534603144048e-05 + "volume": 3.87534603144048e-05, + "source_prim_path": "/World/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d385dde1d2324f459be08ba30410b038a64399437faaa07810ddfeec31d63921" + }, + "usd_path": "batch2/D00125 Chili/D00125_Chili.usd", + "usd_sha256": "2bb82c9f2f56d038b97690dabcabb865e00ea3af9f3ca996833b939a12370f6a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.088073, - 0.057422, - 0.060634 - ] + 0.08808499947190285, + 0.05747100152075291, + 0.060646001851637266 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bb82c9f2f56d038b97690dabcabb865e00ea3af9f3ca996833b939a12370f6a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.02 + "value_kg": 0.019999999552965164, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bb82c9f2f56d038b97690dabcabb865e00ea3af9f3ca996833b939a12370f6a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.019999999552965164, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bb82c9f2f56d038b97690dabcabb865e00ea3af9f3ca996833b939a12370f6a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bb82c9f2f56d038b97690dabcabb865e00ea3af9f3ca996833b939a12370f6a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "2bb82c9f2f56d038b97690dabcabb865e00ea3af9f3ca996833b939a12370f6a", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:45.146660+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "6d33f582ed0043e509b443717954bf7269b0c2431ded55e4b0d4e517991844ae", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00308 Flower Vase/physics_69f2427f59057a9310602c5e.json b/batch2/D00308 Flower Vase/physics_69f2427f59057a9310602c5e.json index 66ced0c10f67804c5e4ebb6e4b6d2ebf39d572e8..5fbfdb7c5a1ff8f4ecf58e46a88423f059a326bd 100644 --- a/batch2/D00308 Flower Vase/physics_69f2427f59057a9310602c5e.json +++ b/batch2/D00308 Flower Vase/physics_69f2427f59057a9310602c5e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08986099809408188, - 0.09073399752378464, - 0.2732200026512146 - ], "min": [ - -0.09374699741601944, - -0.0899600014090538, - -2.9999999242136255e-05 + -0.11638700217008591, + -0.0758960023522377, + -0.0002629999944474548 + ], + "max": [ + 0.10625799745321274, + 0.07614699751138687, + 0.24602100253105164 ], "size": [ - 0.18360799551010132, - 0.18069399893283844, - 0.27325000265045674 - ] + 0.22264499962329865, + 0.15204299986362457, + 0.2462840025254991 + ], + "units": "m" }, "description": "A mixed set of hollow decorative vases and goblets made from glazed ceramic, clear and frosted glass, brushed metal, and patinated copper. The forms have rounded bodies, narrow necks, flared rims, and smooth or carved textured surfaces.", "name": "D00308 Flower Vase", "object_type": "rigid_bodies", - "total_mass": 5.8 + "total_mass": 5.800000190734863, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00308", "parts": [ { "bounds": { - "center": [ - -9.62793390169802e-05, - -2.4433285495744932e-05, - 0.1204298268587514 + "min": [ + -0.11638700217008591, + -0.0758960023522377, + -0.0002629999944474548 ], "max": [ - 0.08986099809408188, - 0.09073399752378464, - 0.2732200026512146 + 0.10625799745321274, + 0.07614699751138687, + 0.24602100253105164 ], - "min": [ - -0.09374699741601944, - -0.0899600014090538, - -2.9999999242136255e-05 - ] + "size": [ + 0.22264499962329865, + 0.15204299986362457, + 0.2462840025254991 + ], + "units": "m" }, "center_of_mass": [ -0.005312230785307369, @@ -59,7 +65,7 @@ 0.03920692615793781, 0.04944521466779851 ], - "mass": 5.8, + "mass": 5.800000190734863, "material": "mixed_glazed_ceramic_and_glass", "name": "D00308 Flower Vase", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00308 Flower Vase", "part_name": "D00308 Flower Vase" }, - "volume": 0.0009744372987478703 + "volume": 0.0009744372987478703, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f0f809508d6fda0192e9a8ab34460e2068b96987a8af6109553253352bcef524" + }, + "usd_path": "batch2/D00308 Flower Vase/D00308_Flower_Vase.usd", + "usd_sha256": "91984e04b2b1c681508c88a10c174fef423743852b093c559584c091f4a292e6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.18360799551010132, - 0.18069399893283844, - 0.27325000265045674 - ] + 0.22264499962329865, + 0.15204299986362457, + 0.2462840025254991 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "91984e04b2b1c681508c88a10c174fef423743852b093c559584c091f4a292e6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 5.8 + "value_kg": 5.800000190734863, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "91984e04b2b1c681508c88a10c174fef423743852b093c559584c091f4a292e6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 5.800000190734863, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 108, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "91984e04b2b1c681508c88a10c174fef423743852b093c559584c091f4a292e6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 108, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "91984e04b2b1c681508c88a10c174fef423743852b093c559584c091f4a292e6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00365 Grater/physics_69f5beff431507ff7cef927b.json b/batch2/D00365 Grater/physics_69f5beff431507ff7cef927b.json index 0ec97976b5552f1d32f0150ff68b009669318e84..5cd272b7fee028df5796d543996a492ec6dd9c1e 100644 --- a/batch2/D00365 Grater/physics_69f5beff431507ff7cef927b.json +++ b/batch2/D00365 Grater/physics_69f5beff431507ff7cef927b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.062182001769542694, - 0.0475739985704422, - 0.2552410066127777 - ], "min": [ - -0.062105998396873474, - -0.047839999198913574, - -3.999999989900971e-06 + -0.06925400346517563, + -0.05663200095295906, + -1.1000000085914508e-05 + ], + "max": [ + 0.06924799829721451, + 0.05688599869608879, + 0.27546000480651855 ], "size": [ - 0.12428800016641617, - 0.09541399776935577, - 0.2552450066127676 - ] + 0.13850200176239014, + 0.11351799964904785, + 0.27547100480660447 + ], + "units": "m" }, "description": "A trapezoidal stainless steel box grater with perforated faces, black rubberized plastic handle and base trim, and a translucent plastic collection drawer.", "name": "D00365 Grater", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00365", "parts": [ { "bounds": { - "center": [ - 6.998108956122204e-05, - -0.00021842862656090847, - 0.10566449808365402 + "min": [ + -0.06925400346517563, + -0.05663200095295906, + -1.1000000085914508e-05 ], "max": [ - 0.062182001769542694, - 0.0475739985704422, - 0.2552410066127777 + 0.06924799829721451, + 0.05688599869608879, + 0.27546000480651855 ], - "min": [ - -0.062105998396873474, - -0.047839999198913574, - -3.999999989900971e-06 - ] + "size": [ + 0.13850200176239014, + 0.11351799964904785, + 0.27547100480660447 + ], + "units": "m" }, "center_of_mass": [ -1.1566645154221637e-05, @@ -67,10 +73,27 @@ "object_name": "D00365 Grater", "part_name": "D00365 Grater" }, - "volume": 0.0027287551957138217 + "volume": 0.0027287551957138217, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5cb2500da9d326122b244542b3f10d7d25e21b01f1c12ff36ca11f7c044770c2" + }, + "usd_path": "batch2/D00365 Grater/D00365_Grater.usd", + "usd_sha256": "1face3f86609096a1c7c0b3cdacfdc84fdbc4c0350b3e103452db5e90c154bc6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.12428800016641617, - 0.09541399776935577, - 0.2552450066127676 - ] + 0.13850200176239014, + 0.11351799964904785, + 0.27547100480660447 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1face3f86609096a1c7c0b3cdacfdc84fdbc4c0350b3e103452db5e90c154bc6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1face3f86609096a1c7c0b3cdacfdc84fdbc4c0350b3e103452db5e90c154bc6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 92, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1face3f86609096a1c7c0b3cdacfdc84fdbc4c0350b3e103452db5e90c154bc6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 92, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1face3f86609096a1c7c0b3cdacfdc84fdbc4c0350b3e103452db5e90c154bc6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00444 Kitchen Canister/physics_69f5d0f4431507ff7cf59807.json b/batch2/D00444 Kitchen Canister/physics_69f5d0f4431507ff7cf59807.json index 6cb8cacb70f5d9ed22e9cde42689dcf36f4d2961..c53eebd8d2f82de39993b3be7af34d22f2fa8c6d 100644 --- a/batch2/D00444 Kitchen Canister/physics_69f5d0f4431507ff7cf59807.json +++ b/batch2/D00444 Kitchen Canister/physics_69f5d0f4431507ff7cf59807.json @@ -124,13 +124,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "f27907790db7eb0f11dc2889a8465f90f7cf9057ca267b8ce45cae2a612f9c56" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c88239866a388991f9015e9ec049e31e6d05a5e120ef6342bf8cb46a4e823dff" }, "usd_path": "batch2/D00444 Kitchen Canister/D00444_Kitchen_Canister.usd", - "usd_sha256": "cb8c1538e3dbf9fa41ae7754223421aab66175ae541187e5337ec9a889d4b204", + "usd_sha256": "821502067f8c808fee16afa3cd14c993d3f39cc049d54c1190787dcc78aff83a", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -157,9 +157,9 @@ 0.09253400191664696, 0.12327300214383285 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb8c1538e3dbf9fa41ae7754223421aab66175ae541187e5337ec9a889d4b204", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "821502067f8c808fee16afa3cd14c993d3f39cc049d54c1190787dcc78aff83a", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -168,9 +168,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.3099999912083149, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb8c1538e3dbf9fa41ae7754223421aab66175ae541187e5337ec9a889d4b204", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "821502067f8c808fee16afa3cd14c993d3f39cc049d54c1190787dcc78aff83a", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.3099999912083149, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -179,9 +179,9 @@ "status": "verified", "confidence": "high", "shape_count": 64, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb8c1538e3dbf9fa41ae7754223421aab66175ae541187e5337ec9a889d4b204", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "821502067f8c808fee16afa3cd14c993d3f39cc049d54c1190787dcc78aff83a", "scope": "authored_usd_collision_schema", "enabled_shape_count": 64, "approximations": [ @@ -193,18 +193,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb8c1538e3dbf9fa41ae7754223421aab66175ae541187e5337ec9a889d4b204", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "821502067f8c808fee16afa3cd14c993d3f39cc049d54c1190787dcc78aff83a", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00724 Shaker/physics_69fddfcb8102b48e9a293e1b.json b/batch2/D00724 Shaker/physics_69fddfcb8102b48e9a293e1b.json index 8f9d6ac98a44e0298bd48a427ffdcd3c28520dd6..ffd37fa8a19f2136aff6b5b813fe715aa8d7b1d7 100644 --- a/batch2/D00724 Shaker/physics_69fddfcb8102b48e9a293e1b.json +++ b/batch2/D00724 Shaker/physics_69fddfcb8102b48e9a293e1b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04504430666565895, - 0.21878919005393982, - 0.04519432783126831 - ], "min": [ - -0.04531056806445122, - 0.0, - -0.04522055760025978 + -0.045281000435352325, + -0.045166000723838806, + -1.5999999959603883e-05 + ], + "max": [ + 0.0450190007686615, + 0.04521799832582474, + 0.21882599592208862 ], "size": [ - 0.09035487473011017, - 0.21878919005393982, - 0.09041488543152809 - ] + 0.09030000120401382, + 0.09038399904966354, + 0.21884199592204823 + ], + "units": "m" }, "description": "A brushed stainless steel cocktail shaker with a tapered cylindrical body, rounded shoulder, and small ribbed cap. The surface is silver metallic with visible fine scratches and circular seam lines.", "name": "D00724 Shaker", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.44999998807907104, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00724", "parts": [ { "bounds": { - "center": [ - -0.00010853934590180847, - 0.10402965267163616, - -2.0317267521644244e-05 + "min": [ + -0.045281000435352325, + -0.045166000723838806, + -1.5999999959603883e-05 ], "max": [ - 0.04504430666565895, - 0.21878919005393982, - 0.04519432783126831 + 0.0450190007686615, + 0.04521799832582474, + 0.21882599592208862 ], - "min": [ - -0.04531056806445122, - 0.0, - -0.04522055760025978 - ] + "size": [ + 0.09030000120401382, + 0.09038399904966354, + 0.21884199592204823 + ], + "units": "m" }, "center_of_mass": [ -0.0001105332608628288, @@ -59,7 +65,7 @@ 0.0014917970496159802, 0.0014931120132848008 ], - "mass": 0.45, + "mass": 0.44999998807907104, "material": "brushed_stainless_steel", "name": "D00724 Shaker", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00724 Shaker", "part_name": "D00724 Shaker" }, - "volume": 0.0009496951477512347 + "volume": 0.0009496951477512347, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b077eeb02d10bdd1cbabf407c03cc6461a798591b52f686acd5467041ed8ed4b" + }, + "usd_path": "batch2/D00724 Shaker/D00724_Shaker.usd", + "usd_sha256": "d6071a4ec2bde6c68b93ea6a729d785e24bae5318d998c6fbaa3b36778636869", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.09035487473011017, - 0.21878919005393982, - 0.09041488543152809 - ] + 0.09030000120401382, + 0.09038399904966354, + 0.21884199592204823 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6071a4ec2bde6c68b93ea6a729d785e24bae5318d998c6fbaa3b36778636869", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.44999998807907104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6071a4ec2bde6c68b93ea6a729d785e24bae5318d998c6fbaa3b36778636869", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.44999998807907104, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6071a4ec2bde6c68b93ea6a729d785e24bae5318d998c6fbaa3b36778636869", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6071a4ec2bde6c68b93ea6a729d785e24bae5318d998c6fbaa3b36778636869", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00750 Spatula/physics_69f65c697f5104dbf26aa4eb.json b/batch2/D00750 Spatula/physics_69f65c697f5104dbf26aa4eb.json index 1f76e235655d6e9b3204032078463cd256a452f4..928a897c97b9c06f897ef11701f65ac399690501 100644 --- a/batch2/D00750 Spatula/physics_69f65c697f5104dbf26aa4eb.json +++ b/batch2/D00750 Spatula/physics_69f65c697f5104dbf26aa4eb.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.035663001239299774, - 0.19721899926662445, - 0.032756999135017395 - ], "min": [ - -0.03583500161767006, - -0.1516139954328537, - -8.299999899463728e-05 + -0.027016999199986458, + -0.14856299757957458, + 9.999999974752427e-07 + ], + "max": [ + 0.027708999812602997, + 0.1587429940700531, + 0.03113899938762188 ], "size": [ - 0.07149800285696983, - 0.34883299469947815, - 0.03283999913401203 - ] + 0.054725999012589455, + 0.3073059916496277, + 0.031137999387624404 + ], + "units": "m" }, "description": "A flat stainless-steel turner spatula with a thin rounded rectangular blade, bent neck, and riveted wooden handle. The blade has a brushed or worn metallic finish, while the handle varies in stained wood tones with small metal rivets.", "name": "D00750 Spatula", "object_type": "rigid_bodies", - "total_mass": 0.18 + "total_mass": 0.18000000715255737, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00750", "parts": [ { "bounds": { - "center": [ - -9.514627855820213e-05, - -0.0006806739450605117, - 0.016216343573362275 + "min": [ + -0.027016999199986458, + -0.14856299757957458, + 9.999999974752427e-07 ], "max": [ - 0.035663001239299774, - 0.19721899926662445, - 0.032756999135017395 + 0.027708999812602997, + 0.1587429940700531, + 0.03113899938762188 ], - "min": [ - -0.03583500161767006, - -0.1516139954328537, - -8.299999899463728e-05 - ] + "size": [ + 0.054725999012589455, + 0.3073059916496277, + 0.031137999387624404 + ], + "units": "m" }, "center_of_mass": [ -0.00020172586061404838, @@ -59,7 +65,7 @@ 0.0010090598281201609, 0.0010277086816802576 ], - "mass": 0.18, + "mass": 0.18000000715255737, "material": "stainless_steel", "name": "D00750 Spatula", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00750 Spatula", "part_name": "D00750 Spatula" }, - "volume": 0.0002537635691161461 + "volume": 0.0002537635691161461, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b64c4431dd75298a11ece68a0f7f7408f44aa796858c9e4d4c589f7c65e8cb5b" + }, + "usd_path": "batch2/D00750 Spatula/D00750_Spatula.usd", + "usd_sha256": "6dd6b4bd69c2102efae72da51da11d1bfb2afa1b0ac987074a3eb6b0e3f786a4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.07149800285696983, - 0.34883299469947815, - 0.03283999913401203 - ] + 0.054725999012589455, + 0.3073059916496277, + 0.031137999387624404 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6dd6b4bd69c2102efae72da51da11d1bfb2afa1b0ac987074a3eb6b0e3f786a4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.18 + "value_kg": 0.18000000715255737, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6dd6b4bd69c2102efae72da51da11d1bfb2afa1b0ac987074a3eb6b0e3f786a4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.18000000715255737, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6dd6b4bd69c2102efae72da51da11d1bfb2afa1b0ac987074a3eb6b0e3f786a4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6dd6b4bd69c2102efae72da51da11d1bfb2afa1b0ac987074a3eb6b0e3f786a4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00756 Spatulale/physics_69fde3df8102b48e9a33da3a.json b/batch2/D00756 Spatulale/physics_69fde3df8102b48e9a33da3a.json index 06b90d70fbe8414429b09a04adc7715cea945cfa..9b320fcfeafcd40d5e5dbb4f22aed39a1e1d3698 100644 --- a/batch2/D00756 Spatulale/physics_69fde3df8102b48e9a33da3a.json +++ b/batch2/D00756 Spatulale/physics_69fde3df8102b48e9a33da3a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1441524475812912, - 0.04647147282958031, - 0.044308219105005264 - ], "min": [ - -0.1935696005821228, - 0.0, - -0.04513523727655411 + -0.19355900585651398, + -0.044307999312877655, + -3.899999865097925e-05 + ], + "max": [ + 0.14415299892425537, + 0.045134998857975006, + 0.046452999114990234 ], "size": [ - 0.337722048163414, - 0.04647147282958031, - 0.08944345638155937 - ] + 0.33771200478076935, + 0.08944299817085266, + 0.046491999113641214 + ], + "units": "m" }, "description": "A stainless-steel slotted spatula with a brushed metal blade and shaft, paired with a dark molded polymer handle. The blade is thin and slightly curved with elongated drainage slots, and the handle has a hanging hole.", "name": "D00756 Slotted Spatula", "object_type": "rigid_bodies", - "total_mass": 0.16 + "total_mass": 0.1599999964237213, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00756", "parts": [ { "bounds": { - "center": [ - 0.0019049189413001249, - 0.020274857001507916, - -8.833307721557352e-05 + "min": [ + -0.19355900585651398, + -0.044307999312877655, + -3.899999865097925e-05 ], "max": [ - 0.1441524475812912, - 0.04647147282958031, - 0.044308219105005264 + 0.14415299892425537, + 0.045134998857975006, + 0.046452999114990234 ], - "min": [ - -0.1935696005821228, - 0.0, - -0.04513523727655411 - ] + "size": [ + 0.33771200478076935, + 0.08944299817085266, + 0.046491999113641214 + ], + "units": "m" }, "center_of_mass": [ -0.002841925343786412, @@ -59,7 +65,7 @@ 0.001008971791479968, 0.0010505380098699121 ], - "mass": 0.16, + "mass": 0.1599999964237213, "material": "stainless_steel", "name": "D00756 Spatulale", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00756 Spatulale", "part_name": "D00756 Spatulale" }, - "volume": 0.0004234524613662513 + "volume": 0.0004234524613662513, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5073017697860276d09cc9fb8655127b7adff047cfff12e4ba2bc239ae24e5ae" + }, + "usd_path": "batch2/D00756 Spatulale/D00756_Spatulale.usd", + "usd_sha256": "56f80abb0730aa73a53a89b81351fb7dcbae05be2489aa9130fdd184146a5cc6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.337722048163414, - 0.04647147282958031, - 0.08944345638155937 - ] + 0.33771200478076935, + 0.08944299817085266, + 0.046491999113641214 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56f80abb0730aa73a53a89b81351fb7dcbae05be2489aa9130fdd184146a5cc6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.16 + "value_kg": 0.1599999964237213, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56f80abb0730aa73a53a89b81351fb7dcbae05be2489aa9130fdd184146a5cc6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.1599999964237213, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 14, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56f80abb0730aa73a53a89b81351fb7dcbae05be2489aa9130fdd184146a5cc6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 14, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56f80abb0730aa73a53a89b81351fb7dcbae05be2489aa9130fdd184146a5cc6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00851 Tap/physics_69fdce3b8102b48e9afb8142.json b/batch2/D00851 Tap/physics_69fdce3b8102b48e9afb8142.json index c38b81a9b863cd0d3f33559d17766b2dda300ae3..db9555842ade2c1f29273fea51bdc52c45c3fce9 100644 --- a/batch2/D00851 Tap/physics_69fdce3b8102b48e9afb8142.json +++ b/batch2/D00851 Tap/physics_69fdce3b8102b48e9afb8142.json @@ -553,13 +553,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "ffdc3e1d49569bf562e9389bf977eaff52cb061303b664bcd136a05860d068bf" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2efd3ff03da956b2d666655186d4c029642a282cac2b269070a8fecc63a5c482" }, "usd_path": "batch2/D00851 Tap/D00851_Tap.usd", - "usd_sha256": "9716ffb4211cd5beb6afb839fd3f19aac1147e515a03d103dfb5e67624b16af6", + "usd_sha256": "12ee0af530f95f8f3b4e96138c37315fe03bdcf2cc8e9ea8032d82ed0778b49c", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -586,9 +586,9 @@ 0.10073400102555752, 0.26930898625869304 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9716ffb4211cd5beb6afb839fd3f19aac1147e515a03d103dfb5e67624b16af6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "12ee0af530f95f8f3b4e96138c37315fe03bdcf2cc8e9ea8032d82ed0778b49c", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -597,9 +597,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.9500000039115548, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9716ffb4211cd5beb6afb839fd3f19aac1147e515a03d103dfb5e67624b16af6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "12ee0af530f95f8f3b4e96138c37315fe03bdcf2cc8e9ea8032d82ed0778b49c", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.9500000039115548, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -608,9 +608,9 @@ "status": "verified", "confidence": "high", "shape_count": 336, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9716ffb4211cd5beb6afb839fd3f19aac1147e515a03d103dfb5e67624b16af6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "12ee0af530f95f8f3b4e96138c37315fe03bdcf2cc8e9ea8032d82ed0778b49c", "scope": "authored_usd_collision_schema", "enabled_shape_count": 336, "approximations": [ @@ -622,18 +622,19 @@ "status": "verified", "confidence": "high", "moving_joints": 2, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9716ffb4211cd5beb6afb839fd3f19aac1147e515a03d103dfb5e67624b16af6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "12ee0af530f95f8f3b4e96138c37315fe03bdcf2cc8e9ea8032d82ed0778b49c", "scope": "authored_usd_joint_schema", "joint_count": 4, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00915 Ware Whisk/physics_69fdf0808102b48e9a534ffe.json b/batch2/D00915 Ware Whisk/physics_69fdf0808102b48e9a534ffe.json index e4cbc0a7d30ed27d07d2b88ec1b7d858654bfded..c3e4892cbd19e9673af9d82fd2c92d03aa68d2e0 100644 --- a/batch2/D00915 Ware Whisk/physics_69fdf0808102b48e9a534ffe.json +++ b/batch2/D00915 Ware Whisk/physics_69fdf0808102b48e9a534ffe.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03671500086784363, - 0.08973900228738785, - 0.07244899868965149 - ], "min": [ - -0.03752899914979935, - -0.1940850019454956, - -2.9000000722589903e-05 + -0.03470899909734726, + -0.1750050038099289, + -0.0001340000017080456 + ], + "max": [ + 0.034745000302791595, + 0.08830399811267853, + 0.0693959966301918 ], "size": [ - 0.07424400001764297, - 0.28382400423288345, - 0.07247799869037408 - ] + 0.06945399940013885, + 0.2633090019226074, + 0.06952999663189985 + ], + "units": "m" }, "description": "A balloon whisk with thin polished stainless-steel wire loops, a coiled metal collar, and a smooth light wood handle with a small hanging loop.", "name": "D00915 Balloon Whisk", "object_type": "rigid_bodies", - "total_mass": 0.115 + "total_mass": 0.11500000208616257, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00915", "parts": [ { "bounds": { - "center": [ - -5.314519594872371e-05, - -0.017655288316839407, - 0.03649547082714052 + "min": [ + -0.03470899909734726, + -0.1750050038099289, + -0.0001340000017080456 ], "max": [ - 0.03671500086784363, - 0.08973900228738785, - 0.07244899868965149 + 0.034745000302791595, + 0.08830399811267853, + 0.0693959966301918 ], - "min": [ - -0.03752899914979935, - -0.1940850019454956, - -2.9000000722589903e-05 - ] + "size": [ + 0.06945399940013885, + 0.2633090019226074, + 0.06952999663189985 + ], + "units": "m" }, "center_of_mass": [ 5.49139236555684e-05, @@ -59,7 +65,7 @@ 0.0004128635843164656, 0.0004135791278815609 ], - "mass": 0.115, + "mass": 0.11500000208616257, "material": "stainless_steel_with_wood_handle", "name": "D00915 Ware Whisk", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00915 Ware Whisk", "part_name": "D00915 Ware Whisk" }, - "volume": 0.00045007514475218423 + "volume": 0.00045007514475218423, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "09b90f3004658151ddf23e488b2150812a704f5b694ef4df49f5d317a9093d04" + }, + "usd_path": "batch2/D00915 Ware Whisk/D00915_Ware_Whisk.usd", + "usd_sha256": "aa89fb26ea7c457a77b80f64e5a130c10dd0ffaf7724088ff1b666bcd520c56d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.07424400001764297, - 0.28382400423288345, - 0.07247799869037408 - ] + 0.06945399940013885, + 0.2633090019226074, + 0.06952999663189985 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa89fb26ea7c457a77b80f64e5a130c10dd0ffaf7724088ff1b666bcd520c56d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.115 + "value_kg": 0.11500000208616257, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa89fb26ea7c457a77b80f64e5a130c10dd0ffaf7724088ff1b666bcd520c56d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11500000208616257, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 36, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa89fb26ea7c457a77b80f64e5a130c10dd0ffaf7724088ff1b666bcd520c56d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 36, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa89fb26ea7c457a77b80f64e5a130c10dd0ffaf7724088ff1b666bcd520c56d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00921 Watermelon/physics_69f6e5587f5104dbf2ebbc16.json b/batch2/D00921 Watermelon/physics_69f6e5587f5104dbf2ebbc16.json index c852850b399b238d2450eb98b68b2eab530ab94b..7d39fad270406651ef963f7a4948e91d6e94647a 100644 --- a/batch2/D00921 Watermelon/physics_69f6e5587f5104dbf2ebbc16.json +++ b/batch2/D00921 Watermelon/physics_69f6e5587f5104dbf2ebbc16.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1058730036020279, - 0.09500099718570709, - 0.19542600214481354 - ], "min": [ - -0.12773099541664124, - -0.09669499844312668, - -0.0014059999957680702 + -0.09034799784421921, + -0.11843500286340714, + 9.999999974752427e-07 + ], + "max": [ + 0.09121699631214142, + 0.10390400141477585, + 0.1724420040845871 ], "size": [ - 0.23360399901866913, - 0.19169599562883377, - 0.1968320021405816 - ] + 0.18156499415636063, + 0.22233900427818298, + 0.17244100408458962 + ], + "units": "m" }, "description": "A round watermelon with a smooth dark green rind, pale green striping, and a small dry stem. The exterior appears waxy and firm with slight natural surface irregularity.", "name": "D00921 Watermelon", "object_type": "rigid_bodies", - "total_mass": 7.5 + "total_mass": 7.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00921", "parts": [ { "bounds": { - "center": [ - 0.0008372023569794153, - 1.7970248953977434e-05, - 0.09776095211655954 + "min": [ + -0.09034799784421921, + -0.11843500286340714, + 9.999999974752427e-07 ], "max": [ - 0.1058730036020279, - 0.09500099718570709, - 0.19542600214481354 + 0.09121699631214142, + 0.10390400141477585, + 0.1724420040845871 ], - "min": [ - -0.12773099541664124, - -0.09669499844312668, - -0.0014059999957680702 - ] + "size": [ + 0.18156499415636063, + 0.22233900427818298, + 0.17244100408458962 + ], + "units": "m" }, "center_of_mass": [ 6.92094891834316e-05, @@ -67,10 +73,27 @@ "object_name": "D00921 Watermelon", "part_name": "D00921 Watermelon" }, - "volume": 0.0034981414409207506 + "volume": 0.0034981414409207506, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "55a24ebae6644486bdf764e70ec4c23c84b9c3c8622d2b00ba36b427306642f2" + }, + "usd_path": "batch2/D00921 Watermelon/D00921_Watermelon.usd", + "usd_sha256": "ae5a74fa6a6ceac329b7790ca17c1490b3a1aa5f966225d6758de9c4a85aad7f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.23360399901866913, - 0.19169599562883377, - 0.1968320021405816 - ] + 0.18156499415636063, + 0.22233900427818298, + 0.17244100408458962 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae5a74fa6a6ceac329b7790ca17c1490b3a1aa5f966225d6758de9c4a85aad7f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 7.5 + "value_kg": 7.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae5a74fa6a6ceac329b7790ca17c1490b3a1aa5f966225d6758de9c4a85aad7f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 7.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae5a74fa6a6ceac329b7790ca17c1490b3a1aa5f966225d6758de9c4a85aad7f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae5a74fa6a6ceac329b7790ca17c1490b3a1aa5f966225d6758de9c4a85aad7f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00940 White Vase/physics_69f71b0f7f5104dbf221687c.json b/batch2/D00940 White Vase/physics_69f71b0f7f5104dbf221687c.json index 056daf00c0b45f54d7bf42e6a343150f4db122be..7e505089d477463f6c0120263c980ede1bc07526 100644 --- a/batch2/D00940 White Vase/physics_69f71b0f7f5104dbf221687c.json +++ b/batch2/D00940 White Vase/physics_69f71b0f7f5104dbf221687c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08510400354862213, - 0.08329799771308899, - 0.3012250065803528 - ], "min": [ - -0.08349400013685226, - -0.08422599732875824, - -0.00011300000187475234 + -0.03638700023293495, + -0.035312000662088394, + -9.999999974752427e-07 + ], + "max": [ + 0.03538599982857704, + 0.035262998193502426, + 0.13740099966526031 ], "size": [ - 0.1685980036854744, - 0.16752399504184723, - 0.30133800658222754 - ] + 0.071773000061512, + 0.07057499885559082, + 0.1374019996652578 + ], + "units": "m" }, "description": "A set of small white and cream vases with glossy glazed ceramic surfaces, rounded and faceted bodies, narrow necks, and flared rims. Some pieces show exposed clay-colored wear, and one vessel has a translucent glass-like finish.", "name": "D00940 White Vase", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00940", "parts": [ { "bounds": { - "center": [ - 8.49870763604263e-05, - -8.571593401164426e-05, - 0.15764020235460713 + "min": [ + -0.03638700023293495, + -0.035312000662088394, + -9.999999974752427e-07 ], "max": [ - 0.08510400354862213, - 0.08329799771308899, - 0.3012250065803528 + 0.03538599982857704, + 0.035262998193502426, + 0.13740099966526031 ], - "min": [ - -0.08349400013685226, - -0.08422599732875824, - -0.00011300000187475234 - ] + "size": [ + 0.071773000061512, + 0.07057499885559082, + 0.1374019996652578 + ], + "units": "m" }, "center_of_mass": [ -0.00047939301176650357, @@ -59,7 +65,7 @@ 0.0011848581832731343, 0.0011899917154236206 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "glazed_ceramic_porcelain", "name": "D00940 White Vase", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00940 White Vase", "part_name": "D00940 White Vase" }, - "volume": 0.0004393246376498148 + "volume": 0.0004393246376498148, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9f1055b697b763d3e22141499ca566d908939968852ae47bcca7f6fe279de460" + }, + "usd_path": "batch2/D00940 White Vase/D00940_White_Vase.usd", + "usd_sha256": "35f85a6eb8ed54eee7879492fa0f1d53d2633b7b1db4c83d0e854a2f47efe4b9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1685980036854744, - 0.16752399504184723, - 0.30133800658222754 - ] + 0.071773000061512, + 0.07057499885559082, + 0.1374019996652578 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "35f85a6eb8ed54eee7879492fa0f1d53d2633b7b1db4c83d0e854a2f47efe4b9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "35f85a6eb8ed54eee7879492fa0f1d53d2633b7b1db4c83d0e854a2f47efe4b9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 52, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "35f85a6eb8ed54eee7879492fa0f1d53d2633b7b1db4c83d0e854a2f47efe4b9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 52, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "35f85a6eb8ed54eee7879492fa0f1d53d2633b7b1db4c83d0e854a2f47efe4b9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00942 Wine Glass/physics_69f7217c7f5104dbf2280ba3.json b/batch2/D00942 Wine Glass/physics_69f7217c7f5104dbf2280ba3.json index f16677adedea28bdcbc4eecd3216b5247c409819..8cfc601d46906324f77d303d3e440088c4e95d01 100644 --- a/batch2/D00942 Wine Glass/physics_69f7217c7f5104dbf2280ba3.json +++ b/batch2/D00942 Wine Glass/physics_69f7217c7f5104dbf2280ba3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0412990003824234, - 0.04083399847149849, - 0.15620200335979462 - ], "min": [ - -0.040408000349998474, - -0.04088199883699417, - -3.000000106112566e-06 + -0.03639499843120575, + -0.03637399896979332, + -7.999999979801942e-06 + ], + "max": [ + 0.03620599955320358, + 0.036577001214027405, + 0.19574199616909027 ], "size": [ - 0.08170700073242188, - 0.08171599730849266, - 0.15620500335990073 - ] + 0.07260099798440933, + 0.07295100018382072, + 0.19574999616907007 + ], + "units": "m" }, "description": "A clear transparent glass wine goblet with a rounded bowl, thin stem, and circular foot. The object is made of smooth soda-lime glass with a polished rim and base.", "name": "D00942 Wine Glass", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00942", "parts": [ { "bounds": { - "center": [ - -6.274110685071786e-05, - 5.208275261592477e-05, - 0.0918827188238574 + "min": [ + -0.03639499843120575, + -0.03637399896979332, + -7.999999979801942e-06 ], "max": [ - 0.0412990003824234, - 0.04083399847149849, - 0.15620200335979462 + 0.03620599955320358, + 0.036577001214027405, + 0.19574199616909027 ], - "min": [ - -0.040408000349998474, - -0.04088199883699417, - -3.000000106112566e-06 - ] + "size": [ + 0.07260099798440933, + 0.07295100018382072, + 0.19574999616907007 + ], + "units": "m" }, "center_of_mass": [ -0.0001215764621747489, @@ -59,7 +65,7 @@ 0.0006545948397803827, 0.0006554712394464986 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "glass", "name": "D00942 Wine Glass", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00942 Wine Glass", "part_name": "D00942 Wine Glass" }, - "volume": 0.0007581462350273329 + "volume": 0.0007581462350273329, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1bcdf40f131b900a8fa6b62893718b5a91baa3fbc56f61f8eec7e7555b715b30" + }, + "usd_path": "batch2/D00942 Wine Glass/D00942_Wine_Glass.usd", + "usd_sha256": "b291f4b34de26abbf1ee679c01a164b48f62506a4d8151fe0dafe3359c468acf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.08170700073242188, - 0.08171599730849266, - 0.15620500335990073 - ] + 0.07260099798440933, + 0.07295100018382072, + 0.19574999616907007 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b291f4b34de26abbf1ee679c01a164b48f62506a4d8151fe0dafe3359c468acf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b291f4b34de26abbf1ee679c01a164b48f62506a4d8151fe0dafe3359c468acf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b291f4b34de26abbf1ee679c01a164b48f62506a4d8151fe0dafe3359c468acf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b291f4b34de26abbf1ee679c01a164b48f62506a4d8151fe0dafe3359c468acf", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00944 Wo/physics_69fdf0fd8102b48e9a54938b.json b/batch2/D00944 Wo/physics_69fdf0fd8102b48e9a54938b.json index b2aa015b755745e1f692993a113ae28fc0f2dd0b..4f125f5a2e0429e8d671a17d52aa04cf3596d7fb 100644 --- a/batch2/D00944 Wo/physics_69fdf0fd8102b48e9a54938b.json +++ b/batch2/D00944 Wo/physics_69fdf0fd8102b48e9a54938b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.6765687465667725, - 0.7144426703453064, - 0.12992827594280243 - ], "min": [ - -0.6736512780189514, - 0.0, - -0.10160307586193085 + -0.67364102602005, + -0.12959900498390198, + -0.00047400000039488077 + ], + "max": [ + 0.6767100095748901, + 0.10154899954795837, + 0.7144500017166138 ], "size": [ - 1.3502200245857239, - 0.7144426703453064, - 0.23153135180473328 - ] + 1.3503510355949402, + 0.23114800453186035, + 0.7149240017170087 + ], + "units": "m" }, "description": "An aged dark-brown wooden yoke-like frame with a long carved curved beam, vertical supports, and rounded end holes. It has worn leather straps, rusted iron rings, rivets, and scuffed varnished surfaces.", "name": "D00944 Wooden Ox Yoke", "object_type": "rigid_bodies", - "total_mass": 22.0 + "total_mass": 22.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00944", "parts": [ { "bounds": { - "center": [ - -0.002158734890326247, - 0.3917627738413663, - -0.002069053733498523 + "min": [ + -0.67364102602005, + -0.12959900498390198, + -0.00047400000039488077 ], "max": [ - 0.6765687465667725, - 0.7144426703453064, - 0.12992827594280243 + 0.6767100095748901, + 0.10154899954795837, + 0.7144500017166138 ], - "min": [ - -0.6736512780189514, - 0.0, - -0.10160307586193085 - ] + "size": [ + 1.3503510355949402, + 0.23114800453186035, + 0.7149240017170087 + ], + "units": "m" }, "center_of_mass": [ -0.0008785888171470475, @@ -67,10 +73,27 @@ "object_name": "D00944 Wo", "part_name": "D00944 Wo" }, - "volume": 0.1433064729331138 + "volume": 0.1433064729331138, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "734545d92dea7f00d8ae685db98fc18560aa7005026c4bb5cb91c27314e5adae" + }, + "usd_path": "batch2/D00944 Wo/D00944_Wo.usd", + "usd_sha256": "fe494a69ab3560ec06a61775ce555043b18dc3967816dbc247a7ebfbc2397bba", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 1.3502200245857239, - 0.7144426703453064, - 0.23153135180473328 - ] + 1.3503510355949402, + 0.23114800453186035, + 0.7149240017170087 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe494a69ab3560ec06a61775ce555043b18dc3967816dbc247a7ebfbc2397bba", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 22.0 + "value_kg": 22.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe494a69ab3560ec06a61775ce555043b18dc3967816dbc247a7ebfbc2397bba", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 22.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 63, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe494a69ab3560ec06a61775ce555043b18dc3967816dbc247a7ebfbc2397bba", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 63, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe494a69ab3560ec06a61775ce555043b18dc3967816dbc247a7ebfbc2397bba", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/D00967 Wooden Pepper Mill/physics_69fdd44f8102b48e9a0b6022.json b/batch2/D00967 Wooden Pepper Mill/physics_69fdd44f8102b48e9a0b6022.json index f28f6dda8e6f85ff042f1e0f488c3de74cb88244..0ad5303fc5702200839fa7795f37891c323bfb56 100644 --- a/batch2/D00967 Wooden Pepper Mill/physics_69fdd44f8102b48e9a0b6022.json +++ b/batch2/D00967 Wooden Pepper Mill/physics_69fdd44f8102b48e9a0b6022.json @@ -323,13 +323,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "3d4dec22f56cbaee8834aa2b6463f867d64c2c1e8c8d8fcca74af8acdbf2e5d7" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5a0bd4174c365729137540a4aafc516eca7a9e5491a197794c73ceedef4e626f" }, "usd_path": "batch2/D00967 Wooden Pepper Mill/D00967_Wooden_Pepper_Mill.usd", - "usd_sha256": "87dd7a1370e21c2644f79849a664e8b0c043521d2a90adf616c83dd037b6a7c7", + "usd_sha256": "a775b08a93b555d32e6408d087fa1e675dee79ead3888f2b6f13291e00315852", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -356,9 +356,9 @@ 0.05802299827337265, 0.20134399393282365 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "87dd7a1370e21c2644f79849a664e8b0c043521d2a90adf616c83dd037b6a7c7", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a775b08a93b555d32e6408d087fa1e675dee79ead3888f2b6f13291e00315852", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -367,9 +367,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.24499999918043613, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "87dd7a1370e21c2644f79849a664e8b0c043521d2a90adf616c83dd037b6a7c7", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a775b08a93b555d32e6408d087fa1e675dee79ead3888f2b6f13291e00315852", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.24499999918043613, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -378,9 +378,9 @@ "status": "verified", "confidence": "high", "shape_count": 89, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "87dd7a1370e21c2644f79849a664e8b0c043521d2a90adf616c83dd037b6a7c7", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a775b08a93b555d32e6408d087fa1e675dee79ead3888f2b6f13291e00315852", "scope": "authored_usd_collision_schema", "enabled_shape_count": 89, "approximations": [ @@ -392,18 +392,19 @@ "status": "verified", "confidence": "high", "moving_joints": 2, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "87dd7a1370e21c2644f79849a664e8b0c043521d2a90adf616c83dd037b6a7c7", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a775b08a93b555d32e6408d087fa1e675dee79ead3888f2b6f13291e00315852", "scope": "authored_usd_joint_schema", "joint_count": 2, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch2/Dijon_Mustard_Squeeze_Bottle/physics_6a27fdd83818e4e7bb789e6d.json b/batch2/Dijon_Mustard_Squeeze_Bottle/physics_6a27fdd83818e4e7bb789e6d.json index 0b9d5605a248c638abc20f804f4f0d19024c4ee9..54a3c62fdd56de40fbadc7f3b84f97cca73a6b25 100644 --- a/batch2/Dijon_Mustard_Squeeze_Bottle/physics_6a27fdd83818e4e7bb789e6d.json +++ b/batch2/Dijon_Mustard_Squeeze_Bottle/physics_6a27fdd83818e4e7bb789e6d.json @@ -79,13 +79,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "99cb54bc6814ebf1d1dbcdc184e48aa1c64bd3f5cec0edb3634aea105144e5d1" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "05cad8b6ed876328ffbdadcccdc921f5000e74f79edd1c84aec3483d0197df81" }, "usd_path": "batch2/Dijon_Mustard_Squeeze_Bottle/Dijon_Mustard_Squeeze_Bottle.usd", - "usd_sha256": "30df54b3cf276ef15969c0a0f7a84af85b36fdd2d3cbf477f056fbf008503fb5", + "usd_sha256": "796a7d60474436d4755db7170cae007c26827a095e77bf5cd91c1cd5df1fcb50", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -113,9 +113,9 @@ 0.10235300287604332, 0.22957200592918525 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "30df54b3cf276ef15969c0a0f7a84af85b36fdd2d3cbf477f056fbf008503fb5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "796a7d60474436d4755db7170cae007c26827a095e77bf5cd91c1cd5df1fcb50", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.3499999940395355, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "30df54b3cf276ef15969c0a0f7a84af85b36fdd2d3cbf477f056fbf008503fb5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "796a7d60474436d4755db7170cae007c26827a095e77bf5cd91c1cd5df1fcb50", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.3499999940395355, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -135,9 +135,9 @@ "status": "verified", "confidence": "high", "shape_count": 2, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "30df54b3cf276ef15969c0a0f7a84af85b36fdd2d3cbf477f056fbf008503fb5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "796a7d60474436d4755db7170cae007c26827a095e77bf5cd91c1cd5df1fcb50", "scope": "authored_usd_collision_schema", "enabled_shape_count": 2, "approximations": [ @@ -149,18 +149,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "30df54b3cf276ef15969c0a0f7a84af85b36fdd2d3cbf477f056fbf008503fb5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "796a7d60474436d4755db7170cae007c26827a095e77bf5cd91c1cd5df1fcb50", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } }, "asset_id": "Dijon_Mustard_Squeeze_Bottle" diff --git a/batch2/Organic_Spicy_Brown_Mustard_squeeze_bottle/physics_6a27fe5a3818e4e7bb792164.json b/batch2/Organic_Spicy_Brown_Mustard_squeeze_bottle/physics_6a27fe5a3818e4e7bb792164.json index 9eeb3c18caf6151a38f395cf4bbe6140a0d3f8ff..37774ea60f34c2c6fdcab85a8d102cb4422db893 100644 --- a/batch2/Organic_Spicy_Brown_Mustard_squeeze_bottle/physics_6a27fe5a3818e4e7bb792164.json +++ b/batch2/Organic_Spicy_Brown_Mustard_squeeze_bottle/physics_6a27fe5a3818e4e7bb792164.json @@ -79,13 +79,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "5aae7e485392b70aa7006fd556c12659b3ad7a70cf2e2df6768ea9c5b0f8294e" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c67aeb541f23f4b07ddcb76915f88d05328210ca270e1fe5fb44238e6d36f226" }, "usd_path": "batch2/Organic_Spicy_Brown_Mustard_squeeze_bottle/Organic_Spicy_Brown_Mustard_squeeze_bottle.usd", - "usd_sha256": "5fd70534a638fa93dc72d06ccb5526bb680fbcee1210b4e00c7276d77f630540", + "usd_sha256": "1c0893c19330c6ce79937dc7dffab40866832fb0303e6798b0a9ea494672333c", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -113,9 +113,9 @@ 0.06823199987411499, 0.23625400115452067 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "5fd70534a638fa93dc72d06ccb5526bb680fbcee1210b4e00c7276d77f630540", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c0893c19330c6ce79937dc7dffab40866832fb0303e6798b0a9ea494672333c", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.2800000011920929, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "5fd70534a638fa93dc72d06ccb5526bb680fbcee1210b4e00c7276d77f630540", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c0893c19330c6ce79937dc7dffab40866832fb0303e6798b0a9ea494672333c", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.2800000011920929, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -135,9 +135,9 @@ "status": "verified", "confidence": "high", "shape_count": 3, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "5fd70534a638fa93dc72d06ccb5526bb680fbcee1210b4e00c7276d77f630540", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c0893c19330c6ce79937dc7dffab40866832fb0303e6798b0a9ea494672333c", "scope": "authored_usd_collision_schema", "enabled_shape_count": 3, "approximations": [ @@ -149,18 +149,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "5fd70534a638fa93dc72d06ccb5526bb680fbcee1210b4e00c7276d77f630540", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c0893c19330c6ce79937dc7dffab40866832fb0303e6798b0a9ea494672333c", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } }, "asset_id": "Organic_Spicy_Brown_Mustard_squeeze_bottle" diff --git a/batch20/D00049 Bottle Glass Jar/IsaacSim_assets_6a6c6790cb2d3efc65be6ddf/physics_6a6c6790cb2d3efc65be6ddf.json b/batch20/D00049 Bottle Glass Jar/IsaacSim_assets_6a6c6790cb2d3efc65be6ddf/physics_6a6c6790cb2d3efc65be6ddf.json index b29e5af977918d41f4ffca6ddedb2ebc88efb679..76ead18bf987bcfeb9544b528d113a82baa0eedf 100644 --- a/batch20/D00049 Bottle Glass Jar/IsaacSim_assets_6a6c6790cb2d3efc65be6ddf/physics_6a6c6790cb2d3efc65be6ddf.json +++ b/batch20/D00049 Bottle Glass Jar/IsaacSim_assets_6a6c6790cb2d3efc65be6ddf/physics_6a6c6790cb2d3efc65be6ddf.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.035360999405384064, - 0.0350009985268116, - 0.08376836776733398 - ], "min": [ -0.035457998514175415, -0.03556099906563759, 0.00037636980414390564 ], + "max": [ + 0.035360999405384064, + 0.0350009985268116, + 0.08376836776733398 + ], "size": [ 0.07081899791955948, 0.07056199759244919, 0.08339199796319008 - ] + ], + "units": "m" }, "description": "D00049 Bottle Glass Jar", "name": "D00049 Bottle Glass Jar", "object_type": "rigid_bodies", - "total_mass": 0.068 + "total_mass": 0.06800000369548798, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00049", "parts": [ { "bounds": { - "center": [ - -4.849955439567566e-05, - -0.0002800002694129944, - 0.042072368785738945 + "min": [ + -0.035457998514175415, + -0.03556099906563759, + 0.00037636980414390564 ], "max": [ 0.035360999405384064, 0.0350009985268116, 0.08376836776733398 ], - "min": [ - -0.035457998514175415, - -0.03556099906563759, - 0.00037636980414390564 - ] + "size": [ + 0.07081899791955948, + 0.07056199759244919, + 0.08339199796319008 + ], + "units": "m" }, "center_of_mass": [ -3.961098627769388e-05, @@ -59,7 +65,7 @@ 5.938899630564265e-05, 5.947942554485053e-05 ], - "mass": 0.068, + "mass": 0.06800000369548798, "material": "ceramic", "name": "D00049 Bottle Glass Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00049 Bottle Glass Jar", "part_name": "D00049 Bottle Glass Jar" }, - "volume": 2.720000147819519e-05 + "volume": 2.720000147819519e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "827c2dd6eb30700a2037282d1343353938e6b7be04cbd7bbcf8217936f9ae97d" + }, + "usd_path": "batch20/D00049 Bottle Glass Jar/IsaacSim_assets_6a6c6790cb2d3efc65be6ddf/IsaacSim_asset_6a6c6790cb2d3efc65be6ddf.usd", + "usd_sha256": "dfd2a3d74ca1043b44bbabc2862cc7ae5f3910e1fa20153845637abc6496dbcf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.07081899791955948, 0.07056199759244919, 0.08339199796319008 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dfd2a3d74ca1043b44bbabc2862cc7ae5f3910e1fa20153845637abc6496dbcf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.068 + "value_kg": 0.06800000369548798, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dfd2a3d74ca1043b44bbabc2862cc7ae5f3910e1fa20153845637abc6496dbcf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.06800000369548798, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 111, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dfd2a3d74ca1043b44bbabc2862cc7ae5f3910e1fa20153845637abc6496dbcf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 111, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dfd2a3d74ca1043b44bbabc2862cc7ae5f3910e1fa20153845637abc6496dbcf", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "dfd2a3d74ca1043b44bbabc2862cc7ae5f3910e1fa20153845637abc6496dbcf", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:12.480744+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "727d2f1517c64b1dd9be52d4f82ef681d886aa4d0339735e8d1e2e7361a6154f", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00517 Milk/IsaacSim_assets_6a6c326fcb2d3efc65b4ebd3/physics_6a6c326fcb2d3efc65b4ebd3.json b/batch20/D00517 Milk/IsaacSim_assets_6a6c326fcb2d3efc65b4ebd3/physics_6a6c326fcb2d3efc65b4ebd3.json index 14db0b2f24ee277f5ca1b89f4a488290e5397886..679bd91dfa1ece9cec545526e53c4a5a97557160 100644 --- a/batch20/D00517 Milk/IsaacSim_assets_6a6c326fcb2d3efc65b4ebd3/physics_6a6c326fcb2d3efc65b4ebd3.json +++ b/batch20/D00517 Milk/IsaacSim_assets_6a6c326fcb2d3efc65b4ebd3/physics_6a6c326fcb2d3efc65b4ebd3.json @@ -1,50 +1,153 @@ { "articulation": { - "has_joints": false, - "joints": [] + "has_joints": true, + "joints": [ + { + "id": "joint_bottle_body__bottle_cap", + "path": "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/Joints/joint_bottle_body__bottle_cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/part_02" + ], + "body1_targets": [ + "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/part_00" + ], + "authored_usd": { + "id": "joint_bottle_body__bottle_cap", + "source_prim_path": "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/Joints/joint_bottle_body__bottle_cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/part_02" + ], + "body1": [ + "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/part_00" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 1.817941665649414e-06 + ], + "localPos1": [ + 0.0, + 0.0, + 1.817941665649414e-06 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_bottle_body__label", + "path": "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/Joints/joint_bottle_body__label", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/part_02" + ], + "body1_targets": [ + "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/part_01" + ], + "authored_usd": { + "id": "joint_bottle_body__label", + "source_prim_path": "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/Joints/joint_bottle_body__label", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/part_02" + ], + "body1": [ + "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 1.817941665649414e-06 + ], + "localPos1": [ + 0.0, + 0.0, + 1.817941665649414e-06 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + } + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05191799998283386, - 0.053254999220371246, - 0.300609827041626 - ], "min": [ -0.05192900076508522, -0.05165199935436249, 4.181794065516442e-05 ], + "max": [ + 0.05191799998283386, + 0.053254999220371246, + 0.300609827041626 + ], "size": [ 0.10384700074791908, 0.10490699857473373, 0.3005680091009708 - ] + ], + "units": "m" }, "description": "D00517 Milk", "name": "D00517 Milk", "object_type": "rigid_bodies", - "total_mass": 1.056 + "total_mass": 1.055999952252023, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00517", "parts": [ { "bounds": { - "center": [ - -2.3999251425266266e-05, - 0.001445000059902668, - 0.285339817404747 + "min": [ + -0.028728999197483063, + -0.027031999081373215, + 0.27006980776786804 ], "max": [ 0.02868100069463253, 0.02992199920117855, 0.300609827041626 ], - "min": [ - -0.028728999197483063, - -0.027031999081373215, - 0.27006980776786804 - ] + "size": [ + 0.05740999989211559, + 0.056953998282551765, + 0.030540019273757935 + ], + "units": "m" }, "center_of_mass": [ -2.5180836018989794e-05, @@ -59,7 +162,7 @@ 1.269337190024089e-06, 1.816222038542037e-06 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "plastic", "name": "D00517 Milk", "physics_type": "rigid", @@ -67,25 +170,28 @@ "object_name": "D00517 Milk", "part_name": "D00517 Milk" }, - "volume": 5.263157777096096e-06 + "volume": 5.263157777096096e-06, + "source_prim_path": "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0003054998815059662, - -0.05013999901711941, - 0.1137373186647892 + "min": [ + -0.02906399965286255, + -0.05165199935436249, + 0.07644281536340714 ], "max": [ 0.02967499941587448, -0.04862799867987633, 0.15103182196617126 ], - "min": [ - -0.02906399965286255, - -0.05165199935436249, - 0.07644281536340714 - ] + "size": [ + 0.05873899906873703, + 0.0030240006744861603, + 0.07458900660276413 + ], + "units": "m" }, "center_of_mass": [ 0.000430562358815223, @@ -100,7 +206,7 @@ 4.0325514305550314e-07, 6.372480356731103e-07 ], - "mass": 0.001, + "mass": 0.0010000000474974513, "material": "wood", "name": "D00517 Milk", "physics_type": "rigid", @@ -108,25 +214,28 @@ "object_name": "D00517 Milk", "part_name": "D00517 Milk" }, - "volume": 1.2500000593718142e-06 + "volume": 1.2500000593718142e-06, + "source_prim_path": "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -5.500391125679016e-06, - 0.0014289990067481995, - 0.13952781524130842 + "min": [ + -0.05192900076508522, + -0.05039700120687485, + 4.181794065516442e-05 ], "max": [ 0.05191799998283386, 0.053254999220371246, 0.27901381254196167 ], - "min": [ - -0.05192900076508522, - -0.05039700120687485, - 4.181794065516442e-05 - ] + "size": [ + 0.10384700074791908, + 0.1036520004272461, + 0.2789719946013065 + ], + "units": "m" }, "center_of_mass": [ 1.1544540939212311e-05, @@ -141,7 +250,7 @@ 0.006188802421092987, 0.006191886495798826 ], - "mass": 1.05, + "mass": 1.0499999523162842, "material": "plastic", "name": "D00517 Milk", "physics_type": "rigid", @@ -149,10 +258,27 @@ "object_name": "D00517 Milk", "part_name": "D00517 Milk" }, - "volume": 0.0010194174294332857 + "volume": 0.0010194174294332857, + "source_prim_path": "/World/textured_mesh_6a6c326fcb2d3efc65b4ebd3/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f00c6be3831d2cfdd5d56363bd5a2d2357f55553d70b69158fe1e98110d618fe" + }, + "usd_path": "batch20/D00517 Milk/IsaacSim_assets_6a6c326fcb2d3efc65b4ebd3/IsaacSim_asset_6a6c326fcb2d3efc65b4ebd3.usd", + "usd_sha256": "6667a1bf4d1736d4efb52f3522150f2dcf64c30bb27d4792207db938dea26654", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -173,22 +299,56 @@ 0.10384700074791908, 0.10490699857473373, 0.3005680091009708 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6667a1bf4d1736d4efb52f3522150f2dcf64c30bb27d4792207db938dea26654", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.056 + "value_kg": 1.055999952252023, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6667a1bf4d1736d4efb52f3522150f2dcf64c30bb27d4792207db938dea26654", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.055999952252023, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6667a1bf4d1736d4efb52f3522150f2dcf64c30bb27d4792207db938dea26654", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6667a1bf4d1736d4efb52f3522150f2dcf64c30bb27d4792207db938dea26654", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00524 Milk Jug/IsaacSim_assets_6a6c3034cb2d3efc65b44d8a/physics_6a6c3034cb2d3efc65b44d8a.json b/batch20/D00524 Milk Jug/IsaacSim_assets_6a6c3034cb2d3efc65b44d8a/physics_6a6c3034cb2d3efc65b44d8a.json index 96f491a627a8693201dede4072264c02e02c14e2..83a819cb5b5cebbb4db93eddb4210fca8852ab82 100644 --- a/batch20/D00524 Milk Jug/IsaacSim_assets_6a6c3034cb2d3efc65b44d8a/physics_6a6c3034cb2d3efc65b44d8a.json +++ b/batch20/D00524 Milk Jug/IsaacSim_assets_6a6c3034cb2d3efc65b44d8a/physics_6a6c3034cb2d3efc65b44d8a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0815109983086586, - 0.07095800340175629, - 0.25006434321403503 - ], "min": [ -0.08288700133562088, -0.07093600183725357, 0.0013693476794287562 ], + "max": [ + 0.0815109983086586, + 0.07095800340175629, + 0.25006434321403503 + ], "size": [ 0.16439799964427948, 0.14189400523900986, 0.24869499553460628 - ] + ], + "units": "m" }, "description": "D00524 Milk Jug", "name": "D00524 Milk Jug", "object_type": "rigid_bodies", - "total_mass": 3.8 + "total_mass": 3.799999952316284, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00524", "parts": [ { "bounds": { - "center": [ - -0.0006880015134811401, - 1.1000782251358032e-05, - 0.1257168454467319 + "min": [ + -0.08288700133562088, + -0.07093600183725357, + 0.0013693476794287562 ], "max": [ 0.0815109983086586, 0.07095800340175629, 0.25006434321403503 ], - "min": [ - -0.08288700133562088, - -0.07093600183725357, - 0.0013693476794287562 - ] + "size": [ + 0.16439799964427948, + 0.14189400523900986, + 0.24869499553460628 + ], + "units": "m" }, "center_of_mass": [ -0.004548501223325729, @@ -59,7 +65,7 @@ 0.018038799986243248, 0.019828220829367638 ], - "mass": 3.8, + "mass": 3.799999952316284, "material": "plastic", "name": "D00524 Milk Jug", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00524 Milk Jug", "part_name": "D00524 Milk Jug" }, - "volume": 0.003999999949806615 + "volume": 0.003999999949806615, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0ab17f09e9eb84c971833ce777fd2ff5ea4d2f59f78473b709b558b97fccaaba" + }, + "usd_path": "batch20/D00524 Milk Jug/IsaacSim_assets_6a6c3034cb2d3efc65b44d8a/IsaacSim_asset_6a6c3034cb2d3efc65b44d8a.usd", + "usd_sha256": "0d27493be463572b33e13f7cd5c2e93fa2ee22738a305280d6c8d828e9ff5594", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.16439799964427948, 0.14189400523900986, 0.24869499553460628 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0d27493be463572b33e13f7cd5c2e93fa2ee22738a305280d6c8d828e9ff5594", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.8 + "value_kg": 3.799999952316284, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0d27493be463572b33e13f7cd5c2e93fa2ee22738a305280d6c8d828e9ff5594", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.799999952316284, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 7, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0d27493be463572b33e13f7cd5c2e93fa2ee22738a305280d6c8d828e9ff5594", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 7, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0d27493be463572b33e13f7cd5c2e93fa2ee22738a305280d6c8d828e9ff5594", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00572 Onion Kettle/IsaacSim_assets_6a6c2891cb2d3efc65b1b61f/physics_6a6c2891cb2d3efc65b1b61f.json b/batch20/D00572 Onion Kettle/IsaacSim_assets_6a6c2891cb2d3efc65b1b61f/physics_6a6c2891cb2d3efc65b1b61f.json index 8987a4535be3a55c61004aec1556a73b854f98c3..36fe0f27c567bd8a5258e34b543d05a503ded5f1 100644 --- a/batch20/D00572 Onion Kettle/IsaacSim_assets_6a6c2891cb2d3efc65b1b61f/physics_6a6c2891cb2d3efc65b1b61f.json +++ b/batch20/D00572 Onion Kettle/IsaacSim_assets_6a6c2891cb2d3efc65b1b61f/physics_6a6c2891cb2d3efc65b1b61f.json @@ -1,50 +1,201 @@ { "articulation": { - "has_joints": false, - "joints": [] + "has_joints": true, + "joints": [ + { + "id": "joint_lid__lid_knob", + "path": "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/Joints/joint_lid__lid_knob", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_03" + ], + "body1_targets": [ + "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_00" + ], + "authored_usd": { + "id": "joint_lid__lid_knob", + "source_prim_path": "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/Joints/joint_lid__lid_knob", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_03" + ], + "body1": [ + "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_00" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0006716500502079725 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0006716500502079725 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_kettle_body__handle", + "path": "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/Joints/joint_kettle_body__handle", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_02" + ], + "authored_usd": { + "id": "joint_kettle_body__handle", + "source_prim_path": "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/Joints/joint_kettle_body__handle", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_01" + ], + "body1": [ + "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0006716500502079725 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0006716500502079725 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_kettle_body__spout", + "path": "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/Joints/joint_kettle_body__spout", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_04" + ], + "authored_usd": { + "id": "joint_kettle_body__spout", + "source_prim_path": "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/Joints/joint_kettle_body__spout", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_01" + ], + "body1": [ + "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_04" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0006716500502079725 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0006716500502079725 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + } + ], + "moving_joints": 0, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12254899740219116, - 0.08419200032949448, - 0.1679556518793106 - ], "min": [ -0.12620900571346283, -0.08386900275945663, 0.0005676500732079148 ], + "max": [ + 0.12254899740219116, + 0.08419200032949448, + 0.1679556518793106 + ], "size": [ 0.248758003115654, 0.1680610030889511, 0.1673880018061027 - ] + ], + "units": "m" }, "description": "D00572 Onion Kettle", "name": "D00572 Onion Kettle", "object_type": "rigid_bodies", - "total_mass": 0.85 + "total_mass": 0.8500000229105353, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00572", "parts": [ { "bounds": { - "center": [ - -0.006670499918982387, - 6.50002621114254e-05, - 0.15505415201187134 + "min": [ + -0.02085299976170063, + -0.014163999818265438, + 0.14215265214443207 ], "max": [ 0.007511999923735857, 0.014294000342488289, 0.1679556518793106 ], - "min": [ - -0.02085299976170063, - -0.014163999818265438, - 0.14215265214443207 - ] + "size": [ + 0.028364999685436487, + 0.028458000160753727, + 0.02580299973487854 + ], + "units": "m" }, "center_of_mass": [ -0.006759332027286291, @@ -59,7 +210,7 @@ 1.1217061910429038e-06, 1.1462303746156977e-06 ], - "mass": 0.015, + "mass": 0.014999999664723873, "material": "wood", "name": "D00572 Onion Kettle", "physics_type": "rigid", @@ -67,25 +218,28 @@ "object_name": "D00572 Onion Kettle", "part_name": "D00572 Onion Kettle" }, - "volume": 2.307692256111365e-05 + "volume": 2.307692256111365e-05, + "source_prim_path": "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.008956000208854675, - 0.0001614987850189209, - 0.06704565399559215 + "min": [ + -0.09489099681377411, + -0.08386900275945663, + 0.0005676500732079148 ], "max": [ 0.07697899639606476, 0.08419200032949448, 0.13352365791797638 ], - "min": [ - -0.09489099681377411, - -0.08386900275945663, - 0.0005676500732079148 - ] + "size": [ + 0.17186999320983887, + 0.1680610030889511, + 0.13295600784476846 + ], + "units": "m" }, "center_of_mass": [ -0.006703226827085018, @@ -100,7 +254,7 @@ 0.0015609469264745712, 0.0017382107907906175 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "metal", "name": "D00572 Onion Kettle", "physics_type": "rigid", @@ -108,25 +262,28 @@ "object_name": "D00572 Onion Kettle", "part_name": "D00572 Onion Kettle" }, - "volume": 7.500000298023224e-05 + "volume": 7.500000298023224e-05, + "source_prim_path": "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.07973549887537956, - -0.0005069999024271965, - 0.08934915438294411 + "min": [ + 0.03692200034856796, + -0.014054999686777592, + 0.03587765246629715 ], "max": [ 0.12254899740219116, 0.013040999881923199, 0.14282065629959106 ], - "min": [ - 0.03692200034856796, - -0.014054999686777592, - 0.03587765246629715 - ] + "size": [ + 0.0856269970536232, + 0.02709599956870079, + 0.10694300383329391 + ], + "units": "m" }, "center_of_mass": [ 0.08592917025089264, @@ -141,7 +298,7 @@ 0.00010051129356725141, 0.00012119323218939826 ], - "mass": 0.08, + "mass": 0.07999999821186066, "material": "wood", "name": "D00572 Onion Kettle", "physics_type": "rigid", @@ -149,25 +306,28 @@ "object_name": "D00572 Onion Kettle", "part_name": "D00572 Onion Kettle" }, - "volume": 0.00012307692032593947 + "volume": 0.00012307692032593947, + "source_prim_path": "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0068409983068704605, - 0.0001550000160932541, - 0.1411256566643715 + "min": [ + -0.05382499843835831, + -0.04653000086545944, + 0.12945665419101715 ], "max": [ 0.040143001824617386, 0.04684000089764595, 0.15279465913772583 ], - "min": [ - -0.05382499843835831, - -0.04653000086545944, - 0.12945665419101715 - ] + "size": [ + 0.09396800026297569, + 0.09337000176310539, + 0.02333800494670868 + ], + "units": "m" }, "center_of_mass": [ -0.007074340712279081, @@ -182,7 +342,7 @@ 3.987660238635726e-05, 7.551330054411665e-05 ], - "mass": 0.09, + "mass": 0.09000000357627869, "material": "metal", "name": "D00572 Onion Kettle", "physics_type": "rigid", @@ -190,25 +350,28 @@ "object_name": "D00572 Onion Kettle", "part_name": "D00572 Onion Kettle" }, - "volume": 1.1250000447034835e-05 + "volume": 1.1250000447034835e-05, + "source_prim_path": "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.09987500309944153, - 0.0004859995096921921, - 0.08737565390765667 + "min": [ + -0.12620900571346283, + -0.024274000898003578, + 0.04173165187239647 ], "max": [ -0.07354100048542023, 0.025245999917387962, 0.13301965594291687 ], - "min": [ - -0.12620900571346283, - -0.024274000898003578, - 0.04173165187239647 - ] + "size": [ + 0.0526680052280426, + 0.04952000081539154, + 0.0912880040705204 + ], + "units": "m" }, "center_of_mass": [ -0.0950709730386734, @@ -223,7 +386,7 @@ 3.3055286621674895e-05, 3.479517181403935e-05 ], - "mass": 0.065, + "mass": 0.06499999761581421, "material": "metal", "name": "D00572 Onion Kettle", "physics_type": "rigid", @@ -231,10 +394,27 @@ "object_name": "D00572 Onion Kettle", "part_name": "D00572 Onion Kettle" }, - "volume": 8.124999701976776e-06 + "volume": 8.124999701976776e-06, + "source_prim_path": "/World/textured_mesh_6a6c2891cb2d3efc65b1b61f/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1e01edb28e44edcc82334cfd043f0526076b946fdaec173cccfe003cbc047a6f" + }, + "usd_path": "batch20/D00572 Onion Kettle/IsaacSim_assets_6a6c2891cb2d3efc65b1b61f/IsaacSim_asset_6a6c2891cb2d3efc65b1b61f.usd", + "usd_sha256": "0fd0ccedd4cca690023b0d9dc828e7a8077b94315cdf10c44dd9fdbed1200d89", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -255,22 +435,56 @@ 0.248758003115654, 0.1680610030889511, 0.1673880018061027 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fd0ccedd4cca690023b0d9dc828e7a8077b94315cdf10c44dd9fdbed1200d89", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.85 + "value_kg": 0.8500000229105353, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fd0ccedd4cca690023b0d9dc828e7a8077b94315cdf10c44dd9fdbed1200d89", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8500000229105353, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 407, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fd0ccedd4cca690023b0d9dc828e7a8077b94315cdf10c44dd9fdbed1200d89", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 407, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fd0ccedd4cca690023b0d9dc828e7a8077b94315cdf10c44dd9fdbed1200d89", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00573 Open Notebook/IsaacSim_assets_6a6c28e4cb2d3efc65b1d27c/physics_6a6c28e4cb2d3efc65b1d27c.json b/batch20/D00573 Open Notebook/IsaacSim_assets_6a6c28e4cb2d3efc65b1d27c/physics_6a6c28e4cb2d3efc65b1d27c.json index 07cfe791428ecd160db62a1d20b99bd09705df64..a9a40390b7641043506e5640526fcff59da626cb 100644 --- a/batch20/D00573 Open Notebook/IsaacSim_assets_6a6c28e4cb2d3efc65b1d27c/physics_6a6c28e4cb2d3efc65b1d27c.json +++ b/batch20/D00573 Open Notebook/IsaacSim_assets_6a6c28e4cb2d3efc65b1d27c/physics_6a6c28e4cb2d3efc65b1d27c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14358200132846832, - 0.10991299897432327, - 0.029077650979161263 - ], "min": [ -0.1474519968032837, -0.10841699689626694, 0.001019650255329907 ], + "max": [ + 0.14358200132846832, + 0.10991299897432327, + 0.029077650979161263 + ], "size": [ 0.291033998131752, 0.2183299958705902, 0.028058000723831356 - ] + ], + "units": "m" }, "description": "D00573 Open Notebook", "name": "D00573 Open Notebook", "object_type": "rigid_bodies", - "total_mass": 0.75 + "total_mass": 0.75, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00573", "parts": [ { "bounds": { - "center": [ - -0.0019349977374076843, - 0.0007480010390281677, - 0.015048650617245585 + "min": [ + -0.1474519968032837, + -0.10841699689626694, + 0.001019650255329907 ], "max": [ 0.14358200132846832, 0.10991299897432327, 0.029077650979161263 ], - "min": [ - -0.1474519968032837, - -0.10841699689626694, - 0.001019650255329907 - ] + "size": [ + 0.291033998131752, + 0.2183299958705902, + 0.028058000723831356 + ], + "units": "m" }, "center_of_mass": [ -0.0015942652244120836, @@ -67,10 +73,27 @@ "object_name": "D00573 Open Notebook", "part_name": "D00573 Open Notebook" }, - "volume": 0.0009375 + "volume": 0.0009375, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "66e5588e9415f74cce6261c2ec93aded0a3032f0aaaff2784351c4bdff10cbfa" + }, + "usd_path": "batch20/D00573 Open Notebook/IsaacSim_assets_6a6c28e4cb2d3efc65b1d27c/IsaacSim_asset_6a6c28e4cb2d3efc65b1d27c.usd", + "usd_sha256": "f7a341511ce68f1d81dc4cff0e31b5080a1754a6e82b91d5ffc626ba3646e750", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.291033998131752, 0.2183299958705902, 0.028058000723831356 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f7a341511ce68f1d81dc4cff0e31b5080a1754a6e82b91d5ffc626ba3646e750", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.75 + "value_kg": 0.75, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f7a341511ce68f1d81dc4cff0e31b5080a1754a6e82b91d5ffc626ba3646e750", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.75, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f7a341511ce68f1d81dc4cff0e31b5080a1754a6e82b91d5ffc626ba3646e750", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f7a341511ce68f1d81dc4cff0e31b5080a1754a6e82b91d5ffc626ba3646e750", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00585 Paper Napkins/IsaacSim_assets_6a6c27b8cb2d3efc65b171e2/physics_6a6c27b8cb2d3efc65b171e2.json b/batch20/D00585 Paper Napkins/IsaacSim_assets_6a6c27b8cb2d3efc65b171e2/physics_6a6c27b8cb2d3efc65b171e2.json index d9788f23292d294c11f7640e6b4bc04bfa22e671..71c1e0da831815fb06809504a11ee94ba55b760f 100644 --- a/batch20/D00585 Paper Napkins/IsaacSim_assets_6a6c27b8cb2d3efc65b171e2/physics_6a6c27b8cb2d3efc65b171e2.json +++ b/batch20/D00585 Paper Napkins/IsaacSim_assets_6a6c27b8cb2d3efc65b171e2/physics_6a6c27b8cb2d3efc65b171e2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08213599771261215, - 0.08273299783468246, - 0.01682285964488983 - ], "min": [ -0.08242200314998627, -0.0819379985332489, 0.0005808600108139217 ], + "max": [ + 0.08213599771261215, + 0.08273299783468246, + 0.01682285964488983 + ], "size": [ 0.16455800086259842, 0.16467099636793137, 0.01624199963407591 - ] + ], + "units": "m" }, "description": "D00585 Paper Napkins", "name": "D00585 Paper Napkins", "object_type": "rigid_bodies", - "total_mass": 0.005 + "total_mass": 0.004999999888241291, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00585", "parts": [ { "bounds": { - "center": [ - -0.0001430027186870575, - 0.0003974996507167816, - 0.008701859827851877 + "min": [ + -0.08242200314998627, + -0.0819379985332489, + 0.0005808600108139217 ], "max": [ 0.08213599771261215, 0.08273299783468246, 0.01682285964488983 ], - "min": [ - -0.08242200314998627, - -0.0819379985332489, - 0.0005808600108139217 - ] + "size": [ + 0.16455800086259842, + 0.16467099636793137, + 0.01624199963407591 + ], + "units": "m" }, "center_of_mass": [ -0.00012621750647667795, @@ -59,7 +65,7 @@ 1.1289243047940545e-05, 2.235728061350528e-05 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "generic", "name": "D00585 Paper Napkins", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00585 Paper Napkins", "part_name": "D00585 Paper Napkins" }, - "volume": 7.142856983201844e-05 + "volume": 7.142856983201844e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b86d031c4ae2f120003fd1d48504b1d88523e7452a8c12a0a05c4d9dd69aa279" + }, + "usd_path": "batch20/D00585 Paper Napkins/IsaacSim_assets_6a6c27b8cb2d3efc65b171e2/IsaacSim_asset_6a6c27b8cb2d3efc65b171e2.usd", + "usd_sha256": "b60baaacd58b4413fecd2f429e50718d79f904e8febd7f4bec1174b44191e5be", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.16455800086259842, 0.16467099636793137, 0.01624199963407591 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b60baaacd58b4413fecd2f429e50718d79f904e8febd7f4bec1174b44191e5be", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.005 + "value_kg": 0.004999999888241291, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b60baaacd58b4413fecd2f429e50718d79f904e8febd7f4bec1174b44191e5be", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.004999999888241291, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b60baaacd58b4413fecd2f429e50718d79f904e8febd7f4bec1174b44191e5be", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b60baaacd58b4413fecd2f429e50718d79f904e8febd7f4bec1174b44191e5be", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00586 Paper Towel/IsaacSim_assets_6a6c27b1cb2d3efc65b16f8e/physics_6a6c27b1cb2d3efc65b16f8e.json b/batch20/D00586 Paper Towel/IsaacSim_assets_6a6c27b1cb2d3efc65b16f8e/physics_6a6c27b1cb2d3efc65b16f8e.json index fedb44b7c859ccef3d18cd793e76c6409d8af651..bbc460e2fdc07dede19fe9c7b2a5f9ba84642ed6 100644 --- a/batch20/D00586 Paper Towel/IsaacSim_assets_6a6c27b1cb2d3efc65b16f8e/physics_6a6c27b1cb2d3efc65b16f8e.json +++ b/batch20/D00586 Paper Towel/IsaacSim_assets_6a6c27b1cb2d3efc65b16f8e/physics_6a6c27b1cb2d3efc65b16f8e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06253600120544434, - 0.06371600180864334, - 0.2488214373588562 - ], "min": [ -0.06267300248146057, -0.06137499958276749, 0.0008694471325725317 ], + "max": [ + 0.06253600120544434, + 0.06371600180864334, + 0.2488214373588562 + ], "size": [ 0.1252090036869049, 0.12509100139141083, 0.24795199022628367 - ] + ], + "units": "m" }, "description": "D00586 Paper Towel", "name": "D00586 Paper Towel", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.30000001192092896, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00586", "parts": [ { "bounds": { - "center": [ - -6.850063800811768e-05, - 0.0011705011129379272, - 0.12484544224571437 + "min": [ + -0.06267300248146057, + -0.06137499958276749, + 0.0008694471325725317 ], "max": [ 0.06253600120544434, 0.06371600180864334, 0.2488214373588562 ], - "min": [ - -0.06267300248146057, - -0.06137499958276749, - 0.0008694471325725317 - ] + "size": [ + 0.1252090036869049, + 0.12509100139141083, + 0.24795199022628367 + ], + "units": "m" }, "center_of_mass": [ -0.00013546878471970558, @@ -59,7 +65,7 @@ 0.0018275693291798234, 0.001831148867495358 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "generic", "name": "D00586 Paper Towel", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00586 Paper Towel", "part_name": "D00586 Paper Towel" }, - "volume": 0.004950495370871047 + "volume": 0.004950495370871047, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b12062c8eb2574d050cdf425d36d53bb783676542926f60d0622d9dca2689003" + }, + "usd_path": "batch20/D00586 Paper Towel/IsaacSim_assets_6a6c27b1cb2d3efc65b16f8e/IsaacSim_asset_6a6c27b1cb2d3efc65b16f8e.usd", + "usd_sha256": "57be76ae031208889f069a6636f20b5bd978f95631bd9e8bdbcc7a38b0e5a16a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1252090036869049, 0.12509100139141083, 0.24795199022628367 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "57be76ae031208889f069a6636f20b5bd978f95631bd9e8bdbcc7a38b0e5a16a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.30000001192092896, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "57be76ae031208889f069a6636f20b5bd978f95631bd9e8bdbcc7a38b0e5a16a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.30000001192092896, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "57be76ae031208889f069a6636f20b5bd978f95631bd9e8bdbcc7a38b0e5a16a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "57be76ae031208889f069a6636f20b5bd978f95631bd9e8bdbcc7a38b0e5a16a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00587 Paper Towel Holder/IsaacSim_assets_6a6c276fcb2d3efc65b15dce/physics_6a6c276fcb2d3efc65b15dce.json b/batch20/D00587 Paper Towel Holder/IsaacSim_assets_6a6c276fcb2d3efc65b15dce/physics_6a6c276fcb2d3efc65b15dce.json index 58de97baccc893fe4c4d9e214e1e294b5871028c..89b96738cc151e4fb4b326cbe4a83676e711e711 100644 --- a/batch20/D00587 Paper Towel Holder/IsaacSim_assets_6a6c276fcb2d3efc65b15dce/physics_6a6c276fcb2d3efc65b15dce.json +++ b/batch20/D00587 Paper Towel Holder/IsaacSim_assets_6a6c276fcb2d3efc65b15dce/physics_6a6c276fcb2d3efc65b15dce.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06663099676370621, - 0.06718999892473221, - 0.1808089166879654 - ], "min": [ -0.06706500053405762, -0.06659699976444244, 0.0003739299427252263 ], + "max": [ + 0.06663099676370621, + 0.06718999892473221, + 0.1808089166879654 + ], "size": [ 0.13369599729776382, 0.13378699868917465, 0.18043498674524017 - ] + ], + "units": "m" }, "description": "D00587 Paper Towel Holder", "name": "D00587 Paper Towel Holder", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00587", "parts": [ { "bounds": { - "center": [ - -0.00021700188517570496, - 0.0002964995801448822, - 0.09059142331534531 + "min": [ + -0.06706500053405762, + -0.06659699976444244, + 0.0003739299427252263 ], "max": [ 0.06663099676370621, 0.06718999892473221, 0.1808089166879654 ], - "min": [ - -0.06706500053405762, - -0.06659699976444244, - 0.0003739299427252263 - ] + "size": [ + 0.13369599729776382, + 0.13378699868917465, + 0.18043498674524017 + ], + "units": "m" }, "center_of_mass": [ -0.00022121098299976438, @@ -59,7 +65,7 @@ 0.0017921653343364596, 0.001793182105757296 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "metal", "name": "D00587 Paper Towel Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00587 Paper Towel Holder", "part_name": "D00587 Paper Towel Holder" }, - "volume": 0.00010000000149011611 + "volume": 0.00010000000149011611, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2589382b49f3a73affb836afb2bba52e81783a299b0c0899f98b51dafbddf281" + }, + "usd_path": "batch20/D00587 Paper Towel Holder/IsaacSim_assets_6a6c276fcb2d3efc65b15dce/IsaacSim_asset_6a6c276fcb2d3efc65b15dce.usd", + "usd_sha256": "670b89eceadd31f3e9a835e992400c04ffe89a6b5df49ee16829b8958bd9cd0e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.13369599729776382, 0.13378699868917465, 0.18043498674524017 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "670b89eceadd31f3e9a835e992400c04ffe89a6b5df49ee16829b8958bd9cd0e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "670b89eceadd31f3e9a835e992400c04ffe89a6b5df49ee16829b8958bd9cd0e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 92, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "670b89eceadd31f3e9a835e992400c04ffe89a6b5df49ee16829b8958bd9cd0e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 92, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "670b89eceadd31f3e9a835e992400c04ffe89a6b5df49ee16829b8958bd9cd0e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00588 Paper Towel Roll/IsaacSim_assets_6a6c2765cb2d3efc65b158a8/physics_6a6c2765cb2d3efc65b158a8.json b/batch20/D00588 Paper Towel Roll/IsaacSim_assets_6a6c2765cb2d3efc65b158a8/physics_6a6c2765cb2d3efc65b158a8.json index 2ccbecb4607e2f86097ef65e21ec0c8405dc6262..7619be460835ad23b49a658004a1d6c32ff8002d 100644 --- a/batch20/D00588 Paper Towel Roll/IsaacSim_assets_6a6c2765cb2d3efc65b158a8/physics_6a6c2765cb2d3efc65b158a8.json +++ b/batch20/D00588 Paper Towel Roll/IsaacSim_assets_6a6c2765cb2d3efc65b158a8/physics_6a6c2765cb2d3efc65b158a8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06733299791812897, - 0.12759700417518616, - 0.1392597109079361 - ], "min": [ -0.06783100217580795, -0.12471500039100647, 0.0008867113501764834 ], + "max": [ + 0.06733299791812897, + 0.12759700417518616, + 0.1392597109079361 + ], "size": [ 0.13516400009393692, 0.2523120045661926, 0.1383729995577596 - ] + ], + "units": "m" }, "description": "D00588 Paper Towel Roll", "name": "D00588 Paper Towel Roll", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00588", "parts": [ { "bounds": { - "center": [ - -0.0002490021288394928, - 0.0014410018920898438, - 0.07007321112905629 + "min": [ + -0.06783100217580795, + -0.12471500039100647, + 0.0008867113501764834 ], "max": [ 0.06733299791812897, 0.12759700417518616, 0.1392597109079361 ], - "min": [ - -0.06783100217580795, - -0.12471500039100647, - 0.0008867113501764834 - ] + "size": [ + 0.13516400009393692, + 0.2523120045661926, + 0.1383729995577596 + ], + "units": "m" }, "center_of_mass": [ -0.0006712081958539784, @@ -67,10 +73,27 @@ "object_name": "D00588 Paper Towel Roll", "part_name": "D00588 Paper Towel Roll" }, - "volume": 0.0003401360544217687 + "volume": 0.0003401360544217687, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "56e15f0f7bd66ed7e8b3d81446534a0bd3fa9c0484eb48359370ff6ce94f5c9a" + }, + "usd_path": "batch20/D00588 Paper Towel Roll/IsaacSim_assets_6a6c2765cb2d3efc65b158a8/IsaacSim_asset_6a6c2765cb2d3efc65b158a8.usd", + "usd_sha256": "db3f803ae657d9f0e862d14ce325232c13be85055b5d433dc98ff2172862e27b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.13516400009393692, 0.2523120045661926, 0.1383729995577596 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db3f803ae657d9f0e862d14ce325232c13be85055b5d433dc98ff2172862e27b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db3f803ae657d9f0e862d14ce325232c13be85055b5d433dc98ff2172862e27b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 30, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db3f803ae657d9f0e862d14ce325232c13be85055b5d433dc98ff2172862e27b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 30, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db3f803ae657d9f0e862d14ce325232c13be85055b5d433dc98ff2172862e27b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00590 Parsley/IsaacSim_assets_6a6c2720cb2d3efc65b14b4c/physics_6a6c2720cb2d3efc65b14b4c.json b/batch20/D00590 Parsley/IsaacSim_assets_6a6c2720cb2d3efc65b14b4c/physics_6a6c2720cb2d3efc65b14b4c.json index c073da9da8bc8a308b1707b26fe6836f53ba836d..deeda5ff659a07399686e45cb060b9b3cb7f8072 100644 --- a/batch20/D00590 Parsley/IsaacSim_assets_6a6c2720cb2d3efc65b14b4c/physics_6a6c2720cb2d3efc65b14b4c.json +++ b/batch20/D00590 Parsley/IsaacSim_assets_6a6c2720cb2d3efc65b14b4c/physics_6a6c2720cb2d3efc65b14b4c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.033622000366449356, - 0.04336699843406677, - 0.011416969820857048 - ], "min": [ -0.03670499846339226, -0.04340000078082085, 0.00020496989600360394 ], + "max": [ + 0.033622000366449356, + 0.04336699843406677, + 0.011416969820857048 + ], "size": [ 0.07032699882984161, 0.08676699921488762, 0.011211999924853444 - ] + ], + "units": "m" }, "description": "D00590 Parsley", "name": "D00590 Parsley", "object_type": "rigid_bodies", - "total_mass": 0.0015 + "total_mass": 0.001500000013038516, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00590", "parts": [ { "bounds": { - "center": [ - -0.0015414990484714508, - -1.650117337703705e-05, - 0.005810969858430326 + "min": [ + -0.03670499846339226, + -0.04340000078082085, + 0.00020496989600360394 ], "max": [ 0.033622000366449356, 0.04336699843406677, 0.011416969820857048 ], - "min": [ - -0.03670499846339226, - -0.04340000078082085, - 0.00020496989600360394 - ] + "size": [ + 0.07032699882984161, + 0.08676699921488762, + 0.011211999924853444 + ], + "units": "m" }, "center_of_mass": [ 0.0010217212839052081, @@ -59,7 +65,7 @@ 4.7460358132411784e-07, 7.630184768459003e-07 ], - "mass": 0.0015, + "mass": 0.001500000013038516, "material": "wood", "name": "D00590 Parsley", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00590 Parsley", "part_name": "D00590 Parsley" }, - "volume": 3.000000026077032e-06 + "volume": 3.000000026077032e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1be3077bd0fb7ed0a96267f32e7b928a0078453e4cbd89964d0381abf75aa261" + }, + "usd_path": "batch20/D00590 Parsley/IsaacSim_assets_6a6c2720cb2d3efc65b14b4c/IsaacSim_asset_6a6c2720cb2d3efc65b14b4c.usd", + "usd_sha256": "6f3a4858b4e660d6ae4882d7c4425500fbd4a9220e05ef1d095c8622a67ce9c2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.07032699882984161, 0.08676699921488762, 0.011211999924853444 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6f3a4858b4e660d6ae4882d7c4425500fbd4a9220e05ef1d095c8622a67ce9c2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0015 + "value_kg": 0.001500000013038516, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6f3a4858b4e660d6ae4882d7c4425500fbd4a9220e05ef1d095c8622a67ce9c2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.001500000013038516, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 71, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6f3a4858b4e660d6ae4882d7c4425500fbd4a9220e05ef1d095c8622a67ce9c2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 71, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6f3a4858b4e660d6ae4882d7c4425500fbd4a9220e05ef1d095c8622a67ce9c2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00598 Pen/IsaacSim_assets_6a719dc2d8eade616db880dc/physics_6a719dc2d8eade616db880dc.json b/batch20/D00598 Pen/IsaacSim_assets_6a719dc2d8eade616db880dc/physics_6a719dc2d8eade616db880dc.json index e4149d7bcad99533876083ad1d1d02dc2e892ea0..f938b5a9a62aa33b7f5bdf0b5f541de4e9d1d8cb 100644 --- a/batch20/D00598 Pen/IsaacSim_assets_6a719dc2d8eade616db880dc/physics_6a719dc2d8eade616db880dc.json +++ b/batch20/D00598 Pen/IsaacSim_assets_6a719dc2d8eade616db880dc/physics_6a719dc2d8eade616db880dc.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.00485719, - 0.01319589, - 0.07057993 - ], "min": [ - -0.00490973, - 0.0, - -0.07020463 + -0.004906999878585339, + -0.07057700306177139, + 0.0005560297286137938 + ], + "max": [ + 0.004854999948292971, + 0.07020200043916702, + 0.01378902979195118 ], "size": [ - 0.00976692, - 0.01319589, - 0.14078456 - ] + 0.00976199982687831, + 0.14077900350093842, + 0.013233000063337386 + ], + "units": "m" }, "description": "A sleek black writing pen with silver metallic accents, a textured knurled grip, and a metallic pocket clip. The main body features a smooth matte finish while the tip and clip are brushed metal.", "name": "specialist-current", "object_type": "rigid_bodies", - "total_mass": 0.02 + "total_mass": 0.019999999552965164, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00598", "parts": [ { "bounds": { - "center": [ - -2.7404858547930493e-05, - 0.0059096727064797865, - -0.006236133144283082 + "min": [ + -0.004906999878585339, + -0.07057700306177139, + 0.0005560297286137938 ], "max": [ - 0.00485719, - 0.01319589, - 0.07057993 + 0.004854999948292971, + 0.07020200043916702, + 0.01378902979195118 ], - "min": [ - -0.00490973, - 0.0, - -0.07020463 - ] + "size": [ + 0.00976199982687831, + 0.14077900350093842, + 0.013233000063337386 + ], + "units": "m" }, "center_of_mass": [ -2.9703672115505107e-05, @@ -59,7 +65,7 @@ 2.5174240863858792e-05, 2.525246582368546e-05 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "plastic", "name": "specialist-current", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "specialist-current", "part_name": "specialist-current" }, - "volume": 1.1252493218328651e-05 + "volume": 1.1252493218328651e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c975b699064e0485d20b0cc339aba1ed43735ceb1f7d6ad6ec4f34b481406d00" + }, + "usd_path": "batch20/D00598 Pen/IsaacSim_assets_6a719dc2d8eade616db880dc/IsaacSim_asset_6a719dc2d8eade616db880dc.usd", + "usd_sha256": "e4f4ecc45e8cf7d5393e902f2001a883745d0e45ee9853be01cb6d34da21a007", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.00976692, - 0.01319589, - 0.14078456 - ] + 0.00976199982687831, + 0.14077900350093842, + 0.013233000063337386 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e4f4ecc45e8cf7d5393e902f2001a883745d0e45ee9853be01cb6d34da21a007", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.02 + "value_kg": 0.019999999552965164, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e4f4ecc45e8cf7d5393e902f2001a883745d0e45ee9853be01cb6d34da21a007", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.019999999552965164, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e4f4ecc45e8cf7d5393e902f2001a883745d0e45ee9853be01cb6d34da21a007", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e4f4ecc45e8cf7d5393e902f2001a883745d0e45ee9853be01cb6d34da21a007", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00612 Pestle/IsaacSim_assets_6a6c249ecb2d3efc65b0c1b0/physics_6a6c249ecb2d3efc65b0c1b0.json b/batch20/D00612 Pestle/IsaacSim_assets_6a6c249ecb2d3efc65b0c1b0/physics_6a6c249ecb2d3efc65b0c1b0.json index 12e87d4b8758b97ddee2b8cad6a4fe6329c351da..983a938e721ca6bd4379cb3bf586006aaa7baf32 100644 --- a/batch20/D00612 Pestle/IsaacSim_assets_6a6c249ecb2d3efc65b0c1b0/physics_6a6c249ecb2d3efc65b0c1b0.json +++ b/batch20/D00612 Pestle/IsaacSim_assets_6a6c249ecb2d3efc65b0c1b0/physics_6a6c249ecb2d3efc65b0c1b0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.01739400066435337, - 0.07552199810743332, - 0.036873601377010345 - ], "min": [ -0.01836399920284748, -0.07392899692058563, 0.0005216000718064606 ], + "max": [ + 0.01739400066435337, + 0.07552199810743332, + 0.036873601377010345 + ], "size": [ 0.03575799986720085, 0.14945099502801895, 0.036352001305203885 - ] + ], + "units": "m" }, "description": "D00612 Pestle", "name": "D00612 Pestle", "object_type": "rigid_bodies", - "total_mass": 0.81 + "total_mass": 0.8100000023841858, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00612", "parts": [ { "bounds": { - "center": [ - -0.00048499926924705505, - 0.0007965005934238434, - 0.018697600724408403 + "min": [ + -0.01836399920284748, + -0.07392899692058563, + 0.0005216000718064606 ], "max": [ 0.01739400066435337, 0.07552199810743332, 0.036873601377010345 ], - "min": [ - -0.01836399920284748, - -0.07392899692058563, - 0.0005216000718064606 - ] + "size": [ + 0.03575799986720085, + 0.14945099502801895, + 0.036352001305203885 + ], + "units": "m" }, "center_of_mass": [ -0.0001564035046612844, @@ -59,7 +65,7 @@ 0.0015715226763859391, 0.0015731177991256118 ], - "mass": 0.81, + "mass": 0.8100000023841858, "material": "ceramic", "name": "D00612 Pestle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00612 Pestle", "part_name": "D00612 Pestle" }, - "volume": 0.0002945454554124312 + "volume": 0.0002945454554124312, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f2cee9fad83057ce6eead958eb7a1ea882fa8de0f77e0478122680294888e9db" + }, + "usd_path": "batch20/D00612 Pestle/IsaacSim_assets_6a6c249ecb2d3efc65b0c1b0/IsaacSim_asset_6a6c249ecb2d3efc65b0c1b0.usd", + "usd_sha256": "f997405b8e6a0521c9140bc973a3b4f59e0570c86738f5336caef80de835a9fc", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.03575799986720085, 0.14945099502801895, 0.036352001305203885 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f997405b8e6a0521c9140bc973a3b4f59e0570c86738f5336caef80de835a9fc", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.81 + "value_kg": 0.8100000023841858, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f997405b8e6a0521c9140bc973a3b4f59e0570c86738f5336caef80de835a9fc", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8100000023841858, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f997405b8e6a0521c9140bc973a3b4f59e0570c86738f5336caef80de835a9fc", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f997405b8e6a0521c9140bc973a3b4f59e0570c86738f5336caef80de835a9fc", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00620 Placemat/IsaacSim_assets_6a6c241acb2d3efc65b0abe5/physics_6a6c241acb2d3efc65b0abe5.json b/batch20/D00620 Placemat/IsaacSim_assets_6a6c241acb2d3efc65b0abe5/physics_6a6c241acb2d3efc65b0abe5.json index 0eae5251ca9a2834102e28c18afe51f7532eb0fe..cf077d725adb032e596bc148213bbd3b8e2e452c 100644 --- a/batch20/D00620 Placemat/IsaacSim_assets_6a6c241acb2d3efc65b0abe5/physics_6a6c241acb2d3efc65b0abe5.json +++ b/batch20/D00620 Placemat/IsaacSim_assets_6a6c241acb2d3efc65b0abe5/physics_6a6c241acb2d3efc65b0abe5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2182539999485016, - 0.16011500358581543, - 0.009183170273900032 - ], "min": [ -0.21808600425720215, -0.15971699357032776, 0.001591169973835349 ], + "max": [ + 0.2182539999485016, + 0.16011500358581543, + 0.009183170273900032 + ], "size": [ 0.43634000420570374, 0.3198319971561432, 0.007592000300064683 - ] + ], + "units": "m" }, "description": "D00620 Placemat", "name": "D00620 Placemat", "object_type": "rigid_bodies", - "total_mass": 0.32 + "total_mass": 0.3199999928474426, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00620", "parts": [ { "bounds": { - "center": [ - 8.399784564971924e-05, - 0.00019900500774383545, - 0.0053871701238676906 + "min": [ + -0.21808600425720215, + -0.15971699357032776, + 0.001591169973835349 ], "max": [ 0.2182539999485016, 0.16011500358581543, 0.009183170273900032 ], - "min": [ - -0.21808600425720215, - -0.15971699357032776, - 0.001591169973835349 - ] + "size": [ + 0.43634000420570374, + 0.3198319971561432, + 0.007592000300064683 + ], + "units": "m" }, "center_of_mass": [ 0.0001087372365873307, @@ -59,7 +65,7 @@ 0.0050424314104020596, 0.007749916985630989 ], - "mass": 0.32, + "mass": 0.3199999928474426, "material": "plastic", "name": "D00620 Placemat", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00620 Placemat", "part_name": "D00620 Placemat" }, - "volume": 0.0002666666607062022 + "volume": 0.0002666666607062022, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "83ce74cdb5f630c4580313a140a21a457964724b5dd82fb35eeab1b035922ac8" + }, + "usd_path": "batch20/D00620 Placemat/IsaacSim_assets_6a6c241acb2d3efc65b0abe5/IsaacSim_asset_6a6c241acb2d3efc65b0abe5.usd", + "usd_sha256": "b8e3bd1087e685448efb31f1645146ac8d46e9879e64a01385c00f22cf60aa9f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.43634000420570374, 0.3198319971561432, 0.007592000300064683 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b8e3bd1087e685448efb31f1645146ac8d46e9879e64a01385c00f22cf60aa9f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.32 + "value_kg": 0.3199999928474426, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b8e3bd1087e685448efb31f1645146ac8d46e9879e64a01385c00f22cf60aa9f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3199999928474426, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b8e3bd1087e685448efb31f1645146ac8d46e9879e64a01385c00f22cf60aa9f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b8e3bd1087e685448efb31f1645146ac8d46e9879e64a01385c00f22cf60aa9f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00825 Storage Jaril Holder/IsaacSim_assets_6a69ab49cb2d3efc658d9498/physics_6a69ab49cb2d3efc658d9498.json b/batch20/D00825 Storage Jaril Holder/IsaacSim_assets_6a69ab49cb2d3efc658d9498/physics_6a69ab49cb2d3efc658d9498.json index fda4d0c11dbb2c76098a0cbff3004beffd4a69ce..ce9c4e23010526c653d3830258a044333dd053ea 100644 --- a/batch20/D00825 Storage Jaril Holder/IsaacSim_assets_6a69ab49cb2d3efc658d9498/physics_6a69ab49cb2d3efc658d9498.json +++ b/batch20/D00825 Storage Jaril Holder/IsaacSim_assets_6a69ab49cb2d3efc658d9498/physics_6a69ab49cb2d3efc658d9498.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1424819976091385, - 0.09097500145435333, - 0.19546210765838623 - ], "min": [ -0.14328399300575256, -0.0901700034737587, 0.0004871100536547601 ], + "max": [ + 0.1424819976091385, + 0.09097500145435333, + 0.19546210765838623 + ], "size": [ 0.28576599061489105, 0.18114500492811203, 0.19497499760473147 - ] + ], + "units": "m" }, "description": "D00825 Storage Jaril Holder", "name": "D00825 Storage Jaril Holder", "object_type": "rigid_bodies", - "total_mass": 1.226 + "total_mass": 1.2259999513626099, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00825", "parts": [ { "bounds": { - "center": [ - -0.00040099769830703735, - 0.0004024989902973175, - 0.0979746088560205 + "min": [ + -0.14328399300575256, + -0.0901700034737587, + 0.0004871100536547601 ], "max": [ 0.1424819976091385, 0.09097500145435333, 0.19546210765838623 ], - "min": [ - -0.14328399300575256, - -0.0901700034737587, - 0.0004871100536547601 - ] + "size": [ + 0.28576599061489105, + 0.18114500492811203, + 0.19497499760473147 + ], + "units": "m" }, "center_of_mass": [ -0.00041411802521906793, @@ -59,7 +65,7 @@ 0.011642485857009888, 0.01216852106153965 ], - "mass": 1.226, + "mass": 1.2259999513626099, "material": "ceramic", "name": "D00825 Storage Jaril Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00825 Storage Jaril Holder", "part_name": "D00825 Storage Jaril Holder" }, - "volume": 0.000612999975681305 + "volume": 0.000612999975681305, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4fbff3e8022048fb9c156f472a6683cad13f951c0a0218dd191532a1220c6494" + }, + "usd_path": "batch20/D00825 Storage Jaril Holder/IsaacSim_assets_6a69ab49cb2d3efc658d9498/IsaacSim_asset_6a69ab49cb2d3efc658d9498.usd", + "usd_sha256": "856028fce7a8490c37726f28ace1d99f7709431ea52b7f5f19733556fa9dec16", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.28576599061489105, 0.18114500492811203, 0.19497499760473147 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "856028fce7a8490c37726f28ace1d99f7709431ea52b7f5f19733556fa9dec16", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.226 + "value_kg": 1.2259999513626099, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "856028fce7a8490c37726f28ace1d99f7709431ea52b7f5f19733556fa9dec16", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2259999513626099, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 81, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "856028fce7a8490c37726f28ace1d99f7709431ea52b7f5f19733556fa9dec16", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 81, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "856028fce7a8490c37726f28ace1d99f7709431ea52b7f5f19733556fa9dec16", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00883 Tray Chopping Board/IsaacSim_assets_6a71b1dbcdde3c1658d93a14/physics_6a71b1dbcdde3c1658d93a14.json b/batch20/D00883 Tray Chopping Board/IsaacSim_assets_6a71b1dbcdde3c1658d93a14/physics_6a71b1dbcdde3c1658d93a14.json index dd4e46a8c00d47243a6147fba12c2cbf1d7a83cf..b18ffab9416c03a30ff9732d09bcf68dde67b5f3 100644 --- a/batch20/D00883 Tray Chopping Board/IsaacSim_assets_6a71b1dbcdde3c1658d93a14/physics_6a71b1dbcdde3c1658d93a14.json +++ b/batch20/D00883 Tray Chopping Board/IsaacSim_assets_6a71b1dbcdde3c1658d93a14/physics_6a71b1dbcdde3c1658d93a14.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.20221106, - 0.07449821, - 0.18097125 - ], "min": [ - -0.20254709, - 0.0, - -0.18012163 + -0.20254699885845184, + -0.1809850037097931, + 0.002184960525482893 + ], + "max": [ + 0.20221099257469177, + 0.18013499677181244, + 0.07675695419311523 ], "size": [ - 0.40475815000000004, - 0.07449821, - 0.36109288 - ] + 0.4047579914331436, + 0.36112000048160553, + 0.07457199366763234 + ], + "units": "m" }, "description": "A rectangular, light-colored wooden tray with raised edges and rounded corners. It features cutout handles on the shorter sides and a distinctive bamboo-like grain pattern.", "name": "specialist-current", "object_type": "rigid_bodies", - "total_mass": 0.846 + "total_mass": 0.8460000157356262, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00883", "parts": [ { "bounds": { - "center": [ - -0.00022657041637278233, - 0.031709793818023885, - 0.0003574685357087055 + "min": [ + -0.20254699885845184, + -0.1809850037097931, + 0.002184960525482893 ], "max": [ - 0.20221106, - 0.07449821, - 0.18097125 + 0.20221099257469177, + 0.18013499677181244, + 0.07675695419311523 ], - "min": [ - -0.20254709, - 0.0, - -0.18012163 - ] + "size": [ + 0.4047579914331436, + 0.36112000048160553, + 0.07457199366763234 + ], + "units": "m" }, "center_of_mass": [ -0.00019729869651432408, @@ -59,7 +65,7 @@ 0.011538689628826097, 0.02011337913451786 ], - "mass": 0.846, + "mass": 0.8460000157356262, "material": "wood", "name": "specialist-current", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "specialist-current", "part_name": "specialist-current" }, - "volume": 0.010574749131582744 + "volume": 0.010574749131582744, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d987a80b7ab2373ccab4b78a79a1edd6a25993d2d385994993ba68ce9ccd68d2" + }, + "usd_path": "batch20/D00883 Tray Chopping Board/IsaacSim_assets_6a71b1dbcdde3c1658d93a14/IsaacSim_asset_6a71b1dbcdde3c1658d93a14.usd", + "usd_sha256": "bf08f8466dfea6e7da41a1c3e9d65413f6ddebc4eb9c300c6aeefbf78b37f2e8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.40475815000000004, - 0.07449821, - 0.36109288 - ] + 0.4047579914331436, + 0.36112000048160553, + 0.07457199366763234 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf08f8466dfea6e7da41a1c3e9d65413f6ddebc4eb9c300c6aeefbf78b37f2e8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.846 + "value_kg": 0.8460000157356262, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf08f8466dfea6e7da41a1c3e9d65413f6ddebc4eb9c300c6aeefbf78b37f2e8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8460000157356262, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 15, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf08f8466dfea6e7da41a1c3e9d65413f6ddebc4eb9c300c6aeefbf78b37f2e8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 15, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf08f8466dfea6e7da41a1c3e9d65413f6ddebc4eb9c300c6aeefbf78b37f2e8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00884 Tray Cutting Board/IsaacSim_assets_6a71b269cdde3c1658d99451/physics_6a71b269cdde3c1658d99451.json b/batch20/D00884 Tray Cutting Board/IsaacSim_assets_6a71b269cdde3c1658d99451/physics_6a71b269cdde3c1658d99451.json index 023322e9d3450896319c91a2d1089252bd65bcc3..9dd9eb386ba059e50e78de9282fa3ed70a2e53ef 100644 --- a/batch20/D00884 Tray Cutting Board/IsaacSim_assets_6a71b269cdde3c1658d99451/physics_6a71b269cdde3c1658d99451.json +++ b/batch20/D00884 Tray Cutting Board/IsaacSim_assets_6a71b269cdde3c1658d99451/physics_6a71b269cdde3c1658d99451.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.23678814, - 0.08400881, - 0.2106085 - ], "min": [ - -0.2360671, - 0.0, - -0.21061688 + -0.23606200516223907, + -0.2105959951877594, + 0.002174429129809141 + ], + "max": [ + 0.2367829978466034, + 0.2106039971113205, + 0.08616343140602112 ], "size": [ - 0.47285524, - 0.08400881, - 0.42122538 - ] + 0.47284500300884247, + 0.4211999922990799, + 0.08398900227621198 + ], + "units": "m" }, "description": "A thick, rectangular wooden cutting board featuring an end-grain checkerboard pattern of alternating dark and light wood. It includes recessed handles carved into the lateral sides.", "name": "specialist-current", "object_type": "rigid_bodies", - "total_mass": 11.6 + "total_mass": 11.600000381469727, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00884", "parts": [ { "bounds": { - "center": [ - 0.00037049445325532137, - 0.04210907400844526, - -4.1925695931481275e-05 + "min": [ + -0.23606200516223907, + -0.2105959951877594, + 0.002174429129809141 ], "max": [ - 0.23678814, - 0.08400881, - 0.2106085 + 0.2367829978466034, + 0.2106039971113205, + 0.08616343140602112 ], - "min": [ - -0.2360671, - 0.0, - -0.21061688 - ] + "size": [ + 0.47284500300884247, + 0.4211999922990799, + 0.08398900227621198 + ], + "units": "m" }, "center_of_mass": [ 0.00034066257269286176, @@ -59,7 +65,7 @@ 0.22223184747269648, 0.3863663950819 ], - "mass": 11.6, + "mass": 11.600000381469727, "material": "wood", "name": "specialist-current", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "specialist-current", "part_name": "specialist-current" }, - "volume": 0.01667469032984731 + "volume": 0.01667469032984731, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1dd37610ab8075873de823b2e8e07883b0d7113266022b0672770135ae48096b" + }, + "usd_path": "batch20/D00884 Tray Cutting Board/IsaacSim_assets_6a71b269cdde3c1658d99451/IsaacSim_asset_6a71b269cdde3c1658d99451.usd", + "usd_sha256": "95d6d32cf3605d59c4bc9320a6683c20152ad287654b44804d8413897557f528", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.47285524, - 0.08400881, - 0.42122538 - ] + 0.47284500300884247, + 0.4211999922990799, + 0.08398900227621198 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "95d6d32cf3605d59c4bc9320a6683c20152ad287654b44804d8413897557f528", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 11.6 + "value_kg": 11.600000381469727, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "95d6d32cf3605d59c4bc9320a6683c20152ad287654b44804d8413897557f528", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 11.600000381469727, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "95d6d32cf3605d59c4bc9320a6683c20152ad287654b44804d8413897557f528", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "95d6d32cf3605d59c4bc9320a6683c20152ad287654b44804d8413897557f528", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00898 Utensils Holder/IsaacSim_assets_6a715533b22aed4dbad39d0b/physics_6a715533b22aed4dbad39d0b.json b/batch20/D00898 Utensils Holder/IsaacSim_assets_6a715533b22aed4dbad39d0b/physics_6a715533b22aed4dbad39d0b.json index 6a0159a7bcbbe77b65d74176e320d82823595d67..2cbf5678d7466e53a1eea744fcd7e60a2292a506 100644 --- a/batch20/D00898 Utensils Holder/IsaacSim_assets_6a715533b22aed4dbad39d0b/physics_6a715533b22aed4dbad39d0b.json +++ b/batch20/D00898 Utensils Holder/IsaacSim_assets_6a715533b22aed4dbad39d0b/physics_6a715533b22aed4dbad39d0b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.053247999399900436, - 0.053018998354673386, - 0.13549572229385376 - ], "min": [ -0.05309800058603287, -0.05309600010514259, 0.0007407199591398239 ], + "max": [ + 0.053247999399900436, + 0.053018998354673386, + 0.13549572229385376 + ], "size": [ 0.1063459999859333, 0.10611499845981598, 0.13475500233471394 - ] + ], + "units": "m" }, "description": "D00898 Utensils Holder", "name": "D00898 Utensils Holder", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00898", "parts": [ { "bounds": { - "center": [ - 7.499940693378448e-05, - -3.850087523460388e-05, - 0.06811822112649679 + "min": [ + -0.05309800058603287, + -0.05309600010514259, + 0.0007407199591398239 ], "max": [ 0.053247999399900436, 0.053018998354673386, 0.13549572229385376 ], - "min": [ - -0.05309800058603287, - -0.05309600010514259, - 0.0007407199591398239 - ] + "size": [ + 0.1063459999859333, + 0.10611499845981598, + 0.13475500233471394 + ], + "units": "m" }, "center_of_mass": [ 7.713659579167143e-05, @@ -67,10 +73,27 @@ "object_name": "D00898 Utensils Holder", "part_name": "D00898 Utensils Holder" }, - "volume": 6.25e-05 + "volume": 6.25e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fa90c95824b0da69182a4cb0f781621a7657fac8d4d5ee96a0d178bb036a3ab7" + }, + "usd_path": "batch20/D00898 Utensils Holder/IsaacSim_assets_6a715533b22aed4dbad39d0b/IsaacSim_asset_6a715533b22aed4dbad39d0b.usd", + "usd_sha256": "9c90be42a715cf5bf50460cdb503337f31ad9a3821bda3b70cd859c3bc99f6b1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1063459999859333, 0.10611499845981598, 0.13475500233471394 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9c90be42a715cf5bf50460cdb503337f31ad9a3821bda3b70cd859c3bc99f6b1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9c90be42a715cf5bf50460cdb503337f31ad9a3821bda3b70cd859c3bc99f6b1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 21, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9c90be42a715cf5bf50460cdb503337f31ad9a3821bda3b70cd859c3bc99f6b1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 21, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9c90be42a715cf5bf50460cdb503337f31ad9a3821bda3b70cd859c3bc99f6b1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00902 Vase/IsaacSim_assets_6a6c23b3cb2d3efc65b0a2fc/physics_6a6c23b3cb2d3efc65b0a2fc.json b/batch20/D00902 Vase/IsaacSim_assets_6a6c23b3cb2d3efc65b0a2fc/physics_6a6c23b3cb2d3efc65b0a2fc.json index 05bca31e97ab44acc168e4d63a599347417b96e3..1de580b207723e6e5de116863ceba523330cc7d0 100644 --- a/batch20/D00902 Vase/IsaacSim_assets_6a6c23b3cb2d3efc65b0a2fc/physics_6a6c23b3cb2d3efc65b0a2fc.json +++ b/batch20/D00902 Vase/IsaacSim_assets_6a6c23b3cb2d3efc65b0a2fc/physics_6a6c23b3cb2d3efc65b0a2fc.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08234400302171707, - 0.08209999650716782, - 0.2130572497844696 - ], "min": [ -0.08243600279092789, -0.08194400370121002, 0.0007482501678168774 ], + "max": [ + 0.08234400302171707, + 0.08209999650716782, + 0.2130572497844696 + ], "size": [ 0.16478000581264496, 0.16404400020837784, 0.21230899961665273 - ] + ], + "units": "m" }, "description": "D00902 Vase", "name": "D00902 Vase", "object_type": "rigid_bodies", - "total_mass": 0.68 + "total_mass": 0.6800000071525574, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00902", "parts": [ { "bounds": { - "center": [ - -4.5999884605407715e-05, - 7.79964029788971e-05, - 0.10690274997614324 + "min": [ + -0.08243600279092789, + -0.08194400370121002, + 0.0007482501678168774 ], "max": [ 0.08234400302171707, 0.08209999650716782, 0.2130572497844696 ], - "min": [ - -0.08243600279092789, - -0.08194400370121002, - 0.0007482501678168774 - ] + "size": [ + 0.16478000581264496, + 0.16404400020837784, + 0.21230899961665273 + ], + "units": "m" }, "center_of_mass": [ -0.00011969035404035822, @@ -59,7 +65,7 @@ 0.0038319563027471304, 0.003866825019940734 ], - "mass": 0.68, + "mass": 0.6800000071525574, "material": "ceramic", "name": "D00902 Vase", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00902 Vase", "part_name": "D00902 Vase" }, - "volume": 0.0003400000035762787 + "volume": 0.0003400000035762787, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a4b5ebf57a73946916a3a9bc4f57e55bc87c6998dcc9716606dbc9e3b1c485ec" + }, + "usd_path": "batch20/D00902 Vase/IsaacSim_assets_6a6c23b3cb2d3efc65b0a2fc/IsaacSim_asset_6a6c23b3cb2d3efc65b0a2fc.usd", + "usd_sha256": "5ec66b2094f978d9068d569473387b5ef5e16a14a04aa0fe546739b23d0725e5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.16478000581264496, 0.16404400020837784, 0.21230899961665273 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ec66b2094f978d9068d569473387b5ef5e16a14a04aa0fe546739b23d0725e5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.68 + "value_kg": 0.6800000071525574, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ec66b2094f978d9068d569473387b5ef5e16a14a04aa0fe546739b23d0725e5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6800000071525574, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 205, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ec66b2094f978d9068d569473387b5ef5e16a14a04aa0fe546739b23d0725e5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 205, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ec66b2094f978d9068d569473387b5ef5e16a14a04aa0fe546739b23d0725e5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00929 Whisk Utensil Holder/IsaacSim_assets_6a7154d2b22aed4dbad38cea/physics_6a7154d2b22aed4dbad38cea.json b/batch20/D00929 Whisk Utensil Holder/IsaacSim_assets_6a7154d2b22aed4dbad38cea/physics_6a7154d2b22aed4dbad38cea.json index 95f71b5ec456a7358a27a170d32e4ffbf4567ec1..ab6893d61a269d406df9223bd22e9e4804408195 100644 --- a/batch20/D00929 Whisk Utensil Holder/IsaacSim_assets_6a7154d2b22aed4dbad38cea/physics_6a7154d2b22aed4dbad38cea.json +++ b/batch20/D00929 Whisk Utensil Holder/IsaacSim_assets_6a7154d2b22aed4dbad38cea/physics_6a7154d2b22aed4dbad38cea.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0779699981212616, - 0.07815100252628326, - 0.18533074855804443 - ], "min": [ -0.0782570019364357, -0.07906600087881088, 0.0009597499738447368 ], + "max": [ + 0.0779699981212616, + 0.07815100252628326, + 0.18533074855804443 + ], "size": [ 0.1562270000576973, 0.15721700340509415, 0.1843709985841997 - ] + ], + "units": "m" }, "description": "D00929 Whisk Utensil Holder", "name": "D00929 Whisk Utensil Holder", "object_type": "rigid_bodies", - "total_mass": 0.693 + "total_mass": 0.6930000185966492, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00929", "parts": [ { "bounds": { - "center": [ - -0.0001435019075870514, - -0.0004574991762638092, - 0.09314524926594459 + "min": [ + -0.0782570019364357, + -0.07906600087881088, + 0.0009597499738447368 ], "max": [ 0.0779699981212616, 0.07815100252628326, 0.18533074855804443 ], - "min": [ - -0.0782570019364357, - -0.07906600087881088, - 0.0009597499738447368 - ] + "size": [ + 0.1562270000576973, + 0.15721700340509415, + 0.1843709985841997 + ], + "units": "m" }, "center_of_mass": [ -0.0001574119523866102, @@ -59,7 +65,7 @@ 0.003927821293473244, 0.003987538628280163 ], - "mass": 0.693, + "mass": 0.6930000185966492, "material": "ceramic", "name": "D00929 Whisk Utensil Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00929 Whisk Utensil Holder", "part_name": "D00929 Whisk Utensil Holder" }, - "volume": 0.00028875000774860384 + "volume": 0.00028875000774860384, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "61c85ed077898724d02eb46b391cc95479842b0e9224c65a42bdb7366cc8c448" + }, + "usd_path": "batch20/D00929 Whisk Utensil Holder/IsaacSim_assets_6a7154d2b22aed4dbad38cea/IsaacSim_asset_6a7154d2b22aed4dbad38cea.usd", + "usd_sha256": "f905ae661d0c5c15e2c8a6d0ceb26c3f41cfca80683d8992b83bbdafcde0bf15", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1562270000576973, 0.15721700340509415, 0.1843709985841997 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f905ae661d0c5c15e2c8a6d0ceb26c3f41cfca80683d8992b83bbdafcde0bf15", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.693 + "value_kg": 0.6930000185966492, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f905ae661d0c5c15e2c8a6d0ceb26c3f41cfca80683d8992b83bbdafcde0bf15", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6930000185966492, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 23, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f905ae661d0c5c15e2c8a6d0ceb26c3f41cfca80683d8992b83bbdafcde0bf15", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 23, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f905ae661d0c5c15e2c8a6d0ceb26c3f41cfca80683d8992b83bbdafcde0bf15", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00935 White Container/IsaacSim_assets_6a71b4dd2389fec7e42dc279/physics_6a71b4dd2389fec7e42dc279.json b/batch20/D00935 White Container/IsaacSim_assets_6a71b4dd2389fec7e42dc279/physics_6a71b4dd2389fec7e42dc279.json index b7d8476437e4bbe12d107983bc385f89490b6fc3..f2f5b300bc82abea89571350c7e7416bbac2f5bc 100644 --- a/batch20/D00935 White Container/IsaacSim_assets_6a71b4dd2389fec7e42dc279/physics_6a71b4dd2389fec7e42dc279.json +++ b/batch20/D00935 White Container/IsaacSim_assets_6a71b4dd2389fec7e42dc279/physics_6a71b4dd2389fec7e42dc279.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.21486378, - 0.09355154, - 0.1431858 - ], "min": [ - -0.21325716, - 0.0, - -0.14722993 + -0.2132440060377121, + -0.14323000609874725, + 0.0019091200083494186 + ], + "max": [ + 0.2148510068655014, + 0.14727500081062317, + 0.09553711861371994 ], "size": [ - 0.42812094, - 0.09355154, - 0.29041573 - ] + 0.4280950129032135, + 0.2905050069093704, + 0.09362799860537052 + ], + "units": "m" }, "description": "A rectangular, open-top storage container made of smooth white plastic. It features a flat base, low vertical walls, and a slightly flanged top edge.", "name": "specialist-current", "object_type": "rigid_bodies", - "total_mass": 1.37 + "total_mass": 1.3700000047683716, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00935", "parts": [ { "bounds": { - "center": [ - 0.0004402800486173963, - 0.03380424476281693, - -0.0020107320561426095 + "min": [ + -0.2132440060377121, + -0.14323000609874725, + 0.0019091200083494186 ], "max": [ - 0.21486378, - 0.09355154, - 0.1431858 + 0.2148510068655014, + 0.14727500081062317, + 0.09553711861371994 ], - "min": [ - -0.21325716, - 0.0, - -0.14722993 - ] + "size": [ + 0.4280950129032135, + 0.2905050069093704, + 0.09362799860537052 + ], + "units": "m" }, "center_of_mass": [ 0.0013814983184661, @@ -59,7 +65,7 @@ 0.026852492121845175, 0.03844969177632908 ], - "mass": 1.37, + "mass": 1.3700000047683716, "material": "plastic", "name": "specialist-current", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "specialist-current", "part_name": "specialist-current" }, - "volume": 0.001100254748300025 + "volume": 0.001100254748300025, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "07a53a2afb6d62a6f3346b1843d952129de9c8c20e8321ba3ac68245d4fb09ef" + }, + "usd_path": "batch20/D00935 White Container/IsaacSim_assets_6a71b4dd2389fec7e42dc279/IsaacSim_asset_6a71b4dd2389fec7e42dc279.usd", + "usd_sha256": "9f873eac37f4781cfb48b19e0d1ee079abd0063c8c673dccf78fcb585296c38b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.42812094, - 0.09355154, - 0.29041573 - ] + 0.4280950129032135, + 0.2905050069093704, + 0.09362799860537052 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f873eac37f4781cfb48b19e0d1ee079abd0063c8c673dccf78fcb585296c38b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.37 + "value_kg": 1.3700000047683716, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f873eac37f4781cfb48b19e0d1ee079abd0063c8c673dccf78fcb585296c38b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.3700000047683716, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f873eac37f4781cfb48b19e0d1ee079abd0063c8c673dccf78fcb585296c38b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f873eac37f4781cfb48b19e0d1ee079abd0063c8c673dccf78fcb585296c38b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00939 White Pitcher/IsaacSim_assets_6a715444b22aed4dbad36f5e/physics_6a715444b22aed4dbad36f5e.json b/batch20/D00939 White Pitcher/IsaacSim_assets_6a715444b22aed4dbad36f5e/physics_6a715444b22aed4dbad36f5e.json index 7a55fe922ff474657d73075e6c2b3a957c7c7ac5..0818c204d8f05acdd3d01d88942604ea08ddf81b 100644 --- a/batch20/D00939 White Pitcher/IsaacSim_assets_6a715444b22aed4dbad36f5e/physics_6a715444b22aed4dbad36f5e.json +++ b/batch20/D00939 White Pitcher/IsaacSim_assets_6a715444b22aed4dbad36f5e/physics_6a715444b22aed4dbad36f5e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08631099760532379, - 0.04998600110411644, - 0.1489935964345932 - ], "min": [ -0.07105900347232819, -0.05040200054645538, 0.0007985997945070267 ], + "max": [ + 0.08631099760532379, + 0.04998600110411644, + 0.1489935964345932 + ], "size": [ 0.15737000107765198, 0.10038800165057182, 0.14819499664008617 - ] + ], + "units": "m" }, "description": "D00939 White Pitcher", "name": "D00939 White Pitcher", "object_type": "rigid_bodies", - "total_mass": 0.314 + "total_mass": 0.3140000104904175, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00939", "parts": [ { "bounds": { - "center": [ - 0.007625997066497803, - -0.00020799972116947174, - 0.07489609811455011 + "min": [ + -0.07105900347232819, + -0.05040200054645538, + 0.0007985997945070267 ], "max": [ 0.08631099760532379, 0.04998600110411644, 0.1489935964345932 ], - "min": [ - -0.07105900347232819, - -0.05040200054645538, - 0.0007985997945070267 - ] + "size": [ + 0.15737000107765198, + 0.10038800165057182, + 0.14819499664008617 + ], + "units": "m" }, "center_of_mass": [ 0.002016207901760936, @@ -59,7 +65,7 @@ 0.0009774588979780674, 0.0010983110405504704 ], - "mass": 0.314, + "mass": 0.3140000104904175, "material": "ceramic", "name": "D00939 White Pitcher", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00939 White Pitcher", "part_name": "D00939 White Pitcher" }, - "volume": 0.0001308333377043406 + "volume": 0.0001308333377043406, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9403c4dfd85b8f60fd7ee5c265816269b3aaf721ef2bb60fb3e05f6cc0852a8d" + }, + "usd_path": "batch20/D00939 White Pitcher/IsaacSim_assets_6a715444b22aed4dbad36f5e/IsaacSim_asset_6a715444b22aed4dbad36f5e.usd", + "usd_sha256": "97a1e4aa92674451b304436343e52e23ca0e9e8f2178f455323d7bf6d6225a13", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.15737000107765198, 0.10038800165057182, 0.14819499664008617 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "97a1e4aa92674451b304436343e52e23ca0e9e8f2178f455323d7bf6d6225a13", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.314 + "value_kg": 0.3140000104904175, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "97a1e4aa92674451b304436343e52e23ca0e9e8f2178f455323d7bf6d6225a13", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3140000104904175, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 23, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "97a1e4aa92674451b304436343e52e23ca0e9e8f2178f455323d7bf6d6225a13", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 23, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "97a1e4aa92674451b304436343e52e23ca0e9e8f2178f455323d7bf6d6225a13", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00953 Wooden Box/IsaacSim_assets_6a706671cb2d3efc65e76b7c/physics_6a706671cb2d3efc65e76b7c.json b/batch20/D00953 Wooden Box/IsaacSim_assets_6a706671cb2d3efc65e76b7c/physics_6a706671cb2d3efc65e76b7c.json index f0036a2837875e25f03ef7d6d088af46c5a2810b..9fc5682ccbc226995aeb2b25785fecdabfbc7e73 100644 --- a/batch20/D00953 Wooden Box/IsaacSim_assets_6a706671cb2d3efc65e76b7c/physics_6a706671cb2d3efc65e76b7c.json +++ b/batch20/D00953 Wooden Box/IsaacSim_assets_6a706671cb2d3efc65e76b7c/physics_6a706671cb2d3efc65e76b7c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.20837900042533875, - 0.2074739933013916, - 0.36133795976638794 - ], "min": [ -0.21060900390148163, -0.21108299493789673, 0.0014049699530005455 ], + "max": [ + 0.20837900042533875, + 0.2074739933013916, + 0.36133795976638794 + ], "size": [ 0.4189880043268204, 0.41855698823928833, 0.3599329898133874 - ] + ], + "units": "m" }, "description": "D00953 Wooden Box", "name": "D00953 Wooden Box", "object_type": "rigid_bodies", - "total_mass": 2.4 + "total_mass": 2.4000000953674316, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00953", "parts": [ { "bounds": { - "center": [ - -0.0011150017380714417, - -0.0018045008182525635, - 0.18137146485969424 + "min": [ + -0.21060900390148163, + -0.21108299493789673, + 0.0014049699530005455 ], "max": [ 0.20837900042533875, 0.2074739933013916, 0.36133795976638794 ], - "min": [ - -0.21060900390148163, - -0.21108299493789673, - 0.0014049699530005455 - ] + "size": [ + 0.4189880043268204, + 0.41855698823928833, + 0.3599329898133874 + ], + "units": "m" }, "center_of_mass": [ -0.0012502777390182018, @@ -59,7 +65,7 @@ 0.060815323144197464, 0.06975448876619339 ], - "mass": 2.4, + "mass": 2.4000000953674316, "material": "wood", "name": "D00953 Wooden Box", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00953 Wooden Box", "part_name": "D00953 Wooden Box" }, - "volume": 0.0040000001589457195 + "volume": 0.0040000001589457195, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "05960993eba3c63b8a868fcee3d36266c1c15bec6e9d8c916cd30fa6c881acf7" + }, + "usd_path": "batch20/D00953 Wooden Box/IsaacSim_assets_6a706671cb2d3efc65e76b7c/IsaacSim_asset_6a706671cb2d3efc65e76b7c.usd", + "usd_sha256": "76a75dd8e825ac942d8a4cddf0e2c54d4697df391bed7e77ef3819722e506e6f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.4189880043268204, 0.41855698823928833, 0.3599329898133874 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "76a75dd8e825ac942d8a4cddf0e2c54d4697df391bed7e77ef3819722e506e6f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.4 + "value_kg": 2.4000000953674316, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "76a75dd8e825ac942d8a4cddf0e2c54d4697df391bed7e77ef3819722e506e6f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.4000000953674316, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 35, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "76a75dd8e825ac942d8a4cddf0e2c54d4697df391bed7e77ef3819722e506e6f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 35, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "76a75dd8e825ac942d8a4cddf0e2c54d4697df391bed7e77ef3819722e506e6f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00960 Wooden Holder Cutting Board/IsaacSim_assets_6a68a623cb2d3efc658171b8/physics_6a68a623cb2d3efc658171b8.json b/batch20/D00960 Wooden Holder Cutting Board/IsaacSim_assets_6a68a623cb2d3efc658171b8/physics_6a68a623cb2d3efc658171b8.json index 067a073178b39eb3b57e73ac585a2bc85ebe3ae6..83810082833bcdaf4091aa054de510081e507182 100644 --- a/batch20/D00960 Wooden Holder Cutting Board/IsaacSim_assets_6a68a623cb2d3efc658171b8/physics_6a68a623cb2d3efc658171b8.json +++ b/batch20/D00960 Wooden Holder Cutting Board/IsaacSim_assets_6a68a623cb2d3efc658171b8/physics_6a68a623cb2d3efc658171b8.json @@ -1,50 +1,249 @@ { "articulation": { - "has_joints": false, - "joints": [] + "has_joints": true, + "joints": [ + { + "id": "joint_holder_base__back_left_peg", + "path": "/World/textured_mesh_6a68a623cb2d3efc658171b8/Joints/joint_holder_base__back_left_peg", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_02" + ], + "authored_usd": { + "id": "joint_holder_base__back_left_peg", + "source_prim_path": "/World/textured_mesh_6a68a623cb2d3efc658171b8/Joints/joint_holder_base__back_left_peg", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_01" + ], + "body1": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_holder_base__front_right_peg", + "path": "/World/textured_mesh_6a68a623cb2d3efc658171b8/Joints/joint_holder_base__front_right_peg", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_03" + ], + "authored_usd": { + "id": "joint_holder_base__front_right_peg", + "source_prim_path": "/World/textured_mesh_6a68a623cb2d3efc658171b8/Joints/joint_holder_base__front_right_peg", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_01" + ], + "body1": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_03" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_holder_base__back_right_peg", + "path": "/World/textured_mesh_6a68a623cb2d3efc658171b8/Joints/joint_holder_base__back_right_peg", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_04" + ], + "authored_usd": { + "id": "joint_holder_base__back_right_peg", + "source_prim_path": "/World/textured_mesh_6a68a623cb2d3efc658171b8/Joints/joint_holder_base__back_right_peg", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_01" + ], + "body1": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_04" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_holder_base__front_left_peg", + "path": "/World/textured_mesh_6a68a623cb2d3efc658171b8/Joints/joint_holder_base__front_left_peg", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_05" + ], + "authored_usd": { + "id": "joint_holder_base__front_left_peg", + "source_prim_path": "/World/textured_mesh_6a68a623cb2d3efc658171b8/Joints/joint_holder_base__front_left_peg", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_01" + ], + "body1": [ + "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_05" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + } + ], + "moving_joints": 0, + "rigid_body_count": 6, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12849099934101105, - 0.049389999359846115, - 0.22686399519443512 - ], "min": [ -0.1371700018644333, -0.05305900052189827, 1.2000000424450263e-05 ], + "max": [ + 0.12849099934101105, + 0.049389999359846115, + 0.22686399519443512 + ], "size": [ 0.26566100120544434, 0.10244899988174438, 0.22685199519401067 - ] + ], + "units": "m" }, "description": "D00960 Wooden Holder Cutting Board", "name": "D00960 Wooden Holder Cutting Board", "object_type": "rigid_bodies", - "total_mass": 1.9 + "total_mass": 1.8999999836087227, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00960", "parts": [ { "bounds": { - "center": [ - -0.004339501261711121, - 0.001628500409424305, - 0.12408149801194668 + "min": [ + -0.1371700018644333, + -0.016435999423265457, + 0.021299000829458237 ], "max": [ 0.12849099934101105, 0.019693000242114067, 0.22686399519443512 ], - "min": [ - -0.1371700018644333, - -0.016435999423265457, - 0.021299000829458237 - ] + "size": [ + 0.26566100120544434, + 0.036128999665379524, + 0.20556499436497688 + ], + "units": "m" }, "center_of_mass": [ -0.003945412114262581, @@ -59,7 +258,7 @@ 0.008226706646382809, 0.013033214956521988 ], - "mass": 1.4, + "mass": 1.399999976158142, "material": "wood", "name": "D00960 Wooden Holder Cutting Board", "physics_type": "rigid", @@ -67,25 +266,28 @@ "object_name": "D00960 Wooden Holder Cutting Board", "part_name": "D00960 Wooden Holder Cutting Board" }, - "volume": 0.001999999965940203 + "volume": 0.001999999965940203, + "source_prim_path": "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.005367502570152283, - -0.0018345005810260773, - 0.011187499809238943 + "min": [ + -0.12999600172042847, + -0.05305900052189827, + 1.2000000424450263e-05 ], "max": [ 0.1192609965801239, 0.049389999359846115, 0.022362999618053436 ], - "min": [ - -0.12999600172042847, - -0.05305900052189827, - 1.2000000424450263e-05 - ] + "size": [ + 0.24925699830055237, + 0.10244899988174438, + 0.022350999617628986 + ], + "units": "m" }, "center_of_mass": [ -0.005351154133677483, @@ -100,7 +302,7 @@ 0.002035640412941575, 0.002357864985242486 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "wood", "name": "D00960 Wooden Holder Cutting Board", "physics_type": "rigid", @@ -108,25 +310,28 @@ "object_name": "D00960 Wooden Holder Cutting Board", "part_name": "D00960 Wooden Holder Cutting Board" }, - "volume": 0.0005714285799435206 + "volume": 0.0005714285799435206, + "source_prim_path": "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.07547599822282791, - 0.02292449912056327, - 0.05403800122439861 + "min": [ + -0.08640199899673462, + 0.010491999797523022, + 0.021033000200986862 ], "max": [ -0.0645499974489212, 0.035356998443603516, 0.08704300224781036 ], - "min": [ - -0.08640199899673462, - 0.010491999797523022, - 0.021033000200986862 - ] + "size": [ + 0.021852001547813416, + 0.024864998646080494, + 0.0660100020468235 + ], + "units": "m" }, "center_of_mass": [ -0.07545816898345947, @@ -141,7 +346,7 @@ 9.590953595761675e-06, 9.896623851091135e-06 ], - "mass": 0.025, + "mass": 0.02500000037252903, "material": "wood", "name": "D00960 Wooden Holder Cutting Board", "physics_type": "rigid", @@ -149,25 +354,28 @@ "object_name": "D00960 Wooden Holder Cutting Board", "part_name": "D00960 Wooden Holder Cutting Board" }, - "volume": 3.571428624647004e-05 + "volume": 3.571428624647004e-05, + "source_prim_path": "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.06843749806284904, - -0.02731350064277649, - 0.05407349858433008 + "min": [ + 0.05748999863862991, + -0.039824001491069794, + 0.02112399972975254 ], "max": [ 0.07938499748706818, -0.014802999794483185, 0.08702299743890762 ], - "min": [ - 0.05748999863862991, - -0.039824001491069794, - 0.02112399972975254 - ] + "size": [ + 0.021894998848438263, + 0.02502100169658661, + 0.06589899770915508 + ], + "units": "m" }, "center_of_mass": [ 0.06849521398544312, @@ -182,7 +390,7 @@ 9.567505003360566e-06, 9.89972431852948e-06 ], - "mass": 0.025, + "mass": 0.02500000037252903, "material": "wood", "name": "D00960 Wooden Holder Cutting Board", "physics_type": "rigid", @@ -190,25 +398,28 @@ "object_name": "D00960 Wooden Holder Cutting Board", "part_name": "D00960 Wooden Holder Cutting Board" }, - "volume": 3.571428624647004e-05 + "volume": 3.571428624647004e-05, + "source_prim_path": "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.06839750148355961, - 0.022947500925511122, - 0.05400350131094456 + "min": [ + 0.05744500085711479, + 0.010517000220716, + 0.021014999598264694 ], "max": [ 0.07935000211000443, 0.035378001630306244, 0.08699200302362442 ], - "min": [ - 0.05744500085711479, - 0.010517000220716, - 0.021014999598264694 - ] + "size": [ + 0.021905001252889633, + 0.024861001409590244, + 0.06597700342535973 + ], + "units": "m" }, "center_of_mass": [ 0.06847956031560898, @@ -223,7 +434,7 @@ 9.601540114090312e-06, 9.92166042124154e-06 ], - "mass": 0.025, + "mass": 0.02500000037252903, "material": "wood", "name": "D00960 Wooden Holder Cutting Board", "physics_type": "rigid", @@ -231,25 +442,28 @@ "object_name": "D00960 Wooden Holder Cutting Board", "part_name": "D00960 Wooden Holder Cutting Board" }, - "volume": 3.571428624647004e-05 + "volume": 3.571428624647004e-05, + "source_prim_path": "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.07547450065612793, - -0.0273174992762506, - 0.05410750024020672 + "min": [ + -0.08644100278615952, + -0.03979799896478653, + 0.021184999495744705 ], "max": [ -0.06450799852609634, -0.014836999587714672, 0.08703000098466873 ], - "min": [ - -0.08644100278615952, - -0.03979799896478653, - 0.021184999495744705 - ] + "size": [ + 0.02193300426006317, + 0.024960999377071857, + 0.06584500148892403 + ], + "units": "m" }, "center_of_mass": [ -0.0754663497209549, @@ -264,7 +478,7 @@ 9.54769529926125e-06, 9.859612873697188e-06 ], - "mass": 0.025, + "mass": 0.02500000037252903, "material": "wood", "name": "D00960 Wooden Holder Cutting Board", "physics_type": "rigid", @@ -272,10 +486,27 @@ "object_name": "D00960 Wooden Holder Cutting Board", "part_name": "D00960 Wooden Holder Cutting Board" }, - "volume": 3.571428624647004e-05 + "volume": 3.571428624647004e-05, + "source_prim_path": "/World/textured_mesh_6a68a623cb2d3efc658171b8/part_05", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ca64b8403e648c9c44a4576c9c6c14e084cb33d262a181afac0ac29055f68b77" + }, + "usd_path": "batch20/D00960 Wooden Holder Cutting Board/IsaacSim_assets_6a68a623cb2d3efc658171b8/IsaacSim_asset_6a68a623cb2d3efc658171b8.usd", + "usd_sha256": "78f496a153eb8ee0b52b5dff909a961d2706de68e4ea6f7846cb679e9c5f9e2b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -296,22 +527,56 @@ 0.26566100120544434, 0.10244899988174438, 0.22685199519401067 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "78f496a153eb8ee0b52b5dff909a961d2706de68e4ea6f7846cb679e9c5f9e2b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.9 + "value_kg": 1.8999999836087227, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "78f496a153eb8ee0b52b5dff909a961d2706de68e4ea6f7846cb679e9c5f9e2b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.8999999836087227, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 6 + "status": "verified", + "confidence": "high", + "shape_count": 16, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "78f496a153eb8ee0b52b5dff909a961d2706de68e4ea6f7846cb679e9c5f9e2b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 16, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "78f496a153eb8ee0b52b5dff909a961d2706de68e4ea6f7846cb679e9c5f9e2b", + "scope": "authored_usd_joint_schema", + "joint_count": 4, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00962 Wooden Lid/IsaacSim_assets_6a71a41fcdde3c1658d1af75/physics_6a71a41fcdde3c1658d1af75.json b/batch20/D00962 Wooden Lid/IsaacSim_assets_6a71a41fcdde3c1658d1af75/physics_6a71a41fcdde3c1658d1af75.json index de6d0d073c1aaf9409d113216b4b64b2e64688f2..022e24dcd406df13b615e02965892937244c1f1a 100644 --- a/batch20/D00962 Wooden Lid/IsaacSim_assets_6a71a41fcdde3c1658d1af75/physics_6a71a41fcdde3c1658d1af75.json +++ b/batch20/D00962 Wooden Lid/IsaacSim_assets_6a71a41fcdde3c1658d1af75/physics_6a71a41fcdde3c1658d1af75.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04961444, - 0.01532295, - 0.04973287 - ], "min": [ - -0.04964836, - 0.0, - -0.04944831 + -0.049651000648736954, + -0.04973600059747696, + 0.0004518700297921896 + ], + "max": [ + 0.04961699992418289, + 0.04945100098848343, + 0.015772869810461998 ], "size": [ - 0.09926280000000001, - 0.01532295, - 0.09918118000000001 - ] + 0.09926800057291985, + 0.09918700158596039, + 0.015320999780669808 + ], + "units": "m" }, "description": "A circular wooden lid with a natural wood grain finish and a thin translucent seal ring around its lower edge.", "name": "specialist-current", "object_type": "rigid_bodies", - "total_mass": 0.08 + "total_mass": 0.07999999821186066, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00962", "parts": [ { "bounds": { - "center": [ - -2.1741166064355424e-05, - 0.008126875884623214, - 0.0001455818061608232 + "min": [ + -0.049651000648736954, + -0.04973600059747696, + 0.0004518700297921896 ], "max": [ - 0.04961444, - 0.01532295, - 0.04973287 + 0.04961699992418289, + 0.04945100098848343, + 0.015772869810461998 ], - "min": [ - -0.04964836, - 0.0, - -0.04944831 - ] + "size": [ + 0.09926800057291985, + 0.09918700158596039, + 0.015320999780669808 + ], + "units": "m" }, "center_of_mass": [ -1.9349203153515265e-05, @@ -59,7 +65,7 @@ 4.7869561949580366e-05, 9.259706394085303e-05 ], - "mass": 0.08, + "mass": 0.07999999821186066, "material": "wood", "name": "specialist-current", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "specialist-current", "part_name": "specialist-current" }, - "volume": 0.00011080335687162867 + "volume": 0.00011080335687162867, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a82a2cfcc3744a93678fe0bc090693b4851b2e121189151fd212a5e009b7d081" + }, + "usd_path": "batch20/D00962 Wooden Lid/IsaacSim_assets_6a71a41fcdde3c1658d1af75/IsaacSim_asset_6a71a41fcdde3c1658d1af75.usd", + "usd_sha256": "45102387df502ab3ac63ce2386e3bba2044f0c5e709950baf56ae0c32e75550a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.09926280000000001, - 0.01532295, - 0.09918118000000001 - ] + 0.09926800057291985, + 0.09918700158596039, + 0.015320999780669808 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "45102387df502ab3ac63ce2386e3bba2044f0c5e709950baf56ae0c32e75550a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.08 + "value_kg": 0.07999999821186066, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "45102387df502ab3ac63ce2386e3bba2044f0c5e709950baf56ae0c32e75550a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07999999821186066, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "45102387df502ab3ac63ce2386e3bba2044f0c5e709950baf56ae0c32e75550a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "45102387df502ab3ac63ce2386e3bba2044f0c5e709950baf56ae0c32e75550a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch20/D00965 Wooden Pedestal/IsaacSim_assets_6a6846da171604926a4526e4/physics_6a6846da171604926a4526e4.json b/batch20/D00965 Wooden Pedestal/IsaacSim_assets_6a6846da171604926a4526e4/physics_6a6846da171604926a4526e4.json index 06031eae180241b317b173a2252eb91921f13c05..d7a325217386b0a273f7b4665dbc66bb0cbc9b89 100644 --- a/batch20/D00965 Wooden Pedestal/IsaacSim_assets_6a6846da171604926a4526e4/physics_6a6846da171604926a4526e4.json +++ b/batch20/D00965 Wooden Pedestal/IsaacSim_assets_6a6846da171604926a4526e4/physics_6a6846da171604926a4526e4.json @@ -1,65 +1,88 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.213048994541168, - 0.215893000364304, - 0.875953085720539 - ], "min": [ - -0.213493004441261, - -0.216482996940613, - 0.003405067947824 + -0.2134930044412613, + -0.2164829969406128, + 0.0034050679478241364 + ], + "max": [ + 0.2130489945411682, + 0.2158930003643036, + 0.8759530857205391 ], "size": [ - 0.42654199898242895, - 0.432375997304917, + 0.4265419989824295, + 0.4323759973049164, 0.872548017772715 - ] + ], + "units": "m" }, "description": "A polished dark brown wooden pedestal with a square base, rectangular pillar, and square flat top.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 15 + "total_mass": 15.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00965", "parts": [ { "bounds": { - "center": [ - 0.000486438234818, - 0.002466814685503, - 0.418162178295857 + "min": [ + -0.2134930044412613, + -0.2164829969406128, + 0.0034050679478241364 ], "max": [ - 0.213048994541168, - 0.215893000364304, - 0.875953085720539 + 0.2130489945411682, + 0.2158930003643036, + 0.8759530857205391 ], - "min": [ - -0.213493004441261, - -0.216482996940613, - 0.003405067947824 - ] + "size": [ + 0.4265419989824295, + 0.4323759973049164, + 0.872548017772715 + ], + "units": "m" }, "collision": {}, "density": 700, "id": "part_00", - "mass": 15, + "mass": 15.0, "material": "wood", "name": "generated reference 01", "physics_type": "rigid", "source": { "object_name": "generated reference 01", "part_name": "generated reference 01" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1a702ab9900fd526918ed6812d7ae26bd1bfe8cdb67b1b7071a88ff1c40be737" + }, + "usd_path": "batch20/D00965 Wooden Pedestal/IsaacSim_assets_6a6846da171604926a4526e4/IsaacSim_asset_6a6846da171604926a4526e4.usd", + "usd_sha256": "9fa81bba6a76801831337de1d92401c6cc5cccdd9234666ffa66cd67729b3ffd", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -77,25 +100,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.42654199898242895, - 0.432375997304917, + 0.4265419989824295, + 0.4323759973049164, 0.872548017772715 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9fa81bba6a76801831337de1d92401c6cc5cccdd9234666ffa66cd67729b3ffd", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 15 + "value_kg": 15.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9fa81bba6a76801831337de1d92401c6cc5cccdd9234666ffa66cd67729b3ffd", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 15.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9fa81bba6a76801831337de1d92401c6cc5cccdd9234666ffa66cd67729b3ffd", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9fa81bba6a76801831337de1d92401c6cc5cccdd9234666ffa66cd67729b3ffd", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00043_Board_Utensil_Holder/IsaacSim_assets_6a71516fb22aed4dbad2cfbc/physics_6a71516fb22aed4dbad2cfbc.json b/batch21/D00043_Board_Utensil_Holder/IsaacSim_assets_6a71516fb22aed4dbad2cfbc/physics_6a71516fb22aed4dbad2cfbc.json index 03268db1779fbedd4e63eafad3e8fa03c5c29021..f61361bb607dc6d36a66141fe490ed7dd0cc0066 100644 --- a/batch21/D00043_Board_Utensil_Holder/IsaacSim_assets_6a71516fb22aed4dbad2cfbc/physics_6a71516fb22aed4dbad2cfbc.json +++ b/batch21/D00043_Board_Utensil_Holder/IsaacSim_assets_6a71516fb22aed4dbad2cfbc/physics_6a71516fb22aed4dbad2cfbc.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05985099822282791, - 0.060830000787973404, - 0.18024133145809174 - ], "min": [ -0.06026199832558632, -0.060509998351335526, 0.0009213293651555432 ], + "max": [ + 0.05985099822282791, + 0.060830000787973404, + 0.18024133145809174 + ], "size": [ 0.12011299654841423, 0.12133999913930893, 0.1793200020929362 - ] + ], + "units": "m" }, "description": "D00043 Board Utensil Holder", "name": "D00043 Board Utensil Holder", "object_type": "rigid_bodies", - "total_mass": 0.965 + "total_mass": 0.9649999737739563, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00043", "parts": [ { "bounds": { - "center": [ - -0.0002055000513792038, - 0.0001600012183189392, - 0.09058133041162364 + "min": [ + -0.06026199832558632, + -0.060509998351335526, + 0.0009213293651555432 ], "max": [ 0.05985099822282791, 0.060830000787973404, 0.18024133145809174 ], - "min": [ - -0.06026199832558632, - -0.060509998351335526, - 0.0009213293651555432 - ] + "size": [ + 0.12011299654841423, + 0.12133999913930893, + 0.1793200020929362 + ], + "units": "m" }, "center_of_mass": [ -0.0003036486741621047, @@ -59,7 +65,7 @@ 0.0036091357469558716, 0.003629986895248294 ], - "mass": 0.965, + "mass": 0.9649999737739563, "material": "glass", "name": "D00043 Board Utensil Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00043 Board Utensil Holder", "part_name": "D00043 Board Utensil Holder" }, - "volume": 0.00019299999475479125 + "volume": 0.00019299999475479125, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "393697598bdaa05e8920b53433c06be02d67810d77be81c3afcef5cc49b703c8" + }, + "usd_path": "batch21/D00043_Board_Utensil_Holder/IsaacSim_assets_6a71516fb22aed4dbad2cfbc/IsaacSim_asset_6a71516fb22aed4dbad2cfbc.usd", + "usd_sha256": "217e974b9998c7f5596c5d62c4647d99103fcefeb686b0bcadc072f677fd6ea6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.12011299654841423, 0.12133999913930893, 0.1793200020929362 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "217e974b9998c7f5596c5d62c4647d99103fcefeb686b0bcadc072f677fd6ea6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.965 + "value_kg": 0.9649999737739563, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "217e974b9998c7f5596c5d62c4647d99103fcefeb686b0bcadc072f677fd6ea6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.9649999737739563, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "217e974b9998c7f5596c5d62c4647d99103fcefeb686b0bcadc072f677fd6ea6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "217e974b9998c7f5596c5d62c4647d99103fcefeb686b0bcadc072f677fd6ea6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "217e974b9998c7f5596c5d62c4647d99103fcefeb686b0bcadc072f677fd6ea6", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:43.256311+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "08a18cf800e9a3dcc9b994b1f8e6beecf13721f37e6523accf8d8eaaeae56504", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00158_Coffee_Maker_Mixer/IsaacSim_assets_6a7191d66739a30c2135ec38/physics_6a7191d66739a30c2135ec38.json b/batch21/D00158_Coffee_Maker_Mixer/IsaacSim_assets_6a7191d66739a30c2135ec38/physics_6a7191d66739a30c2135ec38.json index d605fe5b09aa6ba712cd1827ea3ae4e1f1bdbad3..109ff1f8a5cf686d2b01d2d2c22ea4cf190019f0 100644 --- a/batch21/D00158_Coffee_Maker_Mixer/IsaacSim_assets_6a7191d66739a30c2135ec38/physics_6a7191d66739a30c2135ec38.json +++ b/batch21/D00158_Coffee_Maker_Mixer/IsaacSim_assets_6a7191d66739a30c2135ec38/physics_6a7191d66739a30c2135ec38.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.018696000799536705, - 0.11891400068998337, - 0.0377739816904068 - ], "min": [ -0.01862799935042858, -0.14573700726032257, 0.0008409807392126822 ], + "max": [ + 0.018696000799536705, + 0.11891400068998337, + 0.0377739816904068 + ], "size": [ 0.037324000149965286, 0.26465100795030594, 0.03693300095119412 - ] + ], + "units": "m" }, "description": "D00158 Coffee Maker Mixer", "name": "D00158 Coffee Maker Mixer", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00158", "parts": [ { "bounds": { - "center": [ - 3.400072455406189e-05, - -0.013411503285169601, - 0.01930748121480974 + "min": [ + -0.01862799935042858, + -0.14573700726032257, + 0.0008409807392126822 ], "max": [ 0.018696000799536705, 0.11891400068998337, 0.0377739816904068 ], - "min": [ - -0.01862799935042858, - -0.14573700726032257, - 0.0008409807392126822 - ] + "size": [ + 0.037324000149965286, + 0.26465100795030594, + 0.03693300095119412 + ], + "units": "m" }, "center_of_mass": [ 2.0690960809588432e-05, @@ -59,7 +65,7 @@ 0.0008207394857890904, 0.0008214427507482469 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "plastic", "name": "D00158 Coffee Maker Mixer", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00158 Coffee Maker Mixer", "part_name": "D00158 Coffee Maker Mixer" }, - "volume": 0.00012500000496705373 + "volume": 0.00012500000496705373, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e071a9a3be510350526ab73ddd44ccdfca2b6bd3ce5062fa1850791746cb4725" + }, + "usd_path": "batch21/D00158_Coffee_Maker_Mixer/IsaacSim_assets_6a7191d66739a30c2135ec38/IsaacSim_asset_6a7191d66739a30c2135ec38.usd", + "usd_sha256": "7ce8884635fa5a6eb329998ee8ddbcf2ba197c8deb970efcbdf54680b08b19b4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.037324000149965286, 0.26465100795030594, 0.03693300095119412 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ce8884635fa5a6eb329998ee8ddbcf2ba197c8deb970efcbdf54680b08b19b4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ce8884635fa5a6eb329998ee8ddbcf2ba197c8deb970efcbdf54680b08b19b4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ce8884635fa5a6eb329998ee8ddbcf2ba197c8deb970efcbdf54680b08b19b4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ce8884635fa5a6eb329998ee8ddbcf2ba197c8deb970efcbdf54680b08b19b4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "7ce8884635fa5a6eb329998ee8ddbcf2ba197c8deb970efcbdf54680b08b19b4", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:45.894421+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "a6a6cf5262b9e512bf989e59ea3eee40104f1e1aaae6b854e59a3132a0267b44", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00173 Condiment/IsaacSim_assets_69fef9d7f3726e6ad05bade1/physics_69fef9d7f3726e6ad05bade1.json b/batch21/D00173 Condiment/IsaacSim_assets_69fef9d7f3726e6ad05bade1/physics_69fef9d7f3726e6ad05bade1.json index ffd7d641296afca3f8f7467a2803e67103f7608e..6fa1ea3b9f13c8ae5708c1af8f1349a34ba51c80 100644 --- a/batch21/D00173 Condiment/IsaacSim_assets_69fef9d7f3726e6ad05bade1/physics_69fef9d7f3726e6ad05bade1.json +++ b/batch21/D00173 Condiment/IsaacSim_assets_69fef9d7f3726e6ad05bade1/physics_69fef9d7f3726e6ad05bade1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.036419931799173355, - 0.1742141842842102, - 0.03602805361151695 - ], "min": [ - -0.03637772053480148, - 0.0, - -0.03630312159657478 + -0.0363989993929863, + -0.03605499863624573, + -3.9999998989515007e-05 + ], + "max": [ + 0.03645600005984306, + 0.036334000527858734, + 0.17425400018692017 ], "size": [ - 0.07279765233397484, - 0.1742141842842102, - 0.07233117520809174 - ] + 0.07285499945282936, + 0.07238899916410446, + 0.17429400018590968 + ], + "units": "m" }, "description": "A yellow translucent plastic mustard squeeze bottle with a matching flip-top cap and a paper label. It has a rounded cylindrical body, tapered shoulder, and visible yellow contents.", "name": "D00173 Condiment", "object_type": "rigid_bodies", - "total_mass": 0.62 + "total_mass": 0.6200000047683716, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00173", "parts": [ { "bounds": { - "center": [ - 2.1088914925468848e-05, - 0.07103519013368419, - -7.25719440521564e-05 + "min": [ + -0.0363989993929863, + -0.03605499863624573, + -3.9999998989515007e-05 ], "max": [ - 0.036419931799173355, - 0.1742141842842102, - 0.03602805361151695 + 0.03645600005984306, + 0.036334000527858734, + 0.17425400018692017 ], - "min": [ - -0.03637772053480148, - 0.0, - -0.03630312159657478 - ] + "size": [ + 0.07285499945282936, + 0.07238899916410446, + 0.17429400018590968 + ], + "units": "m" }, "center_of_mass": [ 2.5396953514671733e-05, @@ -59,7 +65,7 @@ 0.0012872490811638782, 0.0012885834104733951 ], - "mass": 0.62, + "mass": 0.6200000047683716, "material": "plastic_hdpe_pp", "name": "D00173 Condiment", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00173 Condiment", "part_name": "D00173 Condiment" }, - "volume": 0.0005551445627535887 + "volume": 0.0005551445627535887, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "55088422d03b9cd73acaafae3bfa9272c0ef5993770a252903ef4370cab0fc32" + }, + "usd_path": "batch21/D00173 Condiment/IsaacSim_assets_69fef9d7f3726e6ad05bade1/IsaacSim_asset_69fef9d7f3726e6ad05bade1.usd", + "usd_sha256": "0fcc082159ed7dae8f96dd7f7dd78380770a5c549ce01ff2c86815df904c868c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.07279765233397484, - 0.1742141842842102, - 0.07233117520809174 - ] + 0.07285499945282936, + 0.07238899916410446, + 0.17429400018590968 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fcc082159ed7dae8f96dd7f7dd78380770a5c549ce01ff2c86815df904c868c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.62 + "value_kg": 0.6200000047683716, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fcc082159ed7dae8f96dd7f7dd78380770a5c549ce01ff2c86815df904c868c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6200000047683716, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fcc082159ed7dae8f96dd7f7dd78380770a5c549ce01ff2c86815df904c868c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0fcc082159ed7dae8f96dd7f7dd78380770a5c549ce01ff2c86815df904c868c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "0fcc082159ed7dae8f96dd7f7dd78380770a5c549ce01ff2c86815df904c868c", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:05.579473+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "77910993536fcf40b1acd4e25eec2a5c72c49cbc275265afcbeadf70bfef8f20", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00175 Container Bowl/IsaacSim_assets_69fefa50f3726e6ad05cc44e/physics_69fefa50f3726e6ad05cc44e.json b/batch21/D00175 Container Bowl/IsaacSim_assets_69fefa50f3726e6ad05cc44e/physics_69fefa50f3726e6ad05cc44e.json index 86cc742c03d395392765a45f24094fb3d7034c93..ccb28a6e836e1a0974f08ff3f76c82a9a0e38a52 100644 --- a/batch21/D00175 Container Bowl/IsaacSim_assets_69fefa50f3726e6ad05cc44e/physics_69fefa50f3726e6ad05cc44e.json +++ b/batch21/D00175 Container Bowl/IsaacSim_assets_69fefa50f3726e6ad05cc44e/physics_69fefa50f3726e6ad05cc44e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07507800310850143, - 0.059863001108169556, - 0.07013098010793328 - ], "min": [ -0.06407000124454498, -0.059438999742269516, 0.0003349798935232684 ], + "max": [ + 0.07507800310850143, + 0.059863001108169556, + 0.07013098010793328 + ], "size": [ 0.13914800435304642, 0.11930200085043907, 0.06979600021441001 - ] + ], + "units": "m" }, "description": "A cream-colored glazed ceramic teacup with a rounded bowl, raised foot ring, and curved loop handle. The surface is glossy with subtle speckling and slight handmade-looking irregularities.", "name": "D00175 Ceramic Cup", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.30000001192092896, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00175", "parts": [ { "bounds": { - "center": [ - 0.005504000931978226, - 0.00021200068295001984, - 0.035232980000728276 + "min": [ + -0.06407000124454498, + -0.059438999742269516, + 0.0003349798935232684 ], "max": [ 0.07507800310850143, 0.059863001108169556, 0.07013098010793328 ], - "min": [ - -0.06407000124454498, - -0.059438999742269516, - 0.0003349798935232684 - ] + "size": [ + 0.13914800435304642, + 0.11930200085043907, + 0.06979600021441001 + ], + "units": "m" }, "center_of_mass": [ -0.0019004678342696884, @@ -59,7 +65,7 @@ 0.0005016927375005851, 0.0006971547780595523 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "glazed_ceramic", "name": "D00175 Container Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00175 Container Bowl", "part_name": "D00175 Container Bowl" }, - "volume": 0.00014382624673466542 + "volume": 0.00014382624673466542, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1c5adedada5e9f098214c7f3fd31445cc4f67117694acc1fa40ef5858d0e292f" + }, + "usd_path": "batch21/D00175 Container Bowl/IsaacSim_assets_69fefa50f3726e6ad05cc44e/IsaacSim_asset_69fefa50f3726e6ad05cc44e.usd", + "usd_sha256": "b6c8afd9ac116d01e952f234e9247684b42311b915d322263e5e40fbeb18fc35", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.13914800435304642, 0.11930200085043907, 0.06979600021441001 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b6c8afd9ac116d01e952f234e9247684b42311b915d322263e5e40fbeb18fc35", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.30000001192092896, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b6c8afd9ac116d01e952f234e9247684b42311b915d322263e5e40fbeb18fc35", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.30000001192092896, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b6c8afd9ac116d01e952f234e9247684b42311b915d322263e5e40fbeb18fc35", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b6c8afd9ac116d01e952f234e9247684b42311b915d322263e5e40fbeb18fc35", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "b6c8afd9ac116d01e952f234e9247684b42311b915d322263e5e40fbeb18fc35", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:04.978837+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "f134bf5e9dd80ed935eba139f74c6a323974933ab986b837f13db43c1693d3fb", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00192 Cookie Jar Cup/IsaacSim_assets_69f2236f59057a93105ca681/physics_69f2236f59057a93105ca681.json b/batch21/D00192 Cookie Jar Cup/IsaacSim_assets_69f2236f59057a93105ca681/physics_69f2236f59057a93105ca681.json index 0df9dfa676497d1c09063e1df5ffa4658f8c31d3..15ea5e0f349c1f03b040d02afd9559c712da6ebe 100644 --- a/batch21/D00192 Cookie Jar Cup/IsaacSim_assets_69f2236f59057a93105ca681/physics_69f2236f59057a93105ca681.json +++ b/batch21/D00192 Cookie Jar Cup/IsaacSim_assets_69f2236f59057a93105ca681/physics_69f2236f59057a93105ca681.json @@ -168,13 +168,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "e48bfb484a3bb2571398c27d774435cf6bbad29541c406ff55d4e09fd91b427d" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e18d90a949e8e75b9a39f0b756f914fddab63a1f61278f2f04f09d54f5a1c0f4" }, "usd_path": "batch21/D00192 Cookie Jar Cup/IsaacSim_assets_69f2236f59057a93105ca681/IsaacSim_asset_69f2236f59057a93105ca681.usd", - "usd_sha256": "4c9ed3b5cb90c1e472ace07fd362ad66a808160c79a03cbbc0f973532cffc326", + "usd_sha256": "70094b556f0b0c8a664b396d56151a779159fb3eadc0771cf5eb74656d31d115", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -201,9 +201,9 @@ 0.17016900330781937, 0.15380899918091018 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4c9ed3b5cb90c1e472ace07fd362ad66a808160c79a03cbbc0f973532cffc326", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "70094b556f0b0c8a664b396d56151a779159fb3eadc0771cf5eb74656d31d115", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -212,9 +212,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.7800000011920929, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4c9ed3b5cb90c1e472ace07fd362ad66a808160c79a03cbbc0f973532cffc326", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "70094b556f0b0c8a664b396d56151a779159fb3eadc0771cf5eb74656d31d115", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.7800000011920929, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -223,9 +223,9 @@ "status": "verified", "confidence": "high", "shape_count": 150, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4c9ed3b5cb90c1e472ace07fd362ad66a808160c79a03cbbc0f973532cffc326", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "70094b556f0b0c8a664b396d56151a779159fb3eadc0771cf5eb74656d31d115", "scope": "authored_usd_collision_schema", "enabled_shape_count": 150, "approximations": [ @@ -237,18 +237,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4c9ed3b5cb90c1e472ace07fd362ad66a808160c79a03cbbc0f973532cffc326", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "70094b556f0b0c8a664b396d56151a779159fb3eadc0771cf5eb74656d31d115", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00202 Cooking Spoon/IsaacSim_asset_69f225fe59057a93105cec1e/physics_69f225fe59057a93105cec1e.json b/batch21/D00202 Cooking Spoon/IsaacSim_asset_69f225fe59057a93105cec1e/physics_69f225fe59057a93105cec1e.json index ce40f658d9037255372a500620ba0d403ae4eda6..f99d1c4897888f6578c9a1251025635312f7f462 100644 --- a/batch21/D00202 Cooking Spoon/IsaacSim_asset_69f225fe59057a93105cec1e/physics_69f225fe59057a93105cec1e.json +++ b/batch21/D00202 Cooking Spoon/IsaacSim_asset_69f225fe59057a93105cec1e/physics_69f225fe59057a93105cec1e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.18342499434947968, - 0.034791000187397, - 0.024403999690548517 - ], "min": [ -0.109934002161026, -0.033911000937223434, 0.0 ], + "max": [ + 0.18342499434947968, + 0.034791000187397, + 0.024403999690548517 + ], "size": [ 0.2933589965105057, 0.06870200112462044, 0.024403999690548517 - ] + ], + "units": "m" }, "description": "A light brown wooden spoon with a smooth finish and a hole at the end of the handle.", "name": "D00202 Cooking Spoon", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00202", "parts": [ { "bounds": { - "center": [ - 0.03674549609422684, - 0.00043999962508678436, - 0.012201999845274258 + "min": [ + -0.109934002161026, + -0.033911000937223434, + 0.0 ], "max": [ 0.18342499434947968, 0.034791000187397, 0.024403999690548517 ], - "min": [ - -0.109934002161026, - -0.033911000937223434, - 0.0 - ] + "size": [ + 0.2933589965105057, + 0.06870200112462044, + 0.024403999690548517 + ], + "units": "m" }, "center_of_mass": [ 0.02896770915803742, @@ -59,7 +65,7 @@ 0.0003727947796129502, 0.0003794610820443403 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "steel", "name": "D00202 Cooking Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00202 Cooking Spoon", "part_name": "D00202 Cooking Spoon" }, - "volume": 7.574241824930484e-05 + "volume": 7.574241824930484e-05, + "source_prim_path": "/World/part_00_steel", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ccc41a2d2a6522ad70ba5260caefce32e9926497083579ed0c38914ccf733be6" + }, + "usd_path": "batch21/D00202 Cooking Spoon/IsaacSim_asset_69f225fe59057a93105cec1e/IsaacSim_asset_69f225fe59057a93105cec1e.usd", + "usd_sha256": "e982ffb005f53ac76bd1d967458e24bfecaf50419db5772368e60ee902880d9a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -89,22 +112,56 @@ 0.2933589965105057, 0.06870200112462044, 0.024403999690548517 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e982ffb005f53ac76bd1d967458e24bfecaf50419db5772368e60ee902880d9a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e982ffb005f53ac76bd1d967458e24bfecaf50419db5772368e60ee902880d9a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e982ffb005f53ac76bd1d967458e24bfecaf50419db5772368e60ee902880d9a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e982ffb005f53ac76bd1d967458e24bfecaf50419db5772368e60ee902880d9a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00203 Cooking Spoon Spatula/IsaacSim_asset_69f2262659057a93105cefe2/physics_69f2262659057a93105cefe2.json b/batch21/D00203 Cooking Spoon Spatula/IsaacSim_asset_69f2262659057a93105cefe2/physics_69f2262659057a93105cefe2.json index c11e33c17ec46ac049088d4212d5ef2921d5ad4a..73ed0280eb623cbe3511de5e2f36b0684bfa3d30 100644 --- a/batch21/D00203 Cooking Spoon Spatula/IsaacSim_asset_69f2262659057a93105cefe2/physics_69f2262659057a93105cefe2.json +++ b/batch21/D00203 Cooking Spoon Spatula/IsaacSim_asset_69f2262659057a93105cefe2/physics_69f2262659057a93105cefe2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.036947984248399734, - 0.029177729040384293, - 0.18614257872104645 - ], "min": [ - -0.03688224032521248, - 0.0, - -0.11660858243703842 + -0.03688599914312363, + -0.1861409991979599, + 5.400000009103678e-05 + ], + "max": [ + 0.036945000290870667, + 0.11660400032997131, + 0.029316000640392303 ], "size": [ - 0.07383022457361221, - 0.029177729040384293, - 0.30275116115808487 - ] + 0.0738309994339943, + 0.3027449995279312, + 0.029262000640301267 + ], + "units": "m" }, "description": "A kitchen utensil featuring a light-colored wooden head with a shallow concave bowl and a flat leading edge, attached to a brushed stainless steel handle with a hanging hole.", "name": "D00203 Cooking Spoon Spatula", "object_type": "rigid_bodies", - "total_mass": 0.12 + "total_mass": 0.11999999731779099, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00203", "parts": [ { "bounds": { - "center": [ - 3.8592517360596244e-05, - 0.015814094944781094, - -0.0014591195323656288 + "min": [ + -0.03688599914312363, + -0.1861409991979599, + 5.400000009103678e-05 ], "max": [ - 0.036947984248399734, - 0.029177729040384293, - 0.18614257872104645 + 0.036945000290870667, + 0.11660400032997131, + 0.029316000640392303 ], - "min": [ - -0.03688224032521248, - 0.0, - -0.11660858243703842 - ] + "size": [ + 0.0738309994339943, + 0.3027449995279312, + 0.029262000640301267 + ], + "units": "m" }, "center_of_mass": [ 4.390531169350831e-05, @@ -59,7 +65,7 @@ 0.0006491001919579834, 0.000671264822216931 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "stainless_steel", "name": "D00203 Cooking Spoon Spatula", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00203 Cooking Spoon Spatula", "part_name": "D00203 Cooking Spoon Spatula" }, - "volume": 0.000320146047631542 + "volume": 0.000320146047631542, + "source_prim_path": "/World/part_00_stainless_steel", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3c73f07b32c0a11aa3fe86117dfcf6c4db9d356373b9230fea737fa9ffa7fbc1" + }, + "usd_path": "batch21/D00203 Cooking Spoon Spatula/IsaacSim_asset_69f2262659057a93105cefe2/IsaacSim_asset_69f2262659057a93105cefe2.usd", + "usd_sha256": "25e5c879c88bf88120fbb89c1f9e00f4c502c678c6a39e93c7595876ee82b9cc", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.07383022457361221, - 0.029177729040384293, - 0.30275116115808487 - ] + 0.0738309994339943, + 0.3027449995279312, + 0.029262000640301267 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25e5c879c88bf88120fbb89c1f9e00f4c502c678c6a39e93c7595876ee82b9cc", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.12 + "value_kg": 0.11999999731779099, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25e5c879c88bf88120fbb89c1f9e00f4c502c678c6a39e93c7595876ee82b9cc", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11999999731779099, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 22, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25e5c879c88bf88120fbb89c1f9e00f4c502c678c6a39e93c7595876ee82b9cc", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 22, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25e5c879c88bf88120fbb89c1f9e00f4c502c678c6a39e93c7595876ee82b9cc", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00415 Jar Utensil Holder/IsaacSim_assets_6a6c3dbbcb2d3efc65b8866e/physics_6a6c3dbbcb2d3efc65b8866e.json b/batch21/D00415 Jar Utensil Holder/IsaacSim_assets_6a6c3dbbcb2d3efc65b8866e/physics_6a6c3dbbcb2d3efc65b8866e.json index 398467185f19dabd7bdcabfc3bf7974a92fd1ed7..18ad60ab705d9187e89547d7adcd3e006df39ec3 100644 --- a/batch21/D00415 Jar Utensil Holder/IsaacSim_assets_6a6c3dbbcb2d3efc65b8866e/physics_6a6c3dbbcb2d3efc65b8866e.json +++ b/batch21/D00415 Jar Utensil Holder/IsaacSim_assets_6a6c3dbbcb2d3efc65b8866e/physics_6a6c3dbbcb2d3efc65b8866e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05434799939393997, - 0.05456199869513512, - 0.12241470813751221 - ], "min": [ -0.054377999156713486, -0.05425199866294861, 0.00038770996616221964 ], + "max": [ + 0.05434799939393997, + 0.05456199869513512, + 0.12241470813751221 + ], "size": [ 0.10872599855065346, 0.10881399735808372, 0.12202699817134999 - ] + ], + "units": "m" }, "description": "D00415 Jar Utensil Holder", "name": "D00415 Jar Utensil Holder", "object_type": "rigid_bodies", - "total_mass": 1.0 + "total_mass": 1.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00415", "parts": [ { "bounds": { - "center": [ - -1.4999881386756897e-05, - 0.0001550000160932541, - 0.06140120905183721 + "min": [ + -0.054377999156713486, + -0.05425199866294861, + 0.00038770996616221964 ], "max": [ 0.05434799939393997, 0.05456199869513512, 0.12241470813751221 ], - "min": [ - -0.054377999156713486, - -0.05425199866294861, - 0.00038770996616221964 - ] + "size": [ + 0.10872599855065346, + 0.10881399735808372, + 0.12202699817134999 + ], + "units": "m" }, "center_of_mass": [ 2.1884285160922445e-05, @@ -67,10 +73,27 @@ "object_name": "D00415 Jar Utensil Holder", "part_name": "D00415 Jar Utensil Holder" }, - "volume": 0.00045454545454545455 + "volume": 0.00045454545454545455, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "64e2b14ab9227708145ed2e623299a019ed15ae60fd05c1cc57dacfac4574d2b" + }, + "usd_path": "batch21/D00415 Jar Utensil Holder/IsaacSim_assets_6a6c3dbbcb2d3efc65b8866e/IsaacSim_asset_6a6c3dbbcb2d3efc65b8866e.usd", + "usd_sha256": "84c65063d3346ad138a55ba774d973c1262060e950f517ab87f9a618003412d1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.10872599855065346, 0.10881399735808372, 0.12202699817134999 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "84c65063d3346ad138a55ba774d973c1262060e950f517ab87f9a618003412d1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0 + "value_kg": 1.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "84c65063d3346ad138a55ba774d973c1262060e950f517ab87f9a618003412d1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 151, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "84c65063d3346ad138a55ba774d973c1262060e950f517ab87f9a618003412d1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 151, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "84c65063d3346ad138a55ba774d973c1262060e950f517ab87f9a618003412d1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00490 Lemon Slice/IsaacSim_assets_6a6c344fcb2d3efc65b57fa8/physics_6a6c344fcb2d3efc65b57fa8.json b/batch21/D00490 Lemon Slice/IsaacSim_assets_6a6c344fcb2d3efc65b57fa8/physics_6a6c344fcb2d3efc65b57fa8.json index 570e626ee69e67e7ffef25a9d19b5475cf08bd7e..d4c3953755460a5b64bed5b3962fa021891be3ba 100644 --- a/batch21/D00490 Lemon Slice/IsaacSim_assets_6a6c344fcb2d3efc65b57fa8/physics_6a6c344fcb2d3efc65b57fa8.json +++ b/batch21/D00490 Lemon Slice/IsaacSim_assets_6a6c344fcb2d3efc65b57fa8/physics_6a6c344fcb2d3efc65b57fa8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.021143000572919846, - 0.021299000829458237, - 0.008855350315570831 - ], "min": [ -0.021428000181913376, -0.021261999383568764, 0.00014434987679123878 ], + "max": [ + 0.021143000572919846, + 0.021299000829458237, + 0.008855350315570831 + ], "size": [ 0.04257100075483322, 0.042561000213027, 0.008711000438779593 - ] + ], + "units": "m" }, "description": "D00490 Lemon Slice", "name": "D00490 Lemon Slice", "object_type": "rigid_bodies", - "total_mass": 0.022 + "total_mass": 0.02199999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00490", "parts": [ { "bounds": { - "center": [ - -0.00014249980449676514, - 1.850072294473648e-05, - 0.004499850096181035 + "min": [ + -0.021428000181913376, + -0.021261999383568764, + 0.00014434987679123878 ], "max": [ 0.021143000572919846, 0.021299000829458237, 0.008855350315570831 ], - "min": [ - -0.021428000181913376, - -0.021261999383568764, - 0.00014434987679123878 - ] + "size": [ + 0.04257100075483322, + 0.042561000213027, + 0.008711000438779593 + ], + "units": "m" }, "center_of_mass": [ -0.00017635527183301747, @@ -59,7 +65,7 @@ 2.5432268557779025e-06, 4.804994659934891e-06 ], - "mass": 0.022, + "mass": 0.02199999988079071, "material": "plastic", "name": "D00490 Lemon Slice", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00490 Lemon Slice", "part_name": "D00490 Lemon Slice" }, - "volume": 2.199999988079071e-05 + "volume": 2.199999988079071e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7b4401494c6df0b9962ab5bf29f671c575b574000864222a6518c8874ccb50e7" + }, + "usd_path": "batch21/D00490 Lemon Slice/IsaacSim_assets_6a6c344fcb2d3efc65b57fa8/IsaacSim_asset_6a6c344fcb2d3efc65b57fa8.usd", + "usd_sha256": "1e61ca7043eb0d9b184327c8348838c17aba6db851d8ea7668db5374f95f84e4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.04257100075483322, 0.042561000213027, 0.008711000438779593 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e61ca7043eb0d9b184327c8348838c17aba6db851d8ea7668db5374f95f84e4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.022 + "value_kg": 0.02199999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e61ca7043eb0d9b184327c8348838c17aba6db851d8ea7668db5374f95f84e4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.02199999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 15, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e61ca7043eb0d9b184327c8348838c17aba6db851d8ea7668db5374f95f84e4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 15, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e61ca7043eb0d9b184327c8348838c17aba6db851d8ea7668db5374f95f84e4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00495 Lid Bowl/IsaacSim_assets_6a6c33d5cb2d3efc65b558bc/physics_6a6c33d5cb2d3efc65b558bc.json b/batch21/D00495 Lid Bowl/IsaacSim_assets_6a6c33d5cb2d3efc65b558bc/physics_6a6c33d5cb2d3efc65b558bc.json index 79482fe2e8f2adb535b9d48c397562e9fac20dbb..4a3e880b1f61e7b524939f628f126e4b543cc6c8 100644 --- a/batch21/D00495 Lid Bowl/IsaacSim_assets_6a6c33d5cb2d3efc65b558bc/physics_6a6c33d5cb2d3efc65b558bc.json +++ b/batch21/D00495 Lid Bowl/IsaacSim_assets_6a6c33d5cb2d3efc65b558bc/physics_6a6c33d5cb2d3efc65b558bc.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07377199828624725, - 0.07356899976730347, - 0.1075100228190422 - ], "min": [ -0.0737299993634224, -0.07381600141525269, 0.0007720196153968573 ], + "max": [ + 0.07377199828624725, + 0.07356899976730347, + 0.1075100228190422 + ], "size": [ 0.14750199764966965, 0.14738500118255615, 0.10673800320364535 - ] + ], + "units": "m" }, "description": "D00495 Lid Bowl", "name": "D00495 Lid Bowl", "object_type": "rigid_bodies", - "total_mass": 0.6 + "total_mass": 0.6000000089406967, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00495", "parts": [ { "bounds": { - "center": [ - 2.099946141242981e-05, - -0.00012350082397460938, - 0.03116651892196387 + "min": [ + -0.0737299993634224, + -0.07381600141525269, + 0.0007720196153968573 ], "max": [ 0.07377199828624725, 0.07356899976730347, 0.061561018228530884 ], - "min": [ - -0.0737299993634224, - -0.07381600141525269, - 0.0007720196153968573 - ] + "size": [ + 0.14750199764966965, + 0.14738500118255615, + 0.060788998613134027 + ], + "units": "m" }, "center_of_mass": [ 0.00011723701027221978, @@ -59,7 +65,7 @@ 0.0009257363271899521, 0.0015769946621730924 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic", "name": "D00495 Lid Bowl", "physics_type": "rigid", @@ -67,25 +73,28 @@ "object_name": "D00495 Lid Bowl", "part_name": "D00495 Lid Bowl" }, - "volume": 0.00016666666915019353 + "volume": 0.00016666666915019353, + "source_prim_path": "/World/textured_mesh_6a6c33d5cb2d3efc65b558bc/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 3.600120544433594e-05, - 1.0021030902862549e-06, - 0.09119602292776108 + "min": [ + -0.06463199853897095, + -0.0646359995007515, + 0.07488202303647995 ], "max": [ 0.06470400094985962, 0.06463800370693207, 0.1075100228190422 ], - "min": [ - -0.06463199853897095, - -0.0646359995007515, - 0.07488202303647995 - ] + "size": [ + 0.12933599948883057, + 0.12927400320768356, + 0.032627999782562256 + ], + "units": "m" }, "center_of_mass": [ -9.298130316892639e-05, @@ -100,7 +109,7 @@ 0.0001929353893501684, 0.0003740312531590462 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "ceramic", "name": "D00495 Lid Bowl", "physics_type": "rigid", @@ -108,10 +117,27 @@ "object_name": "D00495 Lid Bowl", "part_name": "D00495 Lid Bowl" }, - "volume": 8.333333457509676e-05 + "volume": 8.333333457509676e-05, + "source_prim_path": "/World/textured_mesh_6a6c33d5cb2d3efc65b558bc/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a8388cd30911b1d4cc7b462548285d282f6fbcda2bea641cc907f4e1136ca242" + }, + "usd_path": "batch21/D00495 Lid Bowl/IsaacSim_assets_6a6c33d5cb2d3efc65b558bc/IsaacSim_asset_6a6c33d5cb2d3efc65b558bc.usd", + "usd_sha256": "f03aca62afb7b6aea1e8e098728fb80a9effb8aa898c2f95843986f4ba8dc8b4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -132,22 +158,56 @@ 0.14750199764966965, 0.14738500118255615, 0.10673800320364535 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f03aca62afb7b6aea1e8e098728fb80a9effb8aa898c2f95843986f4ba8dc8b4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6 + "value_kg": 0.6000000089406967, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f03aca62afb7b6aea1e8e098728fb80a9effb8aa898c2f95843986f4ba8dc8b4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6000000089406967, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 42, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f03aca62afb7b6aea1e8e098728fb80a9effb8aa898c2f95843986f4ba8dc8b4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 42, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f03aca62afb7b6aea1e8e098728fb80a9effb8aa898c2f95843986f4ba8dc8b4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00525 Milk Jug Glass Jar/IsaacSim_assets_6a6c2fd9cb2d3efc65b4341b/physics_6a6c2fd9cb2d3efc65b4341b.json b/batch21/D00525 Milk Jug Glass Jar/IsaacSim_assets_6a6c2fd9cb2d3efc65b4341b/physics_6a6c2fd9cb2d3efc65b4341b.json index a1b3ed5fa477c3379e9a9e4a26d937ea3ae4d199..16397736f21f891bec1648805c1d8d4ca0b5fc5b 100644 --- a/batch21/D00525 Milk Jug Glass Jar/IsaacSim_assets_6a6c2fd9cb2d3efc65b4341b/physics_6a6c2fd9cb2d3efc65b4341b.json +++ b/batch21/D00525 Milk Jug Glass Jar/IsaacSim_assets_6a6c2fd9cb2d3efc65b4341b/physics_6a6c2fd9cb2d3efc65b4341b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04259200021624565, - 0.0426350012421608, - 0.17696574330329895 - ], "min": [ -0.042803000658750534, -0.042750000953674316, 0.0009617501054890454 ], + "max": [ + 0.04259200021624565, + 0.0426350012421608, + 0.17696574330329895 + ], "size": [ 0.08539500087499619, 0.08538500219583511, 0.1760039931978099 - ] + ], + "units": "m" }, "description": "D00525 Milk Jug Glass Jar", "name": "D00525 Milk Jug Glass Jar", "object_type": "rigid_bodies", - "total_mass": 0.2975 + "total_mass": 0.29750001430511475, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00525", "parts": [ { "bounds": { - "center": [ - -0.0001055002212524414, - -5.7499855756759644e-05, - 0.088963746704394 + "min": [ + -0.042803000658750534, + -0.042750000953674316, + 0.0009617501054890454 ], "max": [ 0.04259200021624565, 0.0426350012421608, 0.17696574330329895 ], - "min": [ - -0.042803000658750534, - -0.042750000953674316, - 0.0009617501054890454 - ] + "size": [ + 0.08539500087499619, + 0.08538500219583511, + 0.1760039931978099 + ], + "units": "m" }, "center_of_mass": [ -0.00011157213157275692, @@ -59,7 +65,7 @@ 0.0008125087479129434, 0.0008131356444209814 ], - "mass": 0.2975, + "mass": 0.29750001430511475, "material": "ceramic", "name": "D00525 Milk Jug Glass Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00525 Milk Jug Glass Jar", "part_name": "D00525 Milk Jug Glass Jar" }, - "volume": 0.0001190000057220459 + "volume": 0.0001190000057220459, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "01a533b45e8f138b78c895afb7cf428705d588bc63411d650cda712e1fe1a9d8" + }, + "usd_path": "batch21/D00525 Milk Jug Glass Jar/IsaacSim_assets_6a6c2fd9cb2d3efc65b4341b/IsaacSim_asset_6a6c2fd9cb2d3efc65b4341b.usd", + "usd_sha256": "6332c401f1d470e44962324c3e47bfacec53d59d851c0557c683ca89c35acc71", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08539500087499619, 0.08538500219583511, 0.1760039931978099 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6332c401f1d470e44962324c3e47bfacec53d59d851c0557c683ca89c35acc71", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2975 + "value_kg": 0.29750001430511475, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6332c401f1d470e44962324c3e47bfacec53d59d851c0557c683ca89c35acc71", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.29750001430511475, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6332c401f1d470e44962324c3e47bfacec53d59d851c0557c683ca89c35acc71", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6332c401f1d470e44962324c3e47bfacec53d59d851c0557c683ca89c35acc71", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00534 Mortar Bowl/IsaacSim_assets_6a71bd7d5d45b936d621f9c9/physics_6a71bd7d5d45b936d621f9c9.json b/batch21/D00534 Mortar Bowl/IsaacSim_assets_6a71bd7d5d45b936d621f9c9/physics_6a71bd7d5d45b936d621f9c9.json index f2507431d3c419fd3d40ee59d0670290edf669ed..cb7300055b19c54b0e9f244273eec18100624d5a 100644 --- a/batch21/D00534 Mortar Bowl/IsaacSim_assets_6a71bd7d5d45b936d621f9c9/physics_6a71bd7d5d45b936d621f9c9.json +++ b/batch21/D00534 Mortar Bowl/IsaacSim_assets_6a71bd7d5d45b936d621f9c9/physics_6a71bd7d5d45b936d621f9c9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07826799899339676, - 0.07782600075006485, - 0.08132631331682205 - ], "min": [ -0.07762199640274048, -0.07814399898052216, 0.0008433102630078793 ], + "max": [ + 0.07826799899339676, + 0.07782600075006485, + 0.08132631331682205 + ], "size": [ 0.15588999539613724, 0.155969999730587, 0.08048300305381417 - ] + ], + "units": "m" }, "description": "D00534 Mortar Bowl", "name": "D00534 Mortar Bowl", "object_type": "rigid_bodies", - "total_mass": 2.5 + "total_mass": 2.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00534", "parts": [ { "bounds": { - "center": [ - 0.00032300129532814026, - -0.00015899911522865295, - 0.041084811789914966 + "min": [ + -0.07762199640274048, + -0.07814399898052216, + 0.0008433102630078793 ], "max": [ 0.07826799899339676, 0.07782600075006485, 0.08132631331682205 ], - "min": [ - -0.07762199640274048, - -0.07814399898052216, - 0.0008433102630078793 - ] + "size": [ + 0.15588999539613724, + 0.155969999730587, + 0.08048300305381417 + ], + "units": "m" }, "center_of_mass": [ 0.0004966440610587597, @@ -67,10 +73,27 @@ "object_name": "D00534 Mortar Bowl", "part_name": "D00534 Mortar Bowl" }, - "volume": 0.000925925925925926 + "volume": 0.000925925925925926, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0e486c656dcc1071e0329dfbe67715c17d8429dce165417c995190b7f3537e08" + }, + "usd_path": "batch21/D00534 Mortar Bowl/IsaacSim_assets_6a71bd7d5d45b936d621f9c9/IsaacSim_asset_6a71bd7d5d45b936d621f9c9.usd", + "usd_sha256": "42a703f81c3537289a672d2ce81c7aa2df82a9919b3d57ea520ab91d33b13e59", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.15588999539613724, 0.155969999730587, 0.08048300305381417 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "42a703f81c3537289a672d2ce81c7aa2df82a9919b3d57ea520ab91d33b13e59", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.5 + "value_kg": 2.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "42a703f81c3537289a672d2ce81c7aa2df82a9919b3d57ea520ab91d33b13e59", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 28, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "42a703f81c3537289a672d2ce81c7aa2df82a9919b3d57ea520ab91d33b13e59", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 28, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "42a703f81c3537289a672d2ce81c7aa2df82a9919b3d57ea520ab91d33b13e59", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00584 Paper Bag/IsaacSim_assets_6a6c281ccb2d3efc65b18b3e/physics_6a6c281ccb2d3efc65b18b3e.json b/batch21/D00584 Paper Bag/IsaacSim_assets_6a6c281ccb2d3efc65b18b3e/physics_6a6c281ccb2d3efc65b18b3e.json index 995025032761b92c942bd26d7419c8aa481715b1..d561c9fe6214d9777a7516f65c444c811315106b 100644 --- a/batch21/D00584 Paper Bag/IsaacSim_assets_6a6c281ccb2d3efc65b18b3e/physics_6a6c281ccb2d3efc65b18b3e.json +++ b/batch21/D00584 Paper Bag/IsaacSim_assets_6a6c281ccb2d3efc65b18b3e/physics_6a6c281ccb2d3efc65b18b3e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14159399271011353, - 0.09917200356721878, - 0.43177127838134766 - ], "min": [ -0.14136099815368652, -0.09655000269412994, 0.001103291637264192 ], + "max": [ + 0.14159399271011353, + 0.09917200356721878, + 0.43177127838134766 + ], "size": [ 0.28295499086380005, 0.19572200626134872, 0.43066798674408346 - ] + ], + "units": "m" }, "description": "D00584 Paper Bag", "name": "D00584 Paper Bag", "object_type": "rigid_bodies", - "total_mass": 0.06 + "total_mass": 0.05999999865889549, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00584", "parts": [ { "bounds": { - "center": [ - 0.00011649727821350098, - 0.0013110004365444183, - 0.21643728500930592 + "min": [ + -0.14136099815368652, + -0.09655000269412994, + 0.001103291637264192 ], "max": [ 0.14159399271011353, 0.09917200356721878, 0.43177127838134766 ], - "min": [ - -0.14136099815368652, - -0.09655000269412994, - 0.001103291637264192 - ] + "size": [ + 0.28295499086380005, + 0.19572200626134872, + 0.43066798674408346 + ], + "units": "m" }, "center_of_mass": [ -0.0005559379351325333, @@ -59,7 +65,7 @@ 0.0013923929072916508, 0.0016352591337636113 ], - "mass": 0.06, + "mass": 0.05999999865889549, "material": "generic", "name": "D00584 Paper Bag", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00584 Paper Bag", "part_name": "D00584 Paper Bag" }, - "volume": 0.0222222213330583 + "volume": 0.0222222213330583, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "69f890f9be5ff00e35e2f936ae8ca8622a5c2fc535a2126c5e1f077b3d3178f4" + }, + "usd_path": "batch21/D00584 Paper Bag/IsaacSim_assets_6a6c281ccb2d3efc65b18b3e/IsaacSim_asset_6a6c281ccb2d3efc65b18b3e.usd", + "usd_sha256": "79dbba026ee7cb7afd5aace5e2123a1793b13d6d136cb14bd8b4ba8fcbf68048", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.28295499086380005, 0.19572200626134872, 0.43066798674408346 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "79dbba026ee7cb7afd5aace5e2123a1793b13d6d136cb14bd8b4ba8fcbf68048", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.06 + "value_kg": 0.05999999865889549, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "79dbba026ee7cb7afd5aace5e2123a1793b13d6d136cb14bd8b4ba8fcbf68048", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05999999865889549, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 105, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "79dbba026ee7cb7afd5aace5e2123a1793b13d6d136cb14bd8b4ba8fcbf68048", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 105, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "79dbba026ee7cb7afd5aace5e2123a1793b13d6d136cb14bd8b4ba8fcbf68048", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00599 Pen Holder/IsaacSim_assets_6a6c2693cb2d3efc65b121a6/physics_6a6c2693cb2d3efc65b121a6.json b/batch21/D00599 Pen Holder/IsaacSim_assets_6a6c2693cb2d3efc65b121a6/physics_6a6c2693cb2d3efc65b121a6.json index 30074d633b99bea7b42690e477242ea94fd9a1c4..d519da19159e2fbd580e8e02d1ac65522f80622f 100644 --- a/batch21/D00599 Pen Holder/IsaacSim_assets_6a6c2693cb2d3efc65b121a6/physics_6a6c2693cb2d3efc65b121a6.json +++ b/batch21/D00599 Pen Holder/IsaacSim_assets_6a6c2693cb2d3efc65b121a6/physics_6a6c2693cb2d3efc65b121a6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03798599913716316, - 0.037765998393297195, - 0.08793558180332184 - ], "min": [ -0.0377889983355999, -0.037804000079631805, 0.0006685829721391201 ], + "max": [ + 0.03798599913716316, + 0.037765998393297195, + 0.08793558180332184 + ], "size": [ 0.07577499747276306, 0.075569998472929, 0.08726699883118272 - ] + ], + "units": "m" }, "description": "D00599 Pen Holder", "name": "D00599 Pen Holder", "object_type": "rigid_bodies", - "total_mass": 0.08 + "total_mass": 0.07999999821186066, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00599", "parts": [ { "bounds": { - "center": [ - 9.850040078163147e-05, - -1.9000843167304993e-05, - 0.04430208238773048 + "min": [ + -0.0377889983355999, + -0.037804000079631805, + 0.0006685829721391201 ], "max": [ 0.03798599913716316, 0.037765998393297195, 0.08793558180332184 ], - "min": [ - -0.0377889983355999, - -0.037804000079631805, - 0.0006685829721391201 - ] + "size": [ + 0.07577499747276306, + 0.075569998472929, + 0.08726699883118272 + ], + "units": "m" }, "center_of_mass": [ 0.00014935879153199494, @@ -59,7 +65,7 @@ 7.773926336085424e-05, 7.785230263834819e-05 ], - "mass": 0.08, + "mass": 0.07999999821186066, "material": "plastic", "name": "D00599 Pen Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00599 Pen Holder", "part_name": "D00599 Pen Holder" }, - "volume": 7.999999821186065e-05 + "volume": 7.999999821186065e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e511689da5add567c98243fcd40f9b798f77d39606b635ef7fd9b1bf47032d84" + }, + "usd_path": "batch21/D00599 Pen Holder/IsaacSim_assets_6a6c2693cb2d3efc65b121a6/IsaacSim_asset_6a6c2693cb2d3efc65b121a6.usd", + "usd_sha256": "0b45328daf80d474925af18efb75fcd7b5a7e1c55a52d1df70b5c4dec863b487", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.07577499747276306, 0.075569998472929, 0.08726699883118272 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0b45328daf80d474925af18efb75fcd7b5a7e1c55a52d1df70b5c4dec863b487", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.08 + "value_kg": 0.07999999821186066, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0b45328daf80d474925af18efb75fcd7b5a7e1c55a52d1df70b5c4dec863b487", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07999999821186066, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 122, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0b45328daf80d474925af18efb75fcd7b5a7e1c55a52d1df70b5c4dec863b487", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 122, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0b45328daf80d474925af18efb75fcd7b5a7e1c55a52d1df70b5c4dec863b487", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00600 Pencil Holder/IsaacSim_assets_6a6c2687cb2d3efc65b11e4e/physics_6a6c2687cb2d3efc65b11e4e.json b/batch21/D00600 Pencil Holder/IsaacSim_assets_6a6c2687cb2d3efc65b11e4e/physics_6a6c2687cb2d3efc65b11e4e.json index 6e221227e19c094feb3d71a96e22e116edc28742..1c2d00f14cdd7eb16d3e44edbd010832d0978568 100644 --- a/batch21/D00600 Pencil Holder/IsaacSim_assets_6a6c2687cb2d3efc65b11e4e/physics_6a6c2687cb2d3efc65b11e4e.json +++ b/batch21/D00600 Pencil Holder/IsaacSim_assets_6a6c2687cb2d3efc65b11e4e/physics_6a6c2687cb2d3efc65b11e4e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03835500031709671, - 0.0386740006506443, - 0.09652925282716751 - ], "min": [ -0.0385419987142086, -0.03840000182390213, 0.0003192500153090805 ], + "max": [ + 0.03835500031709671, + 0.0386740006506443, + 0.09652925282716751 + ], "size": [ 0.07689699903130531, 0.07707400247454643, 0.09621000281185843 - ] + ], + "units": "m" }, "description": "D00600 Pencil Holder", "name": "D00600 Pencil Holder", "object_type": "rigid_bodies", - "total_mass": 0.041 + "total_mass": 0.04100000113248825, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00600", "parts": [ { "bounds": { - "center": [ - -9.349919855594635e-05, - 0.00013699941337108612, - 0.048424251421238296 + "min": [ + -0.0385419987142086, + -0.03840000182390213, + 0.0003192500153090805 ], "max": [ 0.03835500031709671, 0.0386740006506443, 0.09652925282716751 ], - "min": [ - -0.0385419987142086, - -0.03840000182390213, - 0.0003192500153090805 - ] + "size": [ + 0.07689699903130531, + 0.07707400247454643, + 0.09621000281185843 + ], + "units": "m" }, "center_of_mass": [ -9.688013233244419e-05, @@ -59,7 +65,7 @@ 4.626204099622555e-05, 4.626600639312528e-05 ], - "mass": 0.041, + "mass": 0.04100000113248825, "material": "plastic", "name": "D00600 Pencil Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00600 Pencil Holder", "part_name": "D00600 Pencil Holder" }, - "volume": 3.904762012617929e-05 + "volume": 3.904762012617929e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "561c78d1fc13235cd037618ab1bc869c6e611d497b5ef1e473030e830a121a13" + }, + "usd_path": "batch21/D00600 Pencil Holder/IsaacSim_assets_6a6c2687cb2d3efc65b11e4e/IsaacSim_asset_6a6c2687cb2d3efc65b11e4e.usd", + "usd_sha256": "73739b51213ec2e28e3390735b7d67e01ca32902d8b84d7c868e098480a974ef", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.07689699903130531, 0.07707400247454643, 0.09621000281185843 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "73739b51213ec2e28e3390735b7d67e01ca32902d8b84d7c868e098480a974ef", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.041 + "value_kg": 0.04100000113248825, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "73739b51213ec2e28e3390735b7d67e01ca32902d8b84d7c868e098480a974ef", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04100000113248825, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 106, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "73739b51213ec2e28e3390735b7d67e01ca32902d8b84d7c868e098480a974ef", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 106, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "73739b51213ec2e28e3390735b7d67e01ca32902d8b84d7c868e098480a974ef", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00734 Small Jar/IsaacSim_assets_6a72dd425d45b936d6309a2b/physics_6a72dd425d45b936d6309a2b.json b/batch21/D00734 Small Jar/IsaacSim_assets_6a72dd425d45b936d6309a2b/physics_6a72dd425d45b936d6309a2b.json index f6ca2d746bc63dae0b261a00de4df871e28d4cb4..19af3be0cd3f4bcbae908c840eb688b35174ed3e 100644 --- a/batch21/D00734 Small Jar/IsaacSim_assets_6a72dd425d45b936d6309a2b/physics_6a72dd425d45b936d6309a2b.json +++ b/batch21/D00734 Small Jar/IsaacSim_assets_6a72dd425d45b936d6309a2b/physics_6a72dd425d45b936d6309a2b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0355370007455349, - 0.03550099954009056, - 0.05822589993476868 - ], "min": [ -0.03550200164318085, -0.03548000007867813, 0.0003139000036753714 ], + "max": [ + 0.0355370007455349, + 0.03550099954009056, + 0.05822589993476868 + ], "size": [ 0.07103900238871574, 0.07098099961876869, 0.057911999931093305 - ] + ], + "units": "m" }, "description": "D00734 Small Jar", "name": "D00734 Small Jar", "object_type": "rigid_bodies", - "total_mass": 0.041 + "total_mass": 0.04100000113248825, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00734", "parts": [ { "bounds": { - "center": [ - 1.749955117702484e-05, - 1.0499730706214905e-05, - 0.029269899969222024 + "min": [ + -0.03550200164318085, + -0.03548000007867813, + 0.0003139000036753714 ], "max": [ 0.0355370007455349, 0.03550099954009056, 0.05822589993476868 ], - "min": [ - -0.03550200164318085, - -0.03548000007867813, - 0.0003139000036753714 - ] + "size": [ + 0.07103900238871574, + 0.07098099961876869, + 0.057911999931093305 + ], + "units": "m" }, "center_of_mass": [ -1.0743081475084182e-05, @@ -59,7 +65,7 @@ 2.3504882847191766e-05, 2.5114188247243874e-05 ], - "mass": 0.041, + "mass": 0.04100000113248825, "material": "ceramic", "name": "D00734 Small Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00734 Small Jar", "part_name": "D00734 Small Jar" }, - "volume": 1.64000004529953e-05 + "volume": 1.64000004529953e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "354796aa494c0b0672c0d473ad3cf498b4994068edf6c04813b2945faa70b293" + }, + "usd_path": "batch21/D00734 Small Jar/IsaacSim_assets_6a72dd425d45b936d6309a2b/IsaacSim_asset_6a72dd425d45b936d6309a2b.usd", + "usd_sha256": "52685ad23c686cab0a139fe46500c6a36ba1aa6b812740500bf1308b213418ce", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.07103900238871574, 0.07098099961876869, 0.057911999931093305 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52685ad23c686cab0a139fe46500c6a36ba1aa6b812740500bf1308b213418ce", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.041 + "value_kg": 0.04100000113248825, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52685ad23c686cab0a139fe46500c6a36ba1aa6b812740500bf1308b213418ce", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04100000113248825, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 36, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52685ad23c686cab0a139fe46500c6a36ba1aa6b812740500bf1308b213418ce", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 36, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52685ad23c686cab0a139fe46500c6a36ba1aa6b812740500bf1308b213418ce", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00735 Small_Pot/IsaacSim_assets_6a72dd3a5d45b936d6309795/physics_6a72dd3a5d45b936d6309795.json b/batch21/D00735 Small_Pot/IsaacSim_assets_6a72dd3a5d45b936d6309795/physics_6a72dd3a5d45b936d6309795.json index a60e3f2f6983c417eb0d929b36007df3a04b4c92..cc1d91ee6c811e46ae9c78af99d73b10cad02e9d 100644 --- a/batch21/D00735 Small_Pot/IsaacSim_assets_6a72dd3a5d45b936d6309795/physics_6a72dd3a5d45b936d6309795.json +++ b/batch21/D00735 Small_Pot/IsaacSim_assets_6a72dd3a5d45b936d6309795/physics_6a72dd3a5d45b936d6309795.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11190400272607803, - 0.07259000092744827, - 0.09264910966157913 - ], "min": [ -0.11109700053930283, -0.07211799919605255, 0.0011921098921447992 ], + "max": [ + 0.11190400272607803, + 0.07259000092744827, + 0.09264910966157913 + ], "size": [ 0.22300100326538086, 0.14470800012350082, 0.09145699976943433 - ] + ], + "units": "m" }, "description": "D00735 Small Pot", "name": "D00735 Small Pot", "object_type": "rigid_bodies", - "total_mass": 1.4 + "total_mass": 1.399999976158142, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00735", "parts": [ { "bounds": { - "center": [ - 0.00040350109338760376, - 0.00023600086569786072, - 0.046920609776861966 + "min": [ + -0.11109700053930283, + -0.07211799919605255, + 0.0011921098921447992 ], "max": [ 0.11190400272607803, 0.07259000092744827, 0.09264910966157913 ], - "min": [ - -0.11109700053930283, - -0.07211799919605255, - 0.0011921098921447992 - ] + "size": [ + 0.22300100326538086, + 0.14470800012350082, + 0.09145699976943433 + ], + "units": "m" }, "center_of_mass": [ 0.0004206762823741883, @@ -59,7 +65,7 @@ 0.00395630719140172, 0.004575156141072512 ], - "mass": 1.4, + "mass": 1.399999976158142, "material": "metal", "name": "D00735 Small Pot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00735 Small Pot", "part_name": "D00735 Small Pot" }, - "volume": 0.00017499999701976775 + "volume": 0.00017499999701976775, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "08608d72021706b75a671590bbdf0df29cf46312e64d32ecae8dd72fee078d3b" + }, + "usd_path": "batch21/D00735 Small_Pot/IsaacSim_assets_6a72dd3a5d45b936d6309795/IsaacSim_asset_6a72dd3a5d45b936d6309795.usd", + "usd_sha256": "64fd3b5bc49a8b2c8b6e0d0553e0f6eeb875c8e888d457e71a7ca3f8d73771e9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.22300100326538086, 0.14470800012350082, 0.09145699976943433 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64fd3b5bc49a8b2c8b6e0d0553e0f6eeb875c8e888d457e71a7ca3f8d73771e9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.4 + "value_kg": 1.399999976158142, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64fd3b5bc49a8b2c8b6e0d0553e0f6eeb875c8e888d457e71a7ca3f8d73771e9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.399999976158142, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 38, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64fd3b5bc49a8b2c8b6e0d0553e0f6eeb875c8e888d457e71a7ca3f8d73771e9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 38, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64fd3b5bc49a8b2c8b6e0d0553e0f6eeb875c8e888d457e71a7ca3f8d73771e9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00762 Spice Container Bowl/IsaacSim_assets_6a72da025d45b936d63002df/physics_6a72da025d45b936d63002df.json b/batch21/D00762 Spice Container Bowl/IsaacSim_assets_6a72da025d45b936d63002df/physics_6a72da025d45b936d63002df.json index f8d9b1957bc7f106ea5cc4235a25cb37206ef340..d90c3f15cf0487e67c76c5a53b1dbc60cc5d1177 100644 --- a/batch21/D00762 Spice Container Bowl/IsaacSim_assets_6a72da025d45b936d63002df/physics_6a72da025d45b936d63002df.json +++ b/batch21/D00762 Spice Container Bowl/IsaacSim_assets_6a72da025d45b936d63002df/physics_6a72da025d45b936d63002df.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1676889955997467, - 0.16747799515724182, - 0.20281380414962769 - ], "min": [ -0.1681160032749176, -0.1670369952917099, 0.0017047998262569308 ], + "max": [ + 0.1676889955997467, + 0.16747799515724182, + 0.20281380414962769 + ], "size": [ 0.3358049988746643, 0.3345149904489517, 0.20110900432337075 - ] + ], + "units": "m" }, "description": "D00762 Spice Container Bowl", "name": "D00762 Spice Container Bowl", "object_type": "rigid_bodies", - "total_mass": 10.0 + "total_mass": 10.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00762", "parts": [ { "bounds": { - "center": [ - -0.00021350383758544922, - 0.0002204999327659607, - 0.10225930198794231 + "min": [ + -0.1681160032749176, + -0.1670369952917099, + 0.0017047998262569308 ], "max": [ 0.1676889955997467, 0.16747799515724182, 0.20281380414962769 ], - "min": [ - -0.1681160032749176, - -0.1670369952917099, - 0.0017047998262569308 - ] + "size": [ + 0.3358049988746643, + 0.3345149904489517, + 0.20110900432337075 + ], + "units": "m" }, "center_of_mass": [ -0.0002888639864977449, @@ -67,10 +73,27 @@ "object_name": "D00762 Spice Container Bowl", "part_name": "D00762 Spice Container Bowl" }, - "volume": 0.0012658227848101266 + "volume": 0.0012658227848101266, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e93aed68c5ee74696aff8078c4ebe4e147cc80b531edec5e3ce0a82bb8650d8f" + }, + "usd_path": "batch21/D00762 Spice Container Bowl/IsaacSim_assets_6a72da025d45b936d63002df/IsaacSim_asset_6a72da025d45b936d63002df.usd", + "usd_sha256": "31a1615b86ac115760877e9ad1de481d952ee58245655aecd97f2904e8137332", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.3358049988746643, 0.3345149904489517, 0.20110900432337075 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31a1615b86ac115760877e9ad1de481d952ee58245655aecd97f2904e8137332", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 10.0 + "value_kg": 10.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31a1615b86ac115760877e9ad1de481d952ee58245655aecd97f2904e8137332", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 10.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 37, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31a1615b86ac115760877e9ad1de481d952ee58245655aecd97f2904e8137332", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 37, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "31a1615b86ac115760877e9ad1de481d952ee58245655aecd97f2904e8137332", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00769 Spice Rack/IsaacSim_assets_6a72d79a5d45b936d62f772e/physics_6a72d79a5d45b936d62f772e.json b/batch21/D00769 Spice Rack/IsaacSim_assets_6a72d79a5d45b936d62f772e/physics_6a72d79a5d45b936d62f772e.json index 5c7b0b76adc82afca4936aa22fa5be573571261d..cc3b00bd86a4050fdcdb4a6543e766ed73e0d382 100644 --- a/batch21/D00769 Spice Rack/IsaacSim_assets_6a72d79a5d45b936d62f772e/physics_6a72d79a5d45b936d62f772e.json +++ b/batch21/D00769 Spice Rack/IsaacSim_assets_6a72d79a5d45b936d62f772e/physics_6a72d79a5d45b936d62f772e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15770399570465088, - 0.039062000811100006, - 0.3155055046081543 - ], "min": [ -0.15524700284004211, -0.03936399891972542, 0.001678517903201282 ], + "max": [ + 0.15770399570465088, + 0.039062000811100006, + 0.3155055046081543 + ], "size": [ 0.312950998544693, 0.07842599973082542, 0.313826986704953 - ] + ], + "units": "m" }, "description": "D00769 Spice Rack", "name": "D00769 Spice Rack", "object_type": "rigid_bodies", - "total_mass": 2.5 + "total_mass": 2.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00769", "parts": [ { "bounds": { - "center": [ - 0.0012284964323043823, - -0.000150999054312706, - 0.1585920112556778 + "min": [ + -0.15524700284004211, + -0.03936399891972542, + 0.001678517903201282 ], "max": [ 0.15770399570465088, 0.039062000811100006, 0.3155055046081543 ], - "min": [ - -0.15524700284004211, - -0.03936399891972542, - 0.001678517903201282 - ] + "size": [ + 0.312950998544693, + 0.07842599973082542, + 0.313826986704953 + ], + "units": "m" }, "center_of_mass": [ 0.001260019140318036, @@ -67,10 +73,27 @@ "object_name": "D00769 Spice Rack", "part_name": "D00769 Spice Rack" }, - "volume": 0.0035714285714285713 + "volume": 0.0035714285714285713, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "15b1f3a7faa0cf487ecdc3d796aab2f56fd3072194e8a38f74275d4da9f8738a" + }, + "usd_path": "batch21/D00769 Spice Rack/IsaacSim_assets_6a72d79a5d45b936d62f772e/IsaacSim_asset_6a72d79a5d45b936d62f772e.usd", + "usd_sha256": "3899ca7d75ab895fdd2415e039ea65dee74a34c58cc8fb173898499fc3e2cea1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.312950998544693, 0.07842599973082542, 0.313826986704953 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3899ca7d75ab895fdd2415e039ea65dee74a34c58cc8fb173898499fc3e2cea1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.5 + "value_kg": 2.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3899ca7d75ab895fdd2415e039ea65dee74a34c58cc8fb173898499fc3e2cea1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 22, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3899ca7d75ab895fdd2415e039ea65dee74a34c58cc8fb173898499fc3e2cea1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 22, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3899ca7d75ab895fdd2415e039ea65dee74a34c58cc8fb173898499fc3e2cea1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00777 Spoon Holder/IsaacSim_assets_6a72d7725d45b936d62f6ccb/physics_6a72d7725d45b936d62f6ccb.json b/batch21/D00777 Spoon Holder/IsaacSim_assets_6a72d7725d45b936d62f6ccb/physics_6a72d7725d45b936d62f6ccb.json index 588a87d51499b6966bea04a0f9a5d8fa081fb48a..48854ec7ca2a992c6a4c7c3fe7d0df4752226b42 100644 --- a/batch21/D00777 Spoon Holder/IsaacSim_assets_6a72d7725d45b936d62f6ccb/physics_6a72d7725d45b936d62f6ccb.json +++ b/batch21/D00777 Spoon Holder/IsaacSim_assets_6a72d7725d45b936d62f6ccb/physics_6a72d7725d45b936d62f6ccb.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04873799905180931, - 0.08677799999713898, - 0.03922500088810921 - ], "min": [ -0.04893999919295311, -0.06998500227928162, 0.0 ], + "max": [ + 0.04873799905180931, + 0.08677799999713898, + 0.03922500088810921 + ], "size": [ 0.09767799824476242, 0.1567630022764206, 0.03922500088810921 - ] + ], + "units": "m" }, "description": "D00777 Spoon Holder", "name": "D00777 Spoon Holder", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00777", "parts": [ { "bounds": { - "center": [ - -0.00010100007057189941, - 0.00839649885892868, - 0.019612500444054604 + "min": [ + -0.04893999919295311, + -0.06998500227928162, + 0.0 ], "max": [ 0.04873799905180931, 0.08677799999713898, 0.03922500088810921 ], - "min": [ - -0.04893999919295311, - -0.06998500227928162, - 0.0 - ] + "size": [ + 0.09767799824476242, + 0.1567630022764206, + 0.03922500088810921 + ], + "units": "m" }, "center_of_mass": [ -9.195441089104861e-05, @@ -67,10 +73,27 @@ "object_name": "D00777 Spoon Holder", "part_name": "D00777 Spoon Holder" }, - "volume": 0.00010416666666666667 + "volume": 0.00010416666666666667, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "40471dee06de389e9ff418241b26682f288a99925e2f6ffb8d4b28af4f6ed052" + }, + "usd_path": "batch21/D00777 Spoon Holder/IsaacSim_assets_6a72d7725d45b936d62f6ccb/IsaacSim_asset_6a72d7725d45b936d62f6ccb.usd", + "usd_sha256": "6a52a23b3ee1bfdc7c7224a4479e7d9917742a13a1fe2fc243ac5a60c6401876", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.09767799824476242, 0.1567630022764206, 0.03922500088810921 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6a52a23b3ee1bfdc7c7224a4479e7d9917742a13a1fe2fc243ac5a60c6401876", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6a52a23b3ee1bfdc7c7224a4479e7d9917742a13a1fe2fc243ac5a60c6401876", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 16, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6a52a23b3ee1bfdc7c7224a4479e7d9917742a13a1fe2fc243ac5a60c6401876", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 16, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6a52a23b3ee1bfdc7c7224a4479e7d9917742a13a1fe2fc243ac5a60c6401876", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00803 Stainless Steel Pitcher/IsaacSim_assets_6a72b8f95d45b936d62db68c/physics_6a72b8f95d45b936d62db68c.json b/batch21/D00803 Stainless Steel Pitcher/IsaacSim_assets_6a72b8f95d45b936d62db68c/physics_6a72b8f95d45b936d62db68c.json index d298773c131b1960dbe64f265fb58d25e35b1e08..3a3c51e348a3c8acbac67148294a92f1d724d89c 100644 --- a/batch21/D00803 Stainless Steel Pitcher/IsaacSim_assets_6a72b8f95d45b936d62db68c/physics_6a72b8f95d45b936d62db68c.json +++ b/batch21/D00803 Stainless Steel Pitcher/IsaacSim_assets_6a72b8f95d45b936d62db68c/physics_6a72b8f95d45b936d62db68c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0831179991364479, - 0.05142199993133545, - 0.12842705845832825 - ], "min": [ -0.05605199933052063, -0.05180700123310089, 0.0007380599854514003 ], + "max": [ + 0.0831179991364479, + 0.05142199993133545, + 0.12842705845832825 + ], "size": [ 0.13916999846696854, 0.10322900116443634, 0.12768899847287685 - ] + ], + "units": "m" }, "description": "D00803 Stainless Steel Pitcher", "name": "D00803 Stainless Steel Pitcher", "object_type": "rigid_bodies", - "total_mass": 0.81 + "total_mass": 0.8100000023841858, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00803", "parts": [ { "bounds": { - "center": [ - 0.013532999902963638, - -0.00019250065088272095, - 0.06458255922188982 + "min": [ + -0.05605199933052063, + -0.05180700123310089, + 0.0007380599854514003 ], "max": [ 0.0831179991364479, 0.05142199993133545, 0.12842705845832825 ], - "min": [ - -0.05605199933052063, - -0.05180700123310089, - 0.0007380599854514003 - ] + "size": [ + 0.13916999846696854, + 0.10322900116443634, + 0.12768899847287685 + ], + "units": "m" }, "center_of_mass": [ 0.005018023774027824, @@ -59,7 +65,7 @@ 0.0014684860361739993, 0.0017876137280836701 ], - "mass": 0.81, + "mass": 0.8100000023841858, "material": "metal", "name": "D00803 Stainless Steel Pitcher", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00803 Stainless Steel Pitcher", "part_name": "D00803 Stainless Steel Pitcher" }, - "volume": 0.00010125000029802322 + "volume": 0.00010125000029802322, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "05900232cee47e7828a245730751573f392e956c0efbcd97cd53a21db85342fd" + }, + "usd_path": "batch21/D00803 Stainless Steel Pitcher/IsaacSim_assets_6a72b8f95d45b936d62db68c/IsaacSim_asset_6a72b8f95d45b936d62db68c.usd", + "usd_sha256": "5700726df811835a6a3556f0793671943203b246a223c3433098d350ddc6c840", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.13916999846696854, 0.10322900116443634, 0.12768899847287685 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5700726df811835a6a3556f0793671943203b246a223c3433098d350ddc6c840", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.81 + "value_kg": 0.8100000023841858, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5700726df811835a6a3556f0793671943203b246a223c3433098d350ddc6c840", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8100000023841858, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5700726df811835a6a3556f0793671943203b246a223c3433098d350ddc6c840", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5700726df811835a6a3556f0793671943203b246a223c3433098d350ddc6c840", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00811 Steel Bowl Pot/IsaacSim_assets_6a72b7f45d45b936d62d7fe4/physics_6a72b7f45d45b936d62d7fe4.json b/batch21/D00811 Steel Bowl Pot/IsaacSim_assets_6a72b7f45d45b936d62d7fe4/physics_6a72b7f45d45b936d62d7fe4.json index b912aa5564455e1cce8690ac06f9d1e2d69e8a50..8abaab7b6b15ae109b063656691d953acdbfc136 100644 --- a/batch21/D00811 Steel Bowl Pot/IsaacSim_assets_6a72b7f45d45b936d62d7fe4/physics_6a72b7f45d45b936d62d7fe4.json +++ b/batch21/D00811 Steel Bowl Pot/IsaacSim_assets_6a72b7f45d45b936d62d7fe4/physics_6a72b7f45d45b936d62d7fe4.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11400400102138519, - 0.11410199850797653, - 0.1190657690167427 - ], "min": [ -0.11405400186777115, -0.11360300332307816, 0.0012027700431644917 ], + "max": [ + 0.11400400102138519, + 0.11410199850797653, + 0.1190657690167427 + ], "size": [ 0.22805800288915634, 0.2277050018310547, 0.11786299897357821 - ] + ], + "units": "m" }, "description": "D00811 Steel Bowl Pot", "name": "D00811 Steel Bowl Pot", "object_type": "rigid_bodies", - "total_mass": 2.96 + "total_mass": 2.9600000381469727, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00811", "parts": [ { "bounds": { - "center": [ - -2.5000423192977905e-05, - 0.00024949759244918823, - 0.0601342695299536 + "min": [ + -0.11405400186777115, + -0.11360300332307816, + 0.0012027700431644917 ], "max": [ 0.11400400102138519, 0.11410199850797653, 0.1190657690167427 ], - "min": [ - -0.11405400186777115, - -0.11360300332307816, - 0.0012027700431644917 - ] + "size": [ + 0.22805800288915634, + 0.2277050018310547, + 0.11786299897357821 + ], + "units": "m" }, "center_of_mass": [ 3.790133268921636e-05, @@ -59,7 +65,7 @@ 0.018229542300105095, 0.02605465240776539 ], - "mass": 2.96, + "mass": 2.9600000381469727, "material": "metal", "name": "D00811 Steel Bowl Pot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00811 Steel Bowl Pot", "part_name": "D00811 Steel Bowl Pot" }, - "volume": 0.0003770700685537545 + "volume": 0.0003770700685537545, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7f0cc8b99d4e4bd30d817f99ecdc0d442b25ed706f96ff8e7593a148b0a47a66" + }, + "usd_path": "batch21/D00811 Steel Bowl Pot/IsaacSim_assets_6a72b7f45d45b936d62d7fe4/IsaacSim_asset_6a72b7f45d45b936d62d7fe4.usd", + "usd_sha256": "7d5c9bd9e80a7d0f9973d9c04322d27ff2ffaed4ebbd68fe954901ec9bd625e7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.22805800288915634, 0.2277050018310547, 0.11786299897357821 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d5c9bd9e80a7d0f9973d9c04322d27ff2ffaed4ebbd68fe954901ec9bd625e7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.96 + "value_kg": 2.9600000381469727, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d5c9bd9e80a7d0f9973d9c04322d27ff2ffaed4ebbd68fe954901ec9bd625e7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.9600000381469727, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 22, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d5c9bd9e80a7d0f9973d9c04322d27ff2ffaed4ebbd68fe954901ec9bd625e7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 22, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d5c9bd9e80a7d0f9973d9c04322d27ff2ffaed4ebbd68fe954901ec9bd625e7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00833 Sugar/IsaacSim_assets_6a72b24b5d45b936d62d07c6/physics_6a72b24b5d45b936d62d07c6.json b/batch21/D00833 Sugar/IsaacSim_assets_6a72b24b5d45b936d62d07c6/physics_6a72b24b5d45b936d62d07c6.json index d9db2e35f8fb740f5d374bcdfc872093e89c4b93..e13433ec5b10d046c837a1e356d6a61b77d2e14b 100644 --- a/batch21/D00833 Sugar/IsaacSim_assets_6a72b24b5d45b936d62d07c6/physics_6a72b24b5d45b936d62d07c6.json +++ b/batch21/D00833 Sugar/IsaacSim_assets_6a72b24b5d45b936d62d07c6/physics_6a72b24b5d45b936d62d07c6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.00849399995058775, - 0.008584000170230865, - 0.017057260498404503 - ], "min": [ -0.008500000461935997, -0.008239000104367733, 4.4260217691771686e-05 ], + "max": [ + 0.00849399995058775, + 0.008584000170230865, + 0.017057260498404503 + ], "size": [ 0.016994000412523746, 0.0168230002745986, 0.01701300028071273 - ] + ], + "units": "m" }, "description": "D00833 Sugar", "name": "D00833 Sugar", "object_type": "rigid_bodies", - "total_mass": 0.0041 + "total_mass": 0.004100000020116568, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00833", "parts": [ { "bounds": { - "center": [ - -3.000255674123764e-06, - 0.00017250003293156624, - 0.008550760358048137 + "min": [ + -0.008500000461935997, + -0.008239000104367733, + 4.4260217691771686e-05 ], "max": [ 0.00849399995058775, 0.008584000170230865, 0.017057260498404503 ], - "min": [ - -0.008500000461935997, - -0.008239000104367733, - 4.4260217691771686e-05 - ] + "size": [ + 0.016994000412523746, + 0.0168230002745986, + 0.01701300028071273 + ], + "units": "m" }, "center_of_mass": [ -1.3060707715339959e-05, @@ -59,7 +65,7 @@ 1.9263451633833029e-07, 1.9406859053106018e-07 ], - "mass": 0.0041, + "mass": 0.004100000020116568, "material": "wood", "name": "D00833 Sugar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00833 Sugar", "part_name": "D00833 Sugar" }, - "volume": 4.823529435431256e-06 + "volume": 4.823529435431256e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3e8c82cdac13d7db93977e13366512f62f3bdce74e80ad0624d2956193cab7fc" + }, + "usd_path": "batch21/D00833 Sugar/IsaacSim_assets_6a72b24b5d45b936d62d07c6/IsaacSim_asset_6a72b24b5d45b936d62d07c6.usd", + "usd_sha256": "9462ebb2c94f450c3c7cb1e1b1062aad67e212081a1a92c8439f23a541aec072", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.016994000412523746, 0.0168230002745986, 0.01701300028071273 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9462ebb2c94f450c3c7cb1e1b1062aad67e212081a1a92c8439f23a541aec072", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0041 + "value_kg": 0.004100000020116568, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9462ebb2c94f450c3c7cb1e1b1062aad67e212081a1a92c8439f23a541aec072", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.004100000020116568, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9462ebb2c94f450c3c7cb1e1b1062aad67e212081a1a92c8439f23a541aec072", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9462ebb2c94f450c3c7cb1e1b1062aad67e212081a1a92c8439f23a541aec072", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00931 Whisk Wooden/IsaacSim_assets_6a72a0185d45b936d62b1c79/physics_6a72a0185d45b936d62b1c79.json b/batch21/D00931 Whisk Wooden/IsaacSim_assets_6a72a0185d45b936d62b1c79/physics_6a72a0185d45b936d62b1c79.json index 1132739e8168e2cefddd4860d0626541cbe93d7b..f8b18e5bc4bea6163fa4dd1044e4ab7cc1b2706e 100644 --- a/batch21/D00931 Whisk Wooden/IsaacSim_assets_6a72a0185d45b936d62b1c79/physics_6a72a0185d45b936d62b1c79.json +++ b/batch21/D00931 Whisk Wooden/IsaacSim_assets_6a72a0185d45b936d62b1c79/physics_6a72a0185d45b936d62b1c79.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02432899922132492, - 0.18416699767112732, - 0.05209210142493248 - ], "min": [ -0.023300999775528908, -0.0983550027012825, 0.0008970998460426927 ], + "max": [ + 0.02432899922132492, + 0.18416699767112732, + 0.05209210142493248 + ], "size": [ 0.04762999899685383, 0.2825220003724098, 0.05119500157888979 - ] + ], + "units": "m" }, "description": "D00931 Whisk Wooden", "name": "D00931 Whisk Wooden", "object_type": "rigid_bodies", - "total_mass": 0.06 + "total_mass": 0.05999999865889549, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00931", "parts": [ { "bounds": { - "center": [ - 0.0005139997228980064, - 0.04290599748492241, - 0.026494600635487586 + "min": [ + -0.023300999775528908, + -0.0983550027012825, + 0.0008970998460426927 ], "max": [ 0.02432899922132492, 0.18416699767112732, 0.05209210142493248 ], - "min": [ - -0.023300999775528908, - -0.0983550027012825, - 0.0008970998460426927 - ] + "size": [ + 0.04762999899685383, + 0.2825220003724098, + 0.05119500157888979 + ], + "units": "m" }, "center_of_mass": [ 7.261782593559474e-05, @@ -59,7 +65,7 @@ 0.00032865413231775165, 0.0003298690135125071 ], - "mass": 0.06, + "mass": 0.05999999865889549, "material": "wood", "name": "D00931 Whisk Wooden", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00931 Whisk Wooden", "part_name": "D00931 Whisk Wooden" }, - "volume": 7.999999821186065e-05 + "volume": 7.999999821186065e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c2883d2ddc21c0f705b208f5252ceb35bcd747361505586741595ed6d3727954" + }, + "usd_path": "batch21/D00931 Whisk Wooden/IsaacSim_assets_6a72a0185d45b936d62b1c79/IsaacSim_asset_6a72a0185d45b936d62b1c79.usd", + "usd_sha256": "db8f0ee415744eb32d21c2c29e4734fa0ad20128a6cf4fa65de56b7f2cd5c563", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.04762999899685383, 0.2825220003724098, 0.05119500157888979 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db8f0ee415744eb32d21c2c29e4734fa0ad20128a6cf4fa65de56b7f2cd5c563", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.06 + "value_kg": 0.05999999865889549, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db8f0ee415744eb32d21c2c29e4734fa0ad20128a6cf4fa65de56b7f2cd5c563", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05999999865889549, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 44, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db8f0ee415744eb32d21c2c29e4734fa0ad20128a6cf4fa65de56b7f2cd5c563", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 44, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db8f0ee415744eb32d21c2c29e4734fa0ad20128a6cf4fa65de56b7f2cd5c563", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch21/D00972 Wooden Spatula Board/IsaacSim_assets_6a684360171604926a434b82/physics_6a684360171604926a434b82.json b/batch21/D00972 Wooden Spatula Board/IsaacSim_assets_6a684360171604926a434b82/physics_6a684360171604926a434b82.json index 0788d8a453a282e11282242e5482804953d63d2a..3b349a896b887f48a5d90d66aa786339b373f87b 100644 --- a/batch21/D00972 Wooden Spatula Board/IsaacSim_assets_6a684360171604926a434b82/physics_6a684360171604926a434b82.json +++ b/batch21/D00972 Wooden Spatula Board/IsaacSim_assets_6a684360171604926a434b82/physics_6a684360171604926a434b82.json @@ -1,65 +1,88 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06207200139761, - 0.176025003194809, - 0.016121309716254 - ], "min": [ - -0.062474001199007, + -0.062474001199007034, -0.135453999042511, - 0.001147309963471 + 0.0011473099634713435 + ], + "max": [ + 0.06207200139760971, + 0.17602500319480896, + 0.016121309716254473 ], "size": [ - 0.124546002596617, + 0.12454600259661674, 0.31147900223731995, - 0.014973999752783 - ] + 0.01497399975278313 + ], + "units": "m" }, "description": "A rectangular wooden cutting board with rounded corners and a paddle-style handle featuring a hanging hole.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.30000001192092896, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00972", "parts": [ { "bounds": { - "center": [ - -0.000200999900699, - 0.020285502076149, - 0.008634309839863 + "min": [ + -0.062474001199007034, + -0.135453999042511, + 0.0011473099634713435 ], "max": [ - 0.06207200139761, - 0.176025003194809, - 0.016121309716254 + 0.06207200139760971, + 0.17602500319480896, + 0.016121309716254473 ], - "min": [ - -0.062474001199007, - -0.135453999042511, - 0.001147309963471 - ] + "size": [ + 0.12454600259661674, + 0.31147900223731995, + 0.01497399975278313 + ], + "units": "m" }, "collision": {}, "density": 700, "id": "part_00", - "mass": 0.3, + "mass": 0.30000001192092896, "material": "wood", "name": "generated reference 01", "physics_type": "rigid", "source": { "object_name": "generated reference 01", "part_name": "generated reference 01" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5865863a28b16c3614f74df098b0b328fc62f7920b6dcea18c26af8cb9b4a664" + }, + "usd_path": "batch21/D00972 Wooden Spatula Board/IsaacSim_assets_6a684360171604926a434b82/IsaacSim_asset_6a684360171604926a434b82.usd", + "usd_sha256": "0f08b3bb368a7625af39e8c008581f2ea7af1448a98255a34e34b8f1d8e9b696", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -77,25 +100,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.124546002596617, + 0.12454600259661674, 0.31147900223731995, - 0.014973999752783 - ] + 0.01497399975278313 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f08b3bb368a7625af39e8c008581f2ea7af1448a98255a34e34b8f1d8e9b696", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.30000001192092896, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f08b3bb368a7625af39e8c008581f2ea7af1448a98255a34e34b8f1d8e9b696", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.30000001192092896, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 7, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f08b3bb368a7625af39e8c008581f2ea7af1448a98255a34e34b8f1d8e9b696", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 7, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f08b3bb368a7625af39e8c008581f2ea7af1448a98255a34e34b8f1d8e9b696", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00059_Bowl_Cup_Bottle/IsaacSim_assets_6a7409a75d45b936d645bd70/physics_6a7409a75d45b936d645bd70.json b/batch22/D00059_Bowl_Cup_Bottle/IsaacSim_assets_6a7409a75d45b936d645bd70/physics_6a7409a75d45b936d645bd70.json index 2631a801810525399e7f32dc2d59e9194fe4b7f5..c3c164edee942c3cf4debd403a088c92813d64c9 100644 --- a/batch22/D00059_Bowl_Cup_Bottle/IsaacSim_assets_6a7409a75d45b936d645bd70/physics_6a7409a75d45b936d645bd70.json +++ b/batch22/D00059_Bowl_Cup_Bottle/IsaacSim_assets_6a7409a75d45b936d645bd70/physics_6a7409a75d45b936d645bd70.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05216600000858307, - 0.05250599980354309, - 0.10501445038244128 - ], "min": [ -0.052257001399993896, -0.05207899957895279, 0.0005494499928317964 ], + "max": [ + 0.05216600000858307, + 0.05250599980354309, + 0.10501445038244128 + ], "size": [ 0.10442300140857697, 0.10458499938249588, 0.10446500038960949 - ] + ], + "units": "m" }, "description": "D00059 Bowl Cup Bottle", "name": "D00059 Bowl Cup Bottle", "object_type": "rigid_bodies", - "total_mass": 0.65 + "total_mass": 0.6499999761581421, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00059", "parts": [ { "bounds": { - "center": [ - -4.550069570541382e-05, - 0.00021350011229515076, - 0.05278195018763654 + "min": [ + -0.052257001399993896, + -0.05207899957895279, + 0.0005494499928317964 ], "max": [ 0.05216600000858307, 0.05250599980354309, 0.10501445038244128 ], - "min": [ - -0.052257001399993896, - -0.05207899957895279, - 0.0005494499928317964 - ] + "size": [ + 0.10442300140857697, + 0.10458499938249588, + 0.10446500038960949 + ], + "units": "m" }, "center_of_mass": [ -6.031277007423341e-05, @@ -59,7 +65,7 @@ 0.0012783906422555447, 0.0012850695056840777 ], - "mass": 0.65, + "mass": 0.6499999761581421, "material": "ceramic", "name": "D00059 Bowl Cup Bottle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00059 Bowl Cup Bottle", "part_name": "D00059 Bowl Cup Bottle" }, - "volume": 0.00025999999046325684 + "volume": 0.00025999999046325684, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ae4e0c4d3a5fa58696429e4584f3225a308b107042f9a3294fa4ef682037bcd7" + }, + "usd_path": "batch22/D00059_Bowl_Cup_Bottle/IsaacSim_assets_6a7409a75d45b936d645bd70/IsaacSim_asset_6a7409a75d45b936d645bd70.usd", + "usd_sha256": "771c2f23fd4e75e99224fda14830f16f80c8f37fc651e321c85d1a5a83c06dd6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.10442300140857697, 0.10458499938249588, 0.10446500038960949 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "771c2f23fd4e75e99224fda14830f16f80c8f37fc651e321c85d1a5a83c06dd6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.65 + "value_kg": 0.6499999761581421, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "771c2f23fd4e75e99224fda14830f16f80c8f37fc651e321c85d1a5a83c06dd6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6499999761581421, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 24, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "771c2f23fd4e75e99224fda14830f16f80c8f37fc651e321c85d1a5a83c06dd6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 24, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "771c2f23fd4e75e99224fda14830f16f80c8f37fc651e321c85d1a5a83c06dd6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "771c2f23fd4e75e99224fda14830f16f80c8f37fc651e321c85d1a5a83c06dd6", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:43.873714+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "ae17bc72c276294772b2ff24f437e44886b1c58ed68f5d50c81886d33e02368d", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00061_Bowl_Jar/IsaacSim_assets_6a6c84c9cb2d3efc65c497a4/physics_6a6c84c9cb2d3efc65c497a4.json b/batch22/D00061_Bowl_Jar/IsaacSim_assets_6a6c84c9cb2d3efc65c497a4/physics_6a6c84c9cb2d3efc65c497a4.json index 60887e6dbfc8d547596b5f1a467c94362452f403..64853353261438a81bf095800a097e894f01d850 100644 --- a/batch22/D00061_Bowl_Jar/IsaacSim_assets_6a6c84c9cb2d3efc65c497a4/physics_6a6c84c9cb2d3efc65c497a4.json +++ b/batch22/D00061_Bowl_Jar/IsaacSim_assets_6a6c84c9cb2d3efc65c497a4/physics_6a6c84c9cb2d3efc65c497a4.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05937813945094816, - 0.06002926401618124, - 0.08259705543317433 - ], "min": [ - -0.06023360311660928, - -0.059425284272386934, - 7.503235760355866e-05 + -0.06018756338628812, + -0.05938263223641652, + 0.00035249271995259096 + ], + "max": [ + 0.05934440834808976, + 0.05998053115844948, + 0.08243819478037252 ], "size": [ - 0.11961174256755744, - 0.11945454828856818, - 0.08252202307557077 - ] + 0.11953197173437788, + 0.119363163394866, + 0.08208570206041993 + ], + "units": "m" }, "description": "D00061 Bowl Jar", "name": "D00061 Bowl Jar", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.45000001788139343, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00061", "parts": [ { "bounds": { - "center": [ - -0.00026789842263537714, - 0.000286355335585884, - 0.029752441912371 + "min": [ + -0.05973141485550218, + -0.059151499962487246, + 0.00035249271995259096 ], "max": [ - 0.059352883092437775, - 0.05981159543561564, - 0.05942985146713844 + 0.05934440834808976, + 0.05980564297988469, + 0.05899709211949899 ], - "min": [ - -0.05988867993770853, - -0.059238884764443875, - 7.503235760355866e-05 - ] + "size": [ + 0.11907582320359195, + 0.11895714294237195, + 0.058644599399546395 + ], + "units": "m" }, "center_of_mass": [ -0.00014720963372383267, @@ -59,7 +65,7 @@ 0.0002794541069306433, 0.00041370035614818335 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "ceramic", "name": "D00061 Bowl Jar", "physics_type": "rigid", @@ -67,25 +73,28 @@ "object_name": "D00061 Bowl Jar", "part_name": "D00061 Bowl Jar" }, - "volume": 0.00012500000496705373 + "volume": 0.00012500000496705373, + "source_prim_path": "/Root/textured_mesh_6a6c84c9cb2d3efc65c497a4/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0004277318328305621, - 0.0003019898718971542, - 0.07050709114888817 + "min": [ + -0.06018756338628812, + -0.05938263223641652, + 0.05849227261957971 ], "max": [ - 0.05937813945094816, - 0.06002926401618124, - 0.08259705543317433 + 0.059295968195191465, + 0.05998053115844948, + 0.08243819478037252 ], - "min": [ - -0.06023360311660928, - -0.059425284272386934, - 0.058417126864602 - ] + "size": [ + 0.11948353158147959, + 0.119363163394866, + 0.02394592216079281 + ], + "units": "m" }, "center_of_mass": [ 0.0002655148273333907, @@ -100,7 +109,7 @@ 0.00013431628758553416, 0.0002620237064547837 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "ceramic", "name": "D00061 Bowl Jar", "physics_type": "rigid", @@ -108,10 +117,27 @@ "object_name": "D00061 Bowl Jar", "part_name": "D00061 Bowl Jar" }, - "volume": 6.250000248352687e-05 + "volume": 6.250000248352687e-05, + "source_prim_path": "/Root/textured_mesh_6a6c84c9cb2d3efc65c497a4/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d32f8a665fa66e7b6a5056f34308edded5806b8023fed95bd21f4dbbc003b959" + }, + "usd_path": "batch22/D00061_Bowl_Jar/IsaacSim_assets_6a6c84c9cb2d3efc65c497a4/IsaacSim_asset_6a6c84c9cb2d3efc65c497a4.usd", + "usd_sha256": "6043758fe90caf0354b874385e03c2e87b3ca2c040716f34129a9c9a48cadec6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -129,25 +155,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.11961174256755744, - 0.11945454828856818, - 0.08252202307557077 - ] + 0.11953197173437788, + 0.119363163394866, + 0.08208570206041993 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6043758fe90caf0354b874385e03c2e87b3ca2c040716f34129a9c9a48cadec6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.45000001788139343, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6043758fe90caf0354b874385e03c2e87b3ca2c040716f34129a9c9a48cadec6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.45000001788139343, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 215, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6043758fe90caf0354b874385e03c2e87b3ca2c040716f34129a9c9a48cadec6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 215, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6043758fe90caf0354b874385e03c2e87b3ca2c040716f34129a9c9a48cadec6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "6043758fe90caf0354b874385e03c2e87b3ca2c040716f34129a9c9a48cadec6", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:12.924257+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "142d9d830eb67f1ff846116cc9167745545ce13371bb5bfe540620067055bdcb", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00078_Box_Pot/IsaacSim_assets_6a715e2ab22aed4dbad439f6/physics_6a715e2ab22aed4dbad439f6.json b/batch22/D00078_Box_Pot/IsaacSim_assets_6a715e2ab22aed4dbad439f6/physics_6a715e2ab22aed4dbad439f6.json index ebd3364b38aa8973dd2f0a917ec65e71543eaf5f..8070a42944f65913de4bc7ac6bb09a56bee7890c 100644 --- a/batch22/D00078_Box_Pot/IsaacSim_assets_6a715e2ab22aed4dbad439f6/physics_6a715e2ab22aed4dbad439f6.json +++ b/batch22/D00078_Box_Pot/IsaacSim_assets_6a715e2ab22aed4dbad439f6/physics_6a715e2ab22aed4dbad439f6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13773100078105927, - 0.10167299956083298, - 0.11228063842281699 - ], "min": [ -0.13888700306415558, -0.09955400228500366, 0.0014996399604569888 ], + "max": [ + 0.13773100078105927, + 0.10167299956083298, + 0.11228063842281699 + ], "size": [ 0.27661800384521484, 0.20122700184583664, 0.11078099846236 - ] + ], + "units": "m" }, "description": "D00078 Box Pot", "name": "D00078 Box Pot", "object_type": "rigid_bodies", - "total_mass": 3.33 + "total_mass": 3.3299999237060547, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00078", "parts": [ { "bounds": { - "center": [ - -0.0005780011415481567, - 0.0010594986379146576, - 0.05689013919163699 + "min": [ + -0.13888700306415558, + -0.09955400228500366, + 0.0014996399604569888 ], "max": [ 0.13773100078105927, 0.10167299956083298, 0.11228063842281699 ], - "min": [ - -0.13888700306415558, - -0.09955400228500366, - 0.0014996399604569888 - ] + "size": [ + 0.27661800384521484, + 0.20122700184583664, + 0.11078099846236 + ], + "units": "m" }, "center_of_mass": [ -0.00037075989530421793, @@ -59,7 +65,7 @@ 0.016075750812888145, 0.02187218703329563 ], - "mass": 3.33, + "mass": 3.3299999237060547, "material": "metal", "name": "D00078 Box Pot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00078 Box Pot", "part_name": "D00078 Box Pot" }, - "volume": 0.0004162499904632568 + "volume": 0.0004162499904632568, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d8d7162fbad251f34c810454e8fd2de4a0ef49360e17876011ecce20149a9f87" + }, + "usd_path": "batch22/D00078_Box_Pot/IsaacSim_assets_6a715e2ab22aed4dbad439f6/IsaacSim_asset_6a715e2ab22aed4dbad439f6.usd", + "usd_sha256": "5ea5cd2041082b3c1354eef3fc23e2bedd092899895f72dda2ad00bea6340b91", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.27661800384521484, 0.20122700184583664, 0.11078099846236 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ea5cd2041082b3c1354eef3fc23e2bedd092899895f72dda2ad00bea6340b91", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.33 + "value_kg": 3.3299999237060547, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ea5cd2041082b3c1354eef3fc23e2bedd092899895f72dda2ad00bea6340b91", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.3299999237060547, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 29, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ea5cd2041082b3c1354eef3fc23e2bedd092899895f72dda2ad00bea6340b91", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 29, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ea5cd2041082b3c1354eef3fc23e2bedd092899895f72dda2ad00bea6340b91", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "5ea5cd2041082b3c1354eef3fc23e2bedd092899895f72dda2ad00bea6340b91", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:13.970682+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "7dfb2507ea4c5c1b691b24c5b790c5b42e41ae7668586106fa9e1069706bd28b", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00113_Casserole/IsaacSim_assets_6a717ff16739a30c2134d6a5/physics_6a717ff16739a30c2134d6a5.json b/batch22/D00113_Casserole/IsaacSim_assets_6a717ff16739a30c2134d6a5/physics_6a717ff16739a30c2134d6a5.json index 83deaad8e669a7d9f85ed67be841ce5de1a02fc9..4a67839ad91b157aff79bbf1c3bd213c82533fe6 100644 --- a/batch22/D00113_Casserole/IsaacSim_assets_6a717ff16739a30c2134d6a5/physics_6a717ff16739a30c2134d6a5.json +++ b/batch22/D00113_Casserole/IsaacSim_assets_6a717ff16739a30c2134d6a5/physics_6a717ff16739a30c2134d6a5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15057100355625153, - 0.09936100244522095, - 0.06356617948040366 - ], "min": [ -0.15084199607372284, -0.09875299781560898, 0.0016421797172370134 ], + "max": [ + 0.15057100355625153, + 0.09936100244522095, + 0.06356617948040366 + ], "size": [ 0.30141299962997437, 0.19811400026082993, 0.06192399976316665 - ] + ], + "units": "m" }, "description": "D00113 Casserole", "name": "D00113 Casserole", "object_type": "rigid_bodies", - "total_mass": 1.8 + "total_mass": 1.7999999523162842, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00113", "parts": [ { "bounds": { - "center": [ - -0.00013549625873565674, - 0.0003040023148059845, - 0.03260417959882034 + "min": [ + -0.15084199607372284, + -0.09875299781560898, + 0.0016421797172370134 ], "max": [ 0.15057100355625153, 0.09936100244522095, 0.06356617948040366 ], - "min": [ - -0.15084199607372284, - -0.09875299781560898, - 0.0016421797172370134 - ] + "size": [ + 0.30141299962997437, + 0.19811400026082993, + 0.06192399976316665 + ], + "units": "m" }, "center_of_mass": [ -0.0018947571516036987, @@ -59,7 +65,7 @@ 0.012624984607100487, 0.018656909465789795 ], - "mass": 1.8, + "mass": 1.7999999523162842, "material": "ceramic", "name": "D00113 Casserole", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00113 Casserole", "part_name": "D00113 Casserole" }, - "volume": 0.0007499999801317851 + "volume": 0.0007499999801317851, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "236c59f920deca0345991c702423015986a5868ee10406f2fb313e65d35d5cfe" + }, + "usd_path": "batch22/D00113_Casserole/IsaacSim_assets_6a717ff16739a30c2134d6a5/IsaacSim_asset_6a717ff16739a30c2134d6a5.usd", + "usd_sha256": "25c8621626efffd43aa4237070402b61172f72b8ebc3c25fb4d2bcbc70ae3ba6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.30141299962997437, 0.19811400026082993, 0.06192399976316665 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25c8621626efffd43aa4237070402b61172f72b8ebc3c25fb4d2bcbc70ae3ba6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.8 + "value_kg": 1.7999999523162842, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25c8621626efffd43aa4237070402b61172f72b8ebc3c25fb4d2bcbc70ae3ba6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.7999999523162842, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 16, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25c8621626efffd43aa4237070402b61172f72b8ebc3c25fb4d2bcbc70ae3ba6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 16, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25c8621626efffd43aa4237070402b61172f72b8ebc3c25fb4d2bcbc70ae3ba6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "25c8621626efffd43aa4237070402b61172f72b8ebc3c25fb4d2bcbc70ae3ba6", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:44.820119+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "84db8947c550b30ec4f6652879b1af002adbf14c0db72fd661362b36b2ebfc95", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00141_Clock/IsaacSim_assets_6a71885f6739a30c2135646a/physics_6a71885f6739a30c2135646a.json b/batch22/D00141_Clock/IsaacSim_assets_6a71885f6739a30c2135646a/physics_6a71885f6739a30c2135646a.json index 770040eb019401201d3e4523b24357a113a80500..ba6f5f88d16e034691dcf4857814edcfc3628dde 100644 --- a/batch22/D00141_Clock/IsaacSim_assets_6a71885f6739a30c2135646a/physics_6a71885f6739a30c2135646a.json +++ b/batch22/D00141_Clock/IsaacSim_assets_6a71885f6739a30c2135646a/physics_6a71885f6739a30c2135646a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07811900228261948, - 0.03822200000286102, - 0.1534350197762251 - ], "min": [ -0.07675900310277939, -0.02573000080883503, 0.0008420196751330877 ], + "max": [ + 0.07811900228261948, + 0.03822200000286102, + 0.1534350197762251 + ], "size": [ 0.15487800538539886, 0.06395200081169605, 0.152593000101092 - ] + ], + "units": "m" }, "description": "D00141 Clock", "name": "D00141 Clock", "object_type": "rigid_bodies", - "total_mass": 1.08 + "total_mass": 1.0800000429153442, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00141", "parts": [ { "bounds": { - "center": [ - 0.0006799995899200439, - 0.006245999597012997, - 0.07713851972567909 + "min": [ + -0.07675900310277939, + -0.02573000080883503, + 0.0008420196751330877 ], "max": [ 0.07811900228261948, 0.03822200000286102, 0.1534350197762251 ], - "min": [ - -0.07675900310277939, - -0.02573000080883503, - 0.0008420196751330877 - ] + "size": [ + 0.15487800538539886, + 0.06395200081169605, + 0.152593000101092 + ], + "units": "m" }, "center_of_mass": [ 0.0006693927571177483, @@ -59,7 +65,7 @@ 0.002397191943600774, 0.004081430844962597 ], - "mass": 1.08, + "mass": 1.0800000429153442, "material": "wood", "name": "D00141 Clock", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00141 Clock", "part_name": "D00141 Clock" }, - "volume": 0.0018000000715255738 + "volume": 0.0018000000715255738, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9382d5ef3f0ce62cf548c47293b109a3b72ecec93b62b1b0f70484cdef5c6716" + }, + "usd_path": "batch22/D00141_Clock/IsaacSim_assets_6a71885f6739a30c2135646a/IsaacSim_asset_6a71885f6739a30c2135646a.usd", + "usd_sha256": "34fb5b308e8333bfc85d37093f7f58314802e2351d50864cbd3c990ba405d702", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.15487800538539886, 0.06395200081169605, 0.152593000101092 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "34fb5b308e8333bfc85d37093f7f58314802e2351d50864cbd3c990ba405d702", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.08 + "value_kg": 1.0800000429153442, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "34fb5b308e8333bfc85d37093f7f58314802e2351d50864cbd3c990ba405d702", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0800000429153442, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 13, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "34fb5b308e8333bfc85d37093f7f58314802e2351d50864cbd3c990ba405d702", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 13, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "34fb5b308e8333bfc85d37093f7f58314802e2351d50864cbd3c990ba405d702", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "34fb5b308e8333bfc85d37093f7f58314802e2351d50864cbd3c990ba405d702", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:16:00.696448+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "5ed204682ebdb1bd2a6809ec5db0b35bd7053ccad504f212db81c089afd2b869", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00144_Cloth_Mat/IsaacSim_assets_6a7305895d45b936d634301b/physics_6a7305895d45b936d634301b.json b/batch22/D00144_Cloth_Mat/IsaacSim_assets_6a7305895d45b936d634301b/physics_6a7305895d45b936d634301b.json index ea0a23c5a043e35eb7b915da37e5550e69ba4df9..1d29a2ca69ed5d8e956a679f055db67f2d8225fa 100644 --- a/batch22/D00144_Cloth_Mat/IsaacSim_assets_6a7305895d45b936d634301b/physics_6a7305895d45b936d634301b.json +++ b/batch22/D00144_Cloth_Mat/IsaacSim_assets_6a7305895d45b936d634301b/physics_6a7305895d45b936d634301b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.27351000905036926, - 0.24078799784183502, - 0.01632940024137497 - ], "min": [ -0.27013498544692993, -0.2323160022497177, 0.0022984004390309565 ], + "max": [ + 0.27351000905036926, + 0.24078799784183502, + 0.01632940024137497 + ], "size": [ 0.5436449944972992, 0.47310400009155273, 0.014030999802344013 - ] + ], + "units": "m" }, "description": "D00144 Cloth Mat", "name": "D00144 Cloth Mat", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00144", "parts": [ { "bounds": { - "center": [ - 0.0016875118017196655, - 0.004235997796058655, - 0.009313900340202963 + "min": [ + -0.27013498544692993, + -0.2323160022497177, + 0.0022984004390309565 ], "max": [ 0.27351000905036926, 0.24078799784183502, 0.01632940024137497 ], - "min": [ - -0.27013498544692993, - -0.2323160022497177, - 0.0022984004390309565 - ] + "size": [ + 0.5436449944972992, + 0.47310400009155273, + 0.014030999802344013 + ], + "units": "m" }, "center_of_mass": [ -1.8110165910911746e-05, @@ -67,10 +73,27 @@ "object_name": "D00144 Cloth Mat", "part_name": "D00144 Cloth Mat" }, - "volume": 0.001201923076923077 + "volume": 0.001201923076923077, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "62bde6aad835ff806906d434473c2e76e485f6ddd201b46949b5cd48c6c54be6" + }, + "usd_path": "batch22/D00144_Cloth_Mat/IsaacSim_assets_6a7305895d45b936d634301b/IsaacSim_asset_6a7305895d45b936d634301b.usd", + "usd_sha256": "8f40a550bdb04fd6f4f54441be3121f1d67521172e9d96b0e3813c2715c17dd3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.5436449944972992, 0.47310400009155273, 0.014030999802344013 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8f40a550bdb04fd6f4f54441be3121f1d67521172e9d96b0e3813c2715c17dd3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8f40a550bdb04fd6f4f54441be3121f1d67521172e9d96b0e3813c2715c17dd3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8f40a550bdb04fd6f4f54441be3121f1d67521172e9d96b0e3813c2715c17dd3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8f40a550bdb04fd6f4f54441be3121f1d67521172e9d96b0e3813c2715c17dd3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "8f40a550bdb04fd6f4f54441be3121f1d67521172e9d96b0e3813c2715c17dd3", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:45.566482+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "e0e9b13ab132a29c2af2e9c794c8693553598c27eec660fe9fcee3ba6603b0c8", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00214 Corn/IsaacSim_assets_69f2289c59057a93105d3319/physics_69f2289c59057a93105d3319.json b/batch22/D00214 Corn/IsaacSim_assets_69f2289c59057a93105d3319/physics_69f2289c59057a93105d3319.json index 6edcd66c0958f0de5da2fe4e6d7a8a6dfeafcbd1..f92481f2e87313d58f0f7116f4623ad7d24d77e7 100644 --- a/batch22/D00214 Corn/IsaacSim_assets_69f2289c59057a93105d3319/physics_69f2289c59057a93105d3319.json +++ b/batch22/D00214 Corn/IsaacSim_assets_69f2289c59057a93105d3319/physics_69f2289c59057a93105d3319.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05085724, - 0.07467547, - 0.14400651 - ], "min": [ - -0.05392014, - 0.0, - -0.12803543 + -0.053918998688459396, + -0.1440020054578781, + 0.0012836700771003962 + ], + "max": [ + 0.05085600167512894, + 0.12803100049495697, + 0.0758366733789444 ], "size": [ - 0.10477738, - 0.07467547, - 0.27204194000000004 - ] + 0.10477500036358833, + 0.2720330059528351, + 0.074553003301844 + ], + "units": "m" }, "description": "A fresh ear of corn with bright yellow kernels partially covered by green, leafy husks.", "name": "D00214 Corn", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00214", "parts": [ { "bounds": { - "center": [ - 0.0014949011962027809, - 0.040196271249413676, - 0.0032230076962215274 + "min": [ + -0.053918998688459396, + -0.1440020054578781, + 0.0012836700771003962 ], "max": [ - 0.05085724, - 0.07467547, - 0.14400651 + 0.05085600167512894, + 0.12803100049495697, + 0.0758366733789444 ], - "min": [ - -0.05392014, - 0.0, - -0.12803543 - ] + "size": [ + 0.10477500036358833, + 0.2720330059528351, + 0.074553003301844 + ], + "units": "m" }, "center_of_mass": [ 0.0021674827311593215, @@ -67,10 +73,27 @@ "object_name": "D00214 Corn", "part_name": "D00214 Corn" }, - "volume": 0.0009525689571449743 + "volume": 0.0009525689571449743, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "89c043e0d363c2a6acfb954cf2c91c18bf77b396daef6fe2263eb701ebfd69ee" + }, + "usd_path": "batch22/D00214 Corn/IsaacSim_assets_69f2289c59057a93105d3319/IsaacSim_asset_69f2289c59057a93105d3319.usd", + "usd_sha256": "3a01871c4ca49c732a55bfa6afbba802e1fed43a73af29c842b1daeabd473948", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.10477738, - 0.07467547, - 0.27204194000000004 - ] + 0.10477500036358833, + 0.2720330059528351, + 0.074553003301844 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a01871c4ca49c732a55bfa6afbba802e1fed43a73af29c842b1daeabd473948", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a01871c4ca49c732a55bfa6afbba802e1fed43a73af29c842b1daeabd473948", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 44, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a01871c4ca49c732a55bfa6afbba802e1fed43a73af29c842b1daeabd473948", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 44, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a01871c4ca49c732a55bfa6afbba802e1fed43a73af29c842b1daeabd473948", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "3a01871c4ca49c732a55bfa6afbba802e1fed43a73af29c842b1daeabd473948", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:07.994807+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "2e2afb33746fe5a809df200d8d371802a21da0b0a40f48b540177931682a25a0", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00221 Cup/IsaacSim_asset_69f2291359057a93105d3fd7/physics_69f2291359057a93105d3fd7.json b/batch22/D00221 Cup/IsaacSim_asset_69f2291359057a93105d3fd7/physics_69f2291359057a93105d3fd7.json index 1a682c7bf9e3cd96f12aeb02cde2c00e7a985b1f..2df22218509d71e6cc511b5fe14ee8b3829dc322 100644 --- a/batch22/D00221 Cup/IsaacSim_asset_69f2291359057a93105d3fd7/physics_69f2291359057a93105d3fd7.json +++ b/batch22/D00221 Cup/IsaacSim_asset_69f2291359057a93105d3fd7/physics_69f2291359057a93105d3fd7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05444619432091713, - 0.07153879106044769, - 0.03194684162735939 - ], "min": [ - -0.03758439049124718, - 0.0, - -0.032201722264289856 + -0.037682998925447464, + -0.03198999911546707, + -9.999999974752427e-07 + ], + "max": [ + 0.05449499934911728, + 0.032207001000642776, + 0.0715550035238266 ], "size": [ - 0.0920305848121643, - 0.07153879106044769, - 0.06414856389164925 - ] + 0.09217799827456474, + 0.06419700011610985, + 0.07155600352382407 + ], + "units": "m" }, "description": "A matte white ceramic coffee mug with a cylindrical body and a curved side handle.", "name": "D00221 Cup", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.3499999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00221", "parts": [ { "bounds": { - "center": [ - -0.002498152612197337, - 0.03169131001810369, - -0.00012348581420079918 + "min": [ + -0.037682998925447464, + -0.03198999911546707, + -9.999999974752427e-07 ], "max": [ - 0.05444619432091713, - 0.07153879106044769, - 0.03194684162735939 + 0.05449499934911728, + 0.032207001000642776, + 0.0715550035238266 ], - "min": [ - -0.03758439049124718, - 0.0, - -0.032201722264289856 - ] + "size": [ + 0.09217799827456474, + 0.06419700011610985, + 0.07155600352382407 + ], + "units": "m" }, "center_of_mass": [ -0.0009204955915938081, @@ -59,7 +65,7 @@ 0.0003412318198680555, 0.00036766724573951355 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "ceramic", "name": "D00221 Cup", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00221 Cup", "part_name": "D00221 Cup" }, - "volume": 4.890273603545551e-05 + "volume": 4.890273603545551e-05, + "source_prim_path": "/World/part_00_ceramic", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1bc45a7ba41ddc05fbc05af0dcf7e8f66dd6d7bc56a5b09cb90ffd518dda9542" + }, + "usd_path": "batch22/D00221 Cup/IsaacSim_asset_69f2291359057a93105d3fd7/IsaacSim_asset_69f2291359057a93105d3fd7.usd", + "usd_sha256": "f28c1a7d882ab4fe18130cd4c940cd01a26f24f6295479a8ad96837d9e238b2e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.0920305848121643, - 0.07153879106044769, - 0.06414856389164925 - ] + 0.09217799827456474, + 0.06419700011610985, + 0.07155600352382407 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f28c1a7d882ab4fe18130cd4c940cd01a26f24f6295479a8ad96837d9e238b2e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.3499999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f28c1a7d882ab4fe18130cd4c940cd01a26f24f6295479a8ad96837d9e238b2e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3499999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f28c1a7d882ab4fe18130cd4c940cd01a26f24f6295479a8ad96837d9e238b2e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f28c1a7d882ab4fe18130cd4c940cd01a26f24f6295479a8ad96837d9e238b2e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "f28c1a7d882ab4fe18130cd4c940cd01a26f24f6295479a8ad96837d9e238b2e", + "supplemental_accepted": true, + "planned_test_count": 11, + "result_count": 11, + "passed": 11, + "skipped": 0, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:02.345342+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "52f0d456e448519462f8e679ac72f552e4b93b59c22dce86626f87cc11da4512", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00225 Cup Cake Stand/IsaacSim_assets_69f22a6159057a93105d6392/physics_69f22a6159057a93105d6392.json b/batch22/D00225 Cup Cake Stand/IsaacSim_assets_69f22a6159057a93105d6392/physics_69f22a6159057a93105d6392.json index 24ecf2c0e6d5880920b2fc3692ead3de888cabb3..eeb44ab0a676aa001e7a33dd7a81f620a07eade1 100644 --- a/batch22/D00225 Cup Cake Stand/IsaacSim_assets_69f22a6159057a93105d6392/physics_69f22a6159057a93105d6392.json +++ b/batch22/D00225 Cup Cake Stand/IsaacSim_assets_69f22a6159057a93105d6392/physics_69f22a6159057a93105d6392.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13393767178058624, - 0.3239915072917938, - 0.1322813332080841 - ], "min": [ - -0.13337905704975128, - 0.0, - -0.13136723637580872 + -0.13334999978542328, + -0.13228900730609894, + 0.0 + ], + "max": [ + 0.13401000201702118, + 0.1313759982585907, + 0.32426699838833883 ], "size": [ - 0.2673167288303375, - 0.3239915072917938, - 0.2636485695838928 - ] + 0.26736000180244446, + 0.26366500556468964, + 0.32426699838833883 + ], + "units": "m" }, "description": "A three-tiered serving stand made of matte silver metal. It features three circular trays of decreasing size from bottom to top, connected by a central cylindrical post with a ring handle at the top.", "name": "D00225 Cup Cake Stand", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00225", "parts": [ { "bounds": { - "center": [ - 0.0003150606971148162, - 0.08832769500295307, - 0.00047015986255675475 + "min": [ + -0.13334999978542328, + -0.13228900730609894, + 0.0 ], "max": [ - 0.13393767178058624, - 0.3239915072917938, - 0.1322813332080841 + 0.13401000201702118, + 0.1313759982585907, + 0.32426699838833883 ], - "min": [ - -0.13337905704975128, - 0.0, - -0.13136723637580872 - ] + "size": [ + 0.26736000180244446, + 0.26366500556468964, + 0.32426699838833883 + ], + "units": "m" }, "center_of_mass": [ 0.00030623127540747635, @@ -67,10 +73,27 @@ "object_name": "D00225 Cup Cake Stand", "part_name": "D00225 Cup Cake Stand" }, - "volume": 0.009870429168141905 + "volume": 0.009870429168141905, + "source_prim_path": "/World/part_00_stainless_steel", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8f7ac76aadab87f65c09adc1bbbfe652fb812ae29daaab931669a1cf10eceaac" + }, + "usd_path": "batch22/D00225 Cup Cake Stand/IsaacSim_assets_69f22a6159057a93105d6392/IsaacSim_asset_69f22a6159057a93105d6392.usd", + "usd_sha256": "3b657951825acc7cc85f0266a3ab2a04fb8e5db9ea9520c0ecd94d1115356f33", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,78 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2673167288303375, - 0.3239915072917938, - 0.2636485695838928 - ] + 0.26736000180244446, + 0.26366500556468964, + 0.32426699838833883 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b657951825acc7cc85f0266a3ab2a04fb8e5db9ea9520c0ecd94d1115356f33", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b657951825acc7cc85f0266a3ab2a04fb8e5db9ea9520c0ecd94d1115356f33", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 90, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b657951825acc7cc85f0266a3ab2a04fb8e5db9ea9520c0ecd94d1115356f33", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 90, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b657951825acc7cc85f0266a3ab2a04fb8e5db9ea9520c0ecd94d1115356f33", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "3b657951825acc7cc85f0266a3ab2a04fb8e5db9ea9520c0ecd94d1115356f33", + "supplemental_accepted": false, + "planned_test_count": 11, + "result_count": 11, + "passed": 10, + "skipped": 0, + "failed": 1, + "issues": [ + "slope_drop:fail" + ], + "warnings": [], + "completed_at": "2026-10-13T21:36:02.581118+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "3aba711ac97719a400cc2822df7047c17a7964cf0b69818dc64f04c3d3b7ef2f", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00235_Cup_Plate/IsaacSim_assets_6a741c035d45b936d647cc6a/physics_6a741c035d45b936d647cc6a.json b/batch22/D00235_Cup_Plate/IsaacSim_assets_6a741c035d45b936d647cc6a/physics_6a741c035d45b936d647cc6a.json index 6e5073d3438a3123667f808bb7e70a3a90850316..c6aa33aeffe15495082bf87f245061bf3d984c1a 100644 --- a/batch22/D00235_Cup_Plate/IsaacSim_assets_6a741c035d45b936d647cc6a/physics_6a741c035d45b936d647cc6a.json +++ b/batch22/D00235_Cup_Plate/IsaacSim_assets_6a741c035d45b936d647cc6a/physics_6a741c035d45b936d647cc6a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05313099920749664, - 0.05313999950885773, - 0.020163510460406542 - ], "min": [ -0.053077999502420425, -0.05297299847006798, 0.0005335104069672525 ], + "max": [ + 0.05313099920749664, + 0.05313999950885773, + 0.020163510460406542 + ], "size": [ 0.10620899870991707, 0.1061129979789257, 0.01963000005343929 - ] + ], + "units": "m" }, "description": "D00235 Cup Plate", "name": "D00235 Cup Plate", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00235", "parts": [ { "bounds": { - "center": [ - 2.6499852538108826e-05, - 8.350051939487457e-05, - 0.010348510433686897 + "min": [ + -0.053077999502420425, + -0.05297299847006798, + 0.0005335104069672525 ], "max": [ 0.05313099920749664, 0.05313999950885773, 0.020163510460406542 ], - "min": [ - -0.053077999502420425, - -0.05297299847006798, - 0.0005335104069672525 - ] + "size": [ + 0.10620899870991707, + 0.1061129979789257, + 0.01963000005343929 + ], + "units": "m" }, "center_of_mass": [ 0.00010679270053515211, @@ -67,10 +73,27 @@ "object_name": "D00235 Cup Plate", "part_name": "D00235 Cup Plate" }, - "volume": 0.00010416666666666667 + "volume": 0.00010416666666666667, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a83dab59e651254a25b1c5c4b934b939125922f053e3f59a617a551e34eacae6" + }, + "usd_path": "batch22/D00235_Cup_Plate/IsaacSim_assets_6a741c035d45b936d647cc6a/IsaacSim_asset_6a741c035d45b936d647cc6a.usd", + "usd_sha256": "64f02a19296d4b787b8abfdae862de178e348a70257139de5703b52b16525c5b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.10620899870991707, 0.1061129979789257, 0.01963000005343929 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64f02a19296d4b787b8abfdae862de178e348a70257139de5703b52b16525c5b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64f02a19296d4b787b8abfdae862de178e348a70257139de5703b52b16525c5b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 13, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64f02a19296d4b787b8abfdae862de178e348a70257139de5703b52b16525c5b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 13, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64f02a19296d4b787b8abfdae862de178e348a70257139de5703b52b16525c5b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00241_Cupboard/IsaacSim_assets_6a741da85d45b936d647e876/physics_6a741da85d45b936d647e876.json b/batch22/D00241_Cupboard/IsaacSim_assets_6a741da85d45b936d647e876/physics_6a741da85d45b936d647e876.json index abd5289ed5090c50f895dae032d1cea9269bd154..c0aa16909b937e63a2f732a64cc91e2afaafbbb2 100644 --- a/batch22/D00241_Cupboard/IsaacSim_assets_6a741da85d45b936d647e876/physics_6a741da85d45b936d647e876.json +++ b/batch22/D00241_Cupboard/IsaacSim_assets_6a741da85d45b936d647e876/physics_6a741da85d45b936d647e876.json @@ -1,50 +1,159 @@ { "articulation": { - "has_joints": false, - "joints": [] + "has_joints": true, + "joints": [ + { + "id": "joint_part_2__part_0", + "path": "/World/textured_mesh_6a741da85d45b936d647e876/Joints/joint_part_2__part_0", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a741da85d45b936d647e876/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_6a741da85d45b936d647e876/part_0" + ], + "authored_usd": { + "id": "joint_part_2__part_0", + "source_prim_path": "/World/textured_mesh_6a741da85d45b936d647e876/Joints/joint_part_2__part_0", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a741da85d45b936d647e876/part_2" + ], + "body1": [ + "/World/textured_mesh_6a741da85d45b936d647e876/part_0" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -88.0, + "upperLimit": 0.0, + "localPos0": [ + 0.41686001420021057, + -0.14800000190734863, + 0.8425668478012085 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsRevoluteJoint" + }, + { + "id": "joint_part_2__part_1", + "path": "/World/textured_mesh_6a741da85d45b936d647e876/Joints/joint_part_2__part_1", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a741da85d45b936d647e876/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_6a741da85d45b936d647e876/part_1" + ], + "authored_usd": { + "id": "joint_part_2__part_1", + "source_prim_path": "/World/textured_mesh_6a741da85d45b936d647e876/Joints/joint_part_2__part_1", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a741da85d45b936d647e876/part_2" + ], + "body1": [ + "/World/textured_mesh_6a741da85d45b936d647e876/part_1" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -93.0, + "upperLimit": 0.0, + "localPos0": [ + -0.4147399961948395, + -0.15193000435829163, + 0.6059479713439941 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + "localRot1": [ + 0.0, + 0.0, + 1.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsRevoluteJoint" + } + ], + "moving_joints": 2, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.47252801060676575, - 0.3366749882698059, - 1.3181555569171906 - ], "min": [ -0.46308600902557373, -0.53712397813797, 0.007056518574245274 ], + "max": [ + 0.47252801060676575, + 0.3366749882698059, + 1.3181555569171906 + ], "size": [ 0.9356140196323395, 0.8737989664077759, 1.3110990383429453 - ] + ], + "units": "m" }, "description": "D00241 Cupboard", "name": "D00241 Cupboard", "object_type": "rigid_bodies", - "total_mass": 35.0 + "total_mass": 35.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00241", "parts": [ { "bounds": { - "center": [ - 0.3934450000524521, - -0.3237219899892807, - 0.6771195009350777 + "min": [ + 0.3597800135612488, + -0.53712397813797, + 0.08624051511287689 ], "max": [ 0.4271099865436554, -0.11032000184059143, 1.2679984867572784 ], - "min": [ - 0.3597800135612488, - -0.53712397813797, - 0.08624051511287689 - ] + "size": [ + 0.06732997298240662, + 0.42680397629737854, + 1.1817579716444016 + ], + "units": "m" }, "center_of_mass": [ -0.02933560311794281, @@ -67,25 +176,28 @@ "object_name": "D00241 Cupboard", "part_name": "D00241 Cupboard" }, - "volume": 0.007692307692307693 + "volume": 0.007692307692307693, + "source_prim_path": "/World/textured_mesh_6a741da85d45b936d647e876/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.40214599668979645, - -0.32888398692011833, - 0.6770305298268795 + "min": [ + -0.4473100006580353, + -0.5370699763298035, + 0.08635451644659042 ], "max": [ -0.3569819927215576, -0.1206979975104332, 1.2677065432071686 ], - "min": [ - -0.4473100006580353, - -0.5370699763298035, - 0.08635451644659042 - ] + "size": [ + 0.09032800793647766, + 0.41637197881937027, + 1.1813520267605782 + ], + "units": "m" }, "center_of_mass": [ 0.014281135983765125, @@ -108,25 +220,28 @@ "object_name": "D00241 Cupboard", "part_name": "D00241 Cupboard" }, - "volume": 0.007692307692307693 + "volume": 0.007692307692307693, + "source_prim_path": "/World/textured_mesh_6a741da85d45b936d647e876/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.004721000790596008, - 0.0989144966006279, - 0.6626060377457179 + "min": [ + -0.46308600902557373, + -0.1388459950685501, + 0.007056518574245274 ], "max": [ 0.47252801060676575, 0.3366749882698059, 1.3181555569171906 ], - "min": [ - -0.46308600902557373, - -0.1388459950685501, - 0.007056518574245274 - ] + "size": [ + 0.9356140196323395, + 0.475520983338356, + 1.3110990383429453 + ], + "units": "m" }, "center_of_mass": [ 0.004023224581032991, @@ -149,10 +264,27 @@ "object_name": "D00241 Cupboard", "part_name": "D00241 Cupboard" }, - "volume": 0.038461538461538464 + "volume": 0.038461538461538464, + "source_prim_path": "/World/textured_mesh_6a741da85d45b936d647e876/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "879cfc035796f2aa0ae9898b5ffee9285361ae094d5ee55e26d6b2bdc041fa2d" + }, + "usd_path": "batch22/D00241_Cupboard/IsaacSim_assets_6a741da85d45b936d647e876/IsaacSim_asset_6a741da85d45b936d647e876.usd", + "usd_sha256": "3c63580d39e86f7e3623ac4b1b6034228a58ca006941d5940fb2b3c62d0ac6f6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -173,22 +305,56 @@ 0.9356140196323395, 0.8737989664077759, 1.3110990383429453 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c63580d39e86f7e3623ac4b1b6034228a58ca006941d5940fb2b3c62d0ac6f6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 35.0 + "value_kg": 35.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c63580d39e86f7e3623ac4b1b6034228a58ca006941d5940fb2b3c62d0ac6f6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 35.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c63580d39e86f7e3623ac4b1b6034228a58ca006941d5940fb2b3c62d0ac6f6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c63580d39e86f7e3623ac4b1b6034228a58ca006941d5940fb2b3c62d0ac6f6", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00254_Cutting_Board_Napkin/IsaacSim_assets_6a7423345d45b936d6486907/physics_6a7423345d45b936d6486907.json b/batch22/D00254_Cutting_Board_Napkin/IsaacSim_assets_6a7423345d45b936d6486907/physics_6a7423345d45b936d6486907.json index 1267ecfa8f977650309809a8f7555d66cf35a9ab..1143ae02214fc51c88bda2c088ca8087f71201a6 100644 --- a/batch22/D00254_Cutting_Board_Napkin/IsaacSim_assets_6a7423345d45b936d6486907/physics_6a7423345d45b936d6486907.json +++ b/batch22/D00254_Cutting_Board_Napkin/IsaacSim_assets_6a7423345d45b936d6486907/physics_6a7423345d45b936d6486907.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10704000294208527, - 0.07170599699020386, - 0.3821462318301201 - ], "min": [ -0.11698500066995621, -0.04572499915957451, 0.00027221963864576537 ], + "max": [ + 0.10704000294208527, + 0.07170599699020386, + 0.3821462318301201 + ], "size": [ 0.22402500361204147, 0.11743099614977837, 0.3818740121914743 - ] + ], + "units": "m" }, "description": "D00254 Cutting Board Napkin", "name": "D00254 Cutting Board Napkin", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00254", "parts": [ { "bounds": { - "center": [ - -0.004972498863935471, - 0.012990498915314674, - 0.19120922573438293 + "min": [ + -0.11698500066995621, + -0.04572499915957451, + 0.00027221963864576537 ], "max": [ 0.10704000294208527, 0.07170599699020386, 0.3821462318301201 ], - "min": [ - -0.11698500066995621, - -0.04572499915957451, - 0.00027221963864576537 - ] + "size": [ + 0.22402500361204147, + 0.11743099614977837, + 0.3818740121914743 + ], + "units": "m" }, "center_of_mass": [ -0.0020455322228372097, @@ -59,7 +65,7 @@ 0.0003247096319682896, 0.00039005064172670245 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "generic", "name": "D00254 Cutting Board Napkin", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00254 Cutting Board Napkin", "part_name": "D00254 Cutting Board Napkin" }, - "volume": 0.0007812500116415322 + "volume": 0.0007812500116415322, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9ed1ab30499572965dfc5248bfd816892e5fd841c456901d31f84d2a8fb0caeb" + }, + "usd_path": "batch22/D00254_Cutting_Board_Napkin/IsaacSim_assets_6a7423345d45b936d6486907/IsaacSim_asset_6a7423345d45b936d6486907.usd", + "usd_sha256": "753cd77b20e1cacd3911d212caa6d8c7992709b95629579ea6188106153570af", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.22402500361204147, 0.11743099614977837, 0.3818740121914743 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "753cd77b20e1cacd3911d212caa6d8c7992709b95629579ea6188106153570af", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "753cd77b20e1cacd3911d212caa6d8c7992709b95629579ea6188106153570af", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "753cd77b20e1cacd3911d212caa6d8c7992709b95629579ea6188106153570af", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "753cd77b20e1cacd3911d212caa6d8c7992709b95629579ea6188106153570af", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00262_Decorative_Plant/IsaacSim_assets_6a7424b45d45b936d648a6a5/physics_6a7424b45d45b936d648a6a5.json b/batch22/D00262_Decorative_Plant/IsaacSim_assets_6a7424b45d45b936d648a6a5/physics_6a7424b45d45b936d648a6a5.json index 25cd4b21d0f557dd354493b5f2f610e625af7911..6ad28be0a4e58dabf31e353ef5ff9ad2677a6800 100644 --- a/batch22/D00262_Decorative_Plant/IsaacSim_assets_6a7424b45d45b936d648a6a5/physics_6a7424b45d45b936d648a6a5.json +++ b/batch22/D00262_Decorative_Plant/IsaacSim_assets_6a7424b45d45b936d648a6a5/physics_6a7424b45d45b936d648a6a5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11873599886894226, - 0.12152700126171112, - 0.29328399896621704 - ], "min": [ -0.12165500223636627, -0.12784799933433533, -4.8000001697801054e-05 ], + "max": [ + 0.11873599886894226, + 0.12152700126171112, + 0.29328399896621704 + ], "size": [ 0.24039100110530853, 0.24937500059604645, 0.29333199896791484 - ] + ], + "units": "m" }, "description": "D00262 Decorative Plant", "name": "D00262 Decorative Plant", "object_type": "rigid_bodies", - "total_mass": 5.0 + "total_mass": 5.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00262", "parts": [ { "bounds": { - "center": [ - -0.0014595016837120056, - -0.0031604990363121033, - 0.14661799948225962 + "min": [ + -0.12165500223636627, + -0.12784799933433533, + -4.8000001697801054e-05 ], "max": [ 0.11873599886894226, 0.12152700126171112, 0.29328399896621704 ], - "min": [ - -0.12165500223636627, - -0.12784799933433533, - -4.8000001697801054e-05 - ] + "size": [ + 0.24039100110530853, + 0.24937500059604645, + 0.29333199896791484 + ], + "units": "m" }, "center_of_mass": [ -0.002371587324887514, @@ -67,10 +73,27 @@ "object_name": "D00262 Decorative Plant", "part_name": "D00262 Decorative Plant" }, - "volume": 0.0016500016234146833 + "volume": 0.0016500016234146833, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e4b05575ae9aa770943e9d5f034f3308cdd909a39b76d0e1484f15ee8bac4dce" + }, + "usd_path": "batch22/D00262_Decorative_Plant/IsaacSim_assets_6a7424b45d45b936d648a6a5/IsaacSim_asset_6a7424b45d45b936d648a6a5.usd", + "usd_sha256": "776473f6cd73973a407984457e9c45b1819e4580c5b7d3dd8d639682502ea374", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.24039100110530853, 0.24937500059604645, 0.29333199896791484 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "776473f6cd73973a407984457e9c45b1819e4580c5b7d3dd8d639682502ea374", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 5.0 + "value_kg": 5.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "776473f6cd73973a407984457e9c45b1819e4580c5b7d3dd8d639682502ea374", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 5.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "776473f6cd73973a407984457e9c45b1819e4580c5b7d3dd8d639682502ea374", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "776473f6cd73973a407984457e9c45b1819e4580c5b7d3dd8d639682502ea374", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00514 Metal Spoon/IsaacSim_assets_6a6c324acb2d3efc65b4dc77/physics_6a6c324acb2d3efc65b4dc77.json b/batch22/D00514 Metal Spoon/IsaacSim_assets_6a6c324acb2d3efc65b4dc77/physics_6a6c324acb2d3efc65b4dc77.json index ff63e0d4305f23d9b9923e1dfb3be6084a893780..3b5e0741c44c1ea00091858864bb14c91a01eb98 100644 --- a/batch22/D00514 Metal Spoon/IsaacSim_assets_6a6c324acb2d3efc65b4dc77/physics_6a6c324acb2d3efc65b4dc77.json +++ b/batch22/D00514 Metal Spoon/IsaacSim_assets_6a6c324acb2d3efc65b4dc77/physics_6a6c324acb2d3efc65b4dc77.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07384981215000153, - 0.020013999193906784, - 0.02025476098060608 - ], "min": [ -0.10323918610811234, -0.02006400004029274, 0.0006107599474489689 ], + "max": [ + 0.07384981215000153, + 0.020013999193906784, + 0.02025476098060608 + ], "size": [ 0.17708899825811386, 0.040077999234199524, 0.01964400103315711 - ] + ], + "units": "m" }, "description": "D00514 Metal Spoon", "name": "D00514 Metal Spoon", "object_type": "rigid_bodies", - "total_mass": 0.095 + "total_mass": 0.0949999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00514", "parts": [ { "bounds": { - "center": [ - -0.014694686979055405, - -2.5000423192977905e-05, - 0.010432760464027524 + "min": [ + -0.10323918610811234, + -0.02006400004029274, + 0.0006107599474489689 ], "max": [ 0.07384981215000153, 0.020013999193906784, 0.02025476098060608 ], - "min": [ - -0.10323918610811234, - -0.02006400004029274, - 0.0006107599474489689 - ] + "size": [ + 0.17708899825811386, + 0.040077999234199524, + 0.01964400103315711 + ], + "units": "m" }, "center_of_mass": [ -0.02821769192814827, @@ -59,7 +65,7 @@ 0.00016864573990460485, 0.0001743491884553805 ], - "mass": 0.095, + "mass": 0.0949999988079071, "material": "metal", "name": "D00514 Metal Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00514 Metal Spoon", "part_name": "D00514 Metal Spoon" }, - "volume": 1.2025316304798367e-05 + "volume": 1.2025316304798367e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "61c3e454800f689560f36f838bc8b97e0b9fe95eb653cce8bc34fec531b1c70c" + }, + "usd_path": "batch22/D00514 Metal Spoon/IsaacSim_assets_6a6c324acb2d3efc65b4dc77/IsaacSim_asset_6a6c324acb2d3efc65b4dc77.usd", + "usd_sha256": "64a85bac8d5b043c85009a3197b1c54c26ac8cbad5a15e6b95c72c3e0f7135d6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.17708899825811386, 0.040077999234199524, 0.01964400103315711 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64a85bac8d5b043c85009a3197b1c54c26ac8cbad5a15e6b95c72c3e0f7135d6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.095 + "value_kg": 0.0949999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64a85bac8d5b043c85009a3197b1c54c26ac8cbad5a15e6b95c72c3e0f7135d6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0949999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 19, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64a85bac8d5b043c85009a3197b1c54c26ac8cbad5a15e6b95c72c3e0f7135d6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 19, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64a85bac8d5b043c85009a3197b1c54c26ac8cbad5a15e6b95c72c3e0f7135d6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00618 Pitcher/IsaacSim_assets_6a73052e5d45b936d6341c50/physics_6a73052e5d45b936d6341c50.json b/batch22/D00618 Pitcher/IsaacSim_assets_6a73052e5d45b936d6341c50/physics_6a73052e5d45b936d6341c50.json index 7800131859703bfeee5fd53ff6fb1480e0244307..2501188d71a672bd701da11ef47716b2276d4421 100644 --- a/batch22/D00618 Pitcher/IsaacSim_assets_6a73052e5d45b936d6341c50/physics_6a73052e5d45b936d6341c50.json +++ b/batch22/D00618 Pitcher/IsaacSim_assets_6a73052e5d45b936d6341c50/physics_6a73052e5d45b936d6341c50.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10856500267982483, - 0.06061900034546852, - 0.19408364593982697 - ], "min": [ -0.08575300127267838, -0.06056100130081177, 0.0010446497472003102 ], + "max": [ + 0.10856500267982483, + 0.06061900034546852, + 0.19408364593982697 + ], "size": [ 0.1943180039525032, 0.12118000164628029, 0.19303899619262666 - ] + ], + "units": "m" }, "description": "D00618 Pitcher", "name": "D00618 Pitcher", "object_type": "rigid_bodies", - "total_mass": 0.62 + "total_mass": 0.6200000047683716, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00618", "parts": [ { "bounds": { - "center": [ - 0.011406000703573227, - 2.899952232837677e-05, - 0.09756414784351364 + "min": [ + -0.08575300127267838, + -0.06056100130081177, + 0.0010446497472003102 ], "max": [ 0.10856500267982483, 0.06061900034546852, 0.19408364593982697 ], - "min": [ - -0.08575300127267838, - -0.06056100130081177, - 0.0010446497472003102 - ] + "size": [ + 0.1943180039525032, + 0.12118000164628029, + 0.19303899619262666 + ], + "units": "m" }, "center_of_mass": [ 0.002193278865888715, @@ -59,7 +65,7 @@ 0.003079466987401247, 0.003573025343939662 ], - "mass": 0.62, + "mass": 0.6200000047683716, "material": "ceramic", "name": "D00618 Pitcher", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00618 Pitcher", "part_name": "D00618 Pitcher" }, - "volume": 0.00024800000190734864 + "volume": 0.00024800000190734864, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c58b9b36058444fdd3c8b2dd9e4d09fd10907607077d9d16017a334496c8bc8a" + }, + "usd_path": "batch22/D00618 Pitcher/IsaacSim_assets_6a73052e5d45b936d6341c50/IsaacSim_asset_6a73052e5d45b936d6341c50.usd", + "usd_sha256": "035a5f414edae8cce1d52ca033b8b63bb72d2fa7157d8ff24c7c81b8fb3dd767", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1943180039525032, 0.12118000164628029, 0.19303899619262666 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "035a5f414edae8cce1d52ca033b8b63bb72d2fa7157d8ff24c7c81b8fb3dd767", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.62 + "value_kg": 0.6200000047683716, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "035a5f414edae8cce1d52ca033b8b63bb72d2fa7157d8ff24c7c81b8fb3dd767", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6200000047683716, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 27, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "035a5f414edae8cce1d52ca033b8b63bb72d2fa7157d8ff24c7c81b8fb3dd767", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 27, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "035a5f414edae8cce1d52ca033b8b63bb72d2fa7157d8ff24c7c81b8fb3dd767", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00622 Plant Pot/IsaacSim_assets_6a73050f5d45b936d63416c9/physics_6a73050f5d45b936d63416c9.json b/batch22/D00622 Plant Pot/IsaacSim_assets_6a73050f5d45b936d63416c9/physics_6a73050f5d45b936d63416c9.json index df9d174cd13bf84c20c3dd7161f084f5fdde9938..301301c6465366a6ab51d7def618b2560f874450 100644 --- a/batch22/D00622 Plant Pot/IsaacSim_assets_6a73050f5d45b936d63416c9/physics_6a73050f5d45b936d63416c9.json +++ b/batch22/D00622 Plant Pot/IsaacSim_assets_6a73050f5d45b936d63416c9/physics_6a73050f5d45b936d63416c9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08202899992465973, - 0.08212900161743164, - 0.11364932358264923 - ], "min": [ -0.08217699825763702, -0.08197599649429321, 0.0008663199841976166 ], + "max": [ + 0.08202899992465973, + 0.08212900161743164, + 0.11364932358264923 + ], "size": [ 0.16420599818229675, 0.16410499811172485, 0.11278300359845161 - ] + ], + "units": "m" }, "description": "D00622 Plant Pot", "name": "D00622 Plant Pot", "object_type": "rigid_bodies", - "total_mass": 0.354 + "total_mass": 0.3540000021457672, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00622", "parts": [ { "bounds": { - "center": [ - -7.399916648864746e-05, - 7.650256156921387e-05, - 0.057257821783423424 + "min": [ + -0.08217699825763702, + -0.08197599649429321, + 0.0008663199841976166 ], "max": [ 0.08202899992465973, 0.08212900161743164, 0.11364932358264923 ], - "min": [ - -0.08217699825763702, - -0.08197599649429321, - 0.0008663199841976166 - ] + "size": [ + 0.16420599818229675, + 0.16410499811172485, + 0.11278300359845161 + ], + "units": "m" }, "center_of_mass": [ -1.4738105164724402e-05, @@ -59,7 +65,7 @@ 0.0009665247052907944, 0.0011836724588647485 ], - "mass": 0.354, + "mass": 0.3540000021457672, "material": "ceramic", "name": "D00622 Plant Pot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00622 Plant Pot", "part_name": "D00622 Plant Pot" }, - "volume": 0.0001770000010728836 + "volume": 0.0001770000010728836, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8d69ca040bbf00f8691f643edb95a769421456532b14ea5d02d4fc5f18796f92" + }, + "usd_path": "batch22/D00622 Plant Pot/IsaacSim_assets_6a73050f5d45b936d63416c9/IsaacSim_asset_6a73050f5d45b936d63416c9.usd", + "usd_sha256": "30c6b01af0183e7d97c8195d7b22c48b96563abc0758227acc5df688456c45bf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.16420599818229675, 0.16410499811172485, 0.11278300359845161 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30c6b01af0183e7d97c8195d7b22c48b96563abc0758227acc5df688456c45bf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.354 + "value_kg": 0.3540000021457672, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30c6b01af0183e7d97c8195d7b22c48b96563abc0758227acc5df688456c45bf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3540000021457672, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30c6b01af0183e7d97c8195d7b22c48b96563abc0758227acc5df688456c45bf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30c6b01af0183e7d97c8195d7b22c48b96563abc0758227acc5df688456c45bf", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00722 Sesame Seeds/IsaacSim_assets_6a7406f25d45b936d6455bf3/physics_6a7406f25d45b936d6455bf3.json b/batch22/D00722 Sesame Seeds/IsaacSim_assets_6a7406f25d45b936d6455bf3/physics_6a7406f25d45b936d6455bf3.json index b097f413be07236534b4cc28342fcd8120cf1035..3e472481b7e5eb3326f121c2dc12c23e8390b133 100644 --- a/batch22/D00722 Sesame Seeds/IsaacSim_assets_6a7406f25d45b936d6455bf3/physics_6a7406f25d45b936d6455bf3.json +++ b/batch22/D00722 Sesame Seeds/IsaacSim_assets_6a7406f25d45b936d6455bf3/physics_6a7406f25d45b936d6455bf3.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "1ba8bd630b1667aa11da64651e7419ee3321f8c38b4c89d998cdff76a5d61ec7" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "54719cf2052a24ebb565511ad66d234ef5457bdff11d5abcf3c66af8a82575bf" }, "usd_path": "batch22/D00722 Sesame Seeds/IsaacSim_assets_6a7406f25d45b936d6455bf3/IsaacSim_asset_6a7406f25d45b936d6455bf3.usd", - "usd_sha256": "8e5f8f1eed2ae4814cdf9cef31ff2619007a0739e0e6c4017568946d268aa681", + "usd_sha256": "df987c6773d878e56e161ea92ccd51a59c47b67fb1343577730fc790daba2b0b", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -115,9 +115,9 @@ 0.0016870000399649143, 0.0018690000288188457 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "8e5f8f1eed2ae4814cdf9cef31ff2619007a0739e0e6c4017568946d268aa681", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df987c6773d878e56e161ea92ccd51a59c47b67fb1343577730fc790daba2b0b", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 1.5300000200113573e-07, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "8e5f8f1eed2ae4814cdf9cef31ff2619007a0739e0e6c4017568946d268aa681", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df987c6773d878e56e161ea92ccd51a59c47b67fb1343577730fc790daba2b0b", "scope": "authored_usd_mass_consistency", "part_sum_kg": 1.5300000200113573e-07, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 1, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "8e5f8f1eed2ae4814cdf9cef31ff2619007a0739e0e6c4017568946d268aa681", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df987c6773d878e56e161ea92ccd51a59c47b67fb1343577730fc790daba2b0b", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "8e5f8f1eed2ae4814cdf9cef31ff2619007a0739e0e6c4017568946d268aa681", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df987c6773d878e56e161ea92ccd51a59c47b67fb1343577730fc790daba2b0b", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00792 Spoons Cutter/IsaacSim_assets_6a7401a85d45b936d644870e/physics_6a7401a85d45b936d644870e.json b/batch22/D00792 Spoons Cutter/IsaacSim_assets_6a7401a85d45b936d644870e/physics_6a7401a85d45b936d644870e.json index b71f8b3681571506ca90e3d38a77e894e8314111..7f33b7dcde169617bf3c9b2206cb6dacf84672f2 100644 --- a/batch22/D00792 Spoons Cutter/IsaacSim_assets_6a7401a85d45b936d644870e/physics_6a7401a85d45b936d644870e.json +++ b/batch22/D00792 Spoons Cutter/IsaacSim_assets_6a7401a85d45b936d644870e/physics_6a7401a85d45b936d644870e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07372699677944183, - 0.010633000172674656, - 0.03777199983596802 - ], "min": [ -0.07532399892807007, -0.010683000087738037, 0.0 ], + "max": [ + 0.07372699677944183, + 0.010633000172674656, + 0.03777199983596802 + ], "size": [ 0.1490509957075119, 0.021316000260412693, 0.03777199983596802 - ] + ], + "units": "m" }, "description": "D00792 Spoons Cutter", "name": "D00792 Spoons Cutter", "object_type": "rigid_bodies", - "total_mass": 0.055 + "total_mass": 0.054999999701976776, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00792", "parts": [ { "bounds": { - "center": [ - -0.0007985010743141174, - -2.4999957531690598e-05, - 0.01888599991798401 + "min": [ + -0.07532399892807007, + -0.010683000087738037, + 0.0 ], "max": [ 0.07372699677944183, 0.010633000172674656, 0.03777199983596802 ], - "min": [ - -0.07532399892807007, - -0.010683000087738037, - 0.0 - ] + "size": [ + 0.1490509957075119, + 0.021316000260412693, + 0.03777199983596802 + ], + "units": "m" }, "center_of_mass": [ -0.006848575081676245, @@ -59,7 +65,7 @@ 9.071577369468287e-05, 9.203368244925514e-05 ], - "mass": 0.055, + "mass": 0.054999999701976776, "material": "glass", "name": "D00792 Spoons Cutter", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00792 Spoons Cutter", "part_name": "D00792 Spoons Cutter" }, - "volume": 1.01851851299957e-05 + "volume": 1.01851851299957e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8f0c1280881cf5d8e4c7075487882a3c6a57457715905e8d510c07708426e5d8" + }, + "usd_path": "batch22/D00792 Spoons Cutter/IsaacSim_assets_6a7401a85d45b936d644870e/IsaacSim_asset_6a7401a85d45b936d644870e.usd", + "usd_sha256": "aa33559ea2c9e4139104cd986712a8dc35ce1fb8d0ebf2855f3afe086746d3a4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1490509957075119, 0.021316000260412693, 0.03777199983596802 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa33559ea2c9e4139104cd986712a8dc35ce1fb8d0ebf2855f3afe086746d3a4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.055 + "value_kg": 0.054999999701976776, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa33559ea2c9e4139104cd986712a8dc35ce1fb8d0ebf2855f3afe086746d3a4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.054999999701976776, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa33559ea2c9e4139104cd986712a8dc35ce1fb8d0ebf2855f3afe086746d3a4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa33559ea2c9e4139104cd986712a8dc35ce1fb8d0ebf2855f3afe086746d3a4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00834 Sugar Bowl/IsaacSim_assets_6a73f5855d45b936d643209d/physics_6a73f5855d45b936d643209d.json b/batch22/D00834 Sugar Bowl/IsaacSim_assets_6a73f5855d45b936d643209d/physics_6a73f5855d45b936d643209d.json index b81bea59df7e50223b04a6604f7d03687e892ef6..9de36e3f7635dd6b59f0464395b8a7376edc822d 100644 --- a/batch22/D00834 Sugar Bowl/IsaacSim_assets_6a73f5855d45b936d643209d/physics_6a73f5855d45b936d643209d.json +++ b/batch22/D00834 Sugar Bowl/IsaacSim_assets_6a73f5855d45b936d643209d/physics_6a73f5855d45b936d643209d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04221599921584129, - 0.04205600172281265, - 0.060040827840566635 - ], "min": [ -0.0421690009534359, -0.04204599931836128, 0.0004078298225067556 ], + "max": [ + 0.04221599921584129, + 0.04205600172281265, + 0.060040827840566635 + ], "size": [ 0.08438500016927719, 0.08410200104117393, 0.05963299801805988 - ] + ], + "units": "m" }, "description": "D00834 Sugar Bowl", "name": "D00834 Sugar Bowl", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00834", "parts": [ { "bounds": { - "center": [ - 2.3499131202697754e-05, - 5.00120222568512e-06, - 0.030224328831536695 + "min": [ + -0.0421690009534359, + -0.04204599931836128, + 0.0004078298225067556 ], "max": [ 0.04221599921584129, 0.04205600172281265, 0.060040827840566635 ], - "min": [ - -0.0421690009534359, - -0.04204599931836128, - 0.0004078298225067556 - ] + "size": [ + 0.08438500016927719, + 0.08410200104117393, + 0.05963299801805988 + ], + "units": "m" }, "center_of_mass": [ 0.00021164344798307866, @@ -59,7 +65,7 @@ 0.00018999274470843375, 0.00024078815476968884 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "ceramic", "name": "D00834 Sugar Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00834 Sugar Bowl", "part_name": "D00834 Sugar Bowl" }, - "volume": 8.333333457509676e-05 + "volume": 8.333333457509676e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d95d6791e45cedc35df79b67bad99a48e6e8f88ecaf5ba02f8153a6b342d1b7d" + }, + "usd_path": "batch22/D00834 Sugar Bowl/IsaacSim_assets_6a73f5855d45b936d643209d/IsaacSim_asset_6a73f5855d45b936d643209d.usd", + "usd_sha256": "338d326a58d916226dddbc9f266de70efd3b79ddea6822ca00264e086cff112d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08438500016927719, 0.08410200104117393, 0.05963299801805988 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "338d326a58d916226dddbc9f266de70efd3b79ddea6822ca00264e086cff112d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "338d326a58d916226dddbc9f266de70efd3b79ddea6822ca00264e086cff112d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 32, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "338d326a58d916226dddbc9f266de70efd3b79ddea6822ca00264e086cff112d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 32, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "338d326a58d916226dddbc9f266de70efd3b79ddea6822ca00264e086cff112d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00889 Uncooked Grains/IsaacSim_assets_6a73f2c95d45b936d6429bad/physics_6a73f2c95d45b936d6429bad.json b/batch22/D00889 Uncooked Grains/IsaacSim_assets_6a73f2c95d45b936d6429bad/physics_6a73f2c95d45b936d6429bad.json index cd8f1ca25bf1115bbcf03a578f6a509e09d3c9c2..c9b0dfbce77f387855b2d3c390b061dac40c4837 100644 --- a/batch22/D00889 Uncooked Grains/IsaacSim_assets_6a73f2c95d45b936d6429bad/physics_6a73f2c95d45b936d6429bad.json +++ b/batch22/D00889 Uncooked Grains/IsaacSim_assets_6a73f2c95d45b936d6429bad/physics_6a73f2c95d45b936d6429bad.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0029490001033991575, - 0.0011749999830499291, - 0.0021994998678565025 - ], "min": [ -0.0028299998957663774, -0.0010600000387057662, 2.50003427026968e-06 ], + "max": [ + 0.0029490001033991575, + 0.0011749999830499291, + 0.0021994998678565025 + ], "size": [ 0.005778999999165535, 0.0022350000217556953, 0.002196999833586233 - ] + ], + "units": "m" }, "description": "D00889 Uncooked Grains", "name": "D00889 Uncooked Grains", "object_type": "rigid_bodies", - "total_mass": 2e-06 + "total_mass": 2.1200000901444582e-06, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00889", "parts": [ { "bounds": { - "center": [ - 5.950010381639004e-05, - 5.749997217208147e-05, - 0.001100999951063386 + "min": [ + -0.0028299998957663774, + -0.0010600000387057662, + 2.50003427026968e-06 ], "max": [ 0.0029490001033991575, 0.0011749999830499291, 0.0021994998678565025 ], - "min": [ - -0.0028299998957663774, - -0.0010600000387057662, - 2.50003427026968e-06 - ] + "size": [ + 0.005778999999165535, + 0.0022350000217556953, + 0.002196999833586233 + ], + "units": "m" }, "center_of_mass": [ -3.554165596142411e-05, @@ -59,7 +65,7 @@ 1.000000013351432e-10, 1.000000013351432e-10 ], - "mass": 2e-06, + "mass": 2.1200000901444582e-06, "material": "composite", "name": "D00889 Uncooked Grains", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00889 Uncooked Grains", "part_name": "D00889 Uncooked Grains" }, - "volume": 1.514285778674613e-09 + "volume": 1.514285778674613e-09, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4ba59a1fe64f0d4d50e9fef5eb1151eb6d084a4677a9e5207e51a7b5463f2165" + }, + "usd_path": "batch22/D00889 Uncooked Grains/IsaacSim_assets_6a73f2c95d45b936d6429bad/IsaacSim_asset_6a73f2c95d45b936d6429bad.usd", + "usd_sha256": "11bd14466a80d79123592fbde2b2d7262e3a5528f482d7e8fe02ce8d90db32e2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.005778999999165535, 0.0022350000217556953, 0.002196999833586233 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "11bd14466a80d79123592fbde2b2d7262e3a5528f482d7e8fe02ce8d90db32e2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2e-06 + "value_kg": 2.1200000901444582e-06, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "11bd14466a80d79123592fbde2b2d7262e3a5528f482d7e8fe02ce8d90db32e2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.1200000901444582e-06, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "11bd14466a80d79123592fbde2b2d7262e3a5528f482d7e8fe02ce8d90db32e2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "11bd14466a80d79123592fbde2b2d7262e3a5528f482d7e8fe02ce8d90db32e2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00908 Vinegar Bottle/IsaacSim_assets_6a729f135d45b936d62aeea1/physics_6a729f135d45b936d62aeea1.json b/batch22/D00908 Vinegar Bottle/IsaacSim_assets_6a729f135d45b936d62aeea1/physics_6a729f135d45b936d62aeea1.json index 6fc39dafe7307533e273a8c6c12c4e036754d1ae..e0dc34284b9e30c2d74b9f53293d2f4a3f78e518 100644 --- a/batch22/D00908 Vinegar Bottle/IsaacSim_assets_6a729f135d45b936d62aeea1/physics_6a729f135d45b936d62aeea1.json +++ b/batch22/D00908 Vinegar Bottle/IsaacSim_assets_6a729f135d45b936d62aeea1/physics_6a729f135d45b936d62aeea1.json @@ -504,13 +504,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "9b9fd4f213b32c544d503c80ac01a7a6536282789595ef29de1640793e641191" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2c61f370ca37e02e768abc33166a92bdf1788c2a031af71ccd205c708cdc7d04" }, "usd_path": "batch22/D00908 Vinegar Bottle/IsaacSim_assets_6a729f135d45b936d62aeea1/IsaacSim_asset_6a729f135d45b936d62aeea1.usd", - "usd_sha256": "7129850021eb1688d635ecf18d1bf170ba61abe9b858afb830a8bf5189b757d3", + "usd_sha256": "da489a8cbca4da8814ec3377680ab85042b4e4f38ac953510301ecb4cad7429a", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -534,9 +534,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7129850021eb1688d635ecf18d1bf170ba61abe9b858afb830a8bf5189b757d3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "da489a8cbca4da8814ec3377680ab85042b4e4f38ac953510301ecb4cad7429a", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07988600060343742, @@ -550,9 +550,9 @@ "status": "verified", "confidence": "high", "value_kg": 1.339999981224537, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7129850021eb1688d635ecf18d1bf170ba61abe9b858afb830a8bf5189b757d3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "da489a8cbca4da8814ec3377680ab85042b4e4f38ac953510301ecb4cad7429a", "scope": "authored_usd_mass_consistency", "part_sum_kg": 1.339999981224537, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -561,9 +561,9 @@ "status": "verified", "confidence": "high", "shape_count": 29, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7129850021eb1688d635ecf18d1bf170ba61abe9b858afb830a8bf5189b757d3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "da489a8cbca4da8814ec3377680ab85042b4e4f38ac953510301ecb4cad7429a", "scope": "authored_usd_collision_schema", "enabled_shape_count": 29, "approximations": [ @@ -575,18 +575,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7129850021eb1688d635ecf18d1bf170ba61abe9b858afb830a8bf5189b757d3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "da489a8cbca4da8814ec3377680ab85042b4e4f38ac953510301ecb4cad7429a", "scope": "authored_usd_joint_schema", "joint_count": 4, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00924 Whisk/IsaacSim_assets_6a73f1e75d45b936d64277fe/physics_6a73f1e75d45b936d64277fe.json b/batch22/D00924 Whisk/IsaacSim_assets_6a73f1e75d45b936d64277fe/physics_6a73f1e75d45b936d64277fe.json index cc79fcf3cd8af7c33894522370b773e59e228c36..26d1ab46f7f6f21aab3dd29b526618257b2e2bf0 100644 --- a/batch22/D00924 Whisk/IsaacSim_assets_6a73f1e75d45b936d64277fe/physics_6a73f1e75d45b936d64277fe.json +++ b/batch22/D00924 Whisk/IsaacSim_assets_6a73f1e75d45b936d64277fe/physics_6a73f1e75d45b936d64277fe.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.024204999208450317, - 0.1820400059223175, - 0.0463315024971962 - ], "min": [ -0.02447899989783764, -0.11645399779081345, 0.0009275000775232911 ], + "max": [ + 0.024204999208450317, + 0.1820400059223175, + 0.0463315024971962 + ], "size": [ 0.048683999106287956, 0.29849400371313095, 0.045404002419672906 - ] + ], + "units": "m" }, "description": "D00924 Whisk", "name": "D00924 Whisk", "object_type": "rigid_bodies", - "total_mass": 0.062 + "total_mass": 0.06199999898672104, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00924", "parts": [ { "bounds": { - "center": [ - -0.00013700034469366074, - 0.03279300406575203, - 0.023629501287359744 + "min": [ + -0.02447899989783764, + -0.11645399779081345, + 0.0009275000775232911 ], "max": [ 0.024204999208450317, 0.1820400059223175, 0.0463315024971962 ], - "min": [ - -0.02447899989783764, - -0.11645399779081345, - 0.0009275000775232911 - ] + "size": [ + 0.048683999106287956, + 0.29849400371313095, + 0.045404002419672906 + ], + "units": "m" }, "center_of_mass": [ 5.883091944269836e-05, @@ -59,7 +65,7 @@ 0.0004152054898440838, 0.0004152666078880429 ], - "mass": 0.062, + "mass": 0.06199999898672104, "material": "wood", "name": "D00924 Whisk", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00924 Whisk", "part_name": "D00924 Whisk" }, - "volume": 9.538461382572467e-05 + "volume": 9.538461382572467e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9b0c06825b0b57d4b9f9bd1855fca3e94bcb04ad2250b3deb84180f7342ce113" + }, + "usd_path": "batch22/D00924 Whisk/IsaacSim_assets_6a73f1e75d45b936d64277fe/IsaacSim_asset_6a73f1e75d45b936d64277fe.usd", + "usd_sha256": "84935910808b7f9654a916a630ae1ddce46f55e49ab24975a109ef7e5bbdaa76", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.048683999106287956, 0.29849400371313095, 0.045404002419672906 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "84935910808b7f9654a916a630ae1ddce46f55e49ab24975a109ef7e5bbdaa76", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.062 + "value_kg": 0.06199999898672104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "84935910808b7f9654a916a630ae1ddce46f55e49ab24975a109ef7e5bbdaa76", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.06199999898672104, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 42, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "84935910808b7f9654a916a630ae1ddce46f55e49ab24975a109ef7e5bbdaa76", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 42, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "84935910808b7f9654a916a630ae1ddce46f55e49ab24975a109ef7e5bbdaa76", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00977 Wooden Spoon Knife/IsaacSim_assets_6a6844be171604926a440997/physics_6a6844be171604926a440997.json b/batch22/D00977 Wooden Spoon Knife/IsaacSim_assets_6a6844be171604926a440997/physics_6a6844be171604926a440997.json index 08bf4e75087133388f6b5dce6975d1429225f351..8cc7af1568e4005aedbc87ad35a596c3adb0cae5 100644 --- a/batch22/D00977 Wooden Spoon Knife/IsaacSim_assets_6a6844be171604926a440997/physics_6a6844be171604926a440997.json +++ b/batch22/D00977 Wooden Spoon Knife/IsaacSim_assets_6a6844be171604926a440997/physics_6a6844be171604926a440997.json @@ -1,65 +1,88 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.087071999907494, - 0.015777999535203, - 0.032571740448475 - ], "min": [ - -0.08746899664402, - -0.015886999666691, - 0.000675740922816 + -0.08746899664402008, + -0.015886999666690826, + 0.0006757409228157485 + ], + "max": [ + 0.08707199990749359, + 0.01577799953520298, + 0.032571740448474884 ], "size": [ - 0.174540996551514, - 0.031664999201894, - 0.031895999525659004 - ] + 0.17454099655151367, + 0.031664999201893806, + 0.031895999525659136 + ], + "units": "m" }, "description": "A carving tool featuring a curved metal blade attached to a smooth, contoured wooden handle.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00977", "parts": [ { "bounds": { - "center": [ - 0.001565519708676, - 3.5728987359e-05, - 0.013566538852518 + "min": [ + -0.08746899664402008, + -0.015886999666690826, + 0.0006757409228157485 ], "max": [ - 0.087071999907494, - 0.015777999535203, - 0.032571740448475 + 0.08707199990749359, + 0.01577799953520298, + 0.032571740448474884 ], - "min": [ - -0.08746899664402, - -0.015886999666691, - 0.000675740922816 - ] + "size": [ + 0.17454099655151367, + 0.031664999201893806, + 0.031895999525659136 + ], + "units": "m" }, "collision": {}, "density": 2924, "id": "part_00", - "mass": 0.05, + "mass": 0.05000000074505806, "material": "wood", "name": "generated reference 01", "physics_type": "rigid", "source": { "object_name": "generated reference 01", "part_name": "generated reference 01" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "068f39d446c3ceb0cfc88d62c8717d45ce52fbaed8b99c002fec0b6cdd40d7c4" + }, + "usd_path": "batch22/D00977 Wooden Spoon Knife/IsaacSim_assets_6a6844be171604926a440997/IsaacSim_asset_6a6844be171604926a440997.usd", + "usd_sha256": "9c721e211fc7f22cfbdcb897ca0e5cc177d5987e1465c7889a4e64acb131f6f7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -77,25 +100,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.174540996551514, - 0.031664999201894, - 0.031895999525659004 - ] + 0.17454099655151367, + 0.031664999201893806, + 0.031895999525659136 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9c721e211fc7f22cfbdcb897ca0e5cc177d5987e1465c7889a4e64acb131f6f7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9c721e211fc7f22cfbdcb897ca0e5cc177d5987e1465c7889a4e64acb131f6f7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9c721e211fc7f22cfbdcb897ca0e5cc177d5987e1465c7889a4e64acb131f6f7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9c721e211fc7f22cfbdcb897ca0e5cc177d5987e1465c7889a4e64acb131f6f7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00987 Wooden Utensil Holder/IsaacSim_assets_6a689da9cb2d3efc658054be/physics_6a689da9cb2d3efc658054be.json b/batch22/D00987 Wooden Utensil Holder/IsaacSim_assets_6a689da9cb2d3efc658054be/physics_6a689da9cb2d3efc658054be.json index a285bda3939b59b9b1f0f9b54e4a03ed975572d4..13f3a1f013e8866ccd2c5c748335a30f1131ff20 100644 --- a/batch22/D00987 Wooden Utensil Holder/IsaacSim_assets_6a689da9cb2d3efc658054be/physics_6a689da9cb2d3efc658054be.json +++ b/batch22/D00987 Wooden Utensil Holder/IsaacSim_assets_6a689da9cb2d3efc658054be/physics_6a689da9cb2d3efc658054be.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05747599899768829, - 0.05837799981236458, - 0.1562763035763055 - ], "min": [ -0.057537999004125595, -0.05851199850440025, 0.0005593002679233905 ], + "max": [ + 0.05747599899768829, + 0.05837799981236458, + 0.1562763035763055 + ], "size": [ 0.11501399800181389, 0.11688999831676483, 0.15571700330838212 - ] + ], + "units": "m" }, "description": "D00987 Wooden Utensil Holder", "name": "D00987 Wooden Utensil Holder", "object_type": "rigid_bodies", - "total_mass": 0.086 + "total_mass": 0.0860000029206276, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00987", "parts": [ { "bounds": { - "center": [ - -3.100000321865082e-05, - -6.699934601783752e-05, - 0.07841780192211445 + "min": [ + -0.057537999004125595, + -0.05851199850440025, + 0.0005593002679233905 ], "max": [ 0.05747599899768829, 0.05837799981236458, 0.1562763035763055 ], - "min": [ - -0.057537999004125595, - -0.05851199850440025, - 0.0005593002679233905 - ] + "size": [ + 0.11501399800181389, + 0.11688999831676483, + 0.15571700330838212 + ], + "units": "m" }, "center_of_mass": [ -3.3452524803578854e-05, @@ -59,7 +65,7 @@ 0.0002369315188843757, 0.00023918953957036138 ], - "mass": 0.086, + "mass": 0.0860000029206276, "material": "wood", "name": "D00987 Wooden Utensil Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00987 Wooden Utensil Holder", "part_name": "D00987 Wooden Utensil Holder" }, - "volume": 0.000143333338201046 + "volume": 0.000143333338201046, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fecaa36e3e5950b78dbae9ebf25ffa86fb316616d339307c6e3bbc9ff20e7807" + }, + "usd_path": "batch22/D00987 Wooden Utensil Holder/IsaacSim_assets_6a689da9cb2d3efc658054be/IsaacSim_asset_6a689da9cb2d3efc658054be.usd", + "usd_sha256": "85a05597333f18784961c754bf1a84a53800bcae5799af91fb4e1f8d77883124", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.11501399800181389, 0.11688999831676483, 0.15571700330838212 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85a05597333f18784961c754bf1a84a53800bcae5799af91fb4e1f8d77883124", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.086 + "value_kg": 0.0860000029206276, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85a05597333f18784961c754bf1a84a53800bcae5799af91fb4e1f8d77883124", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0860000029206276, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 99, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85a05597333f18784961c754bf1a84a53800bcae5799af91fb4e1f8d77883124", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 99, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85a05597333f18784961c754bf1a84a53800bcae5799af91fb4e1f8d77883124", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch22/D00990 Wooden Whisk/IsaacSim_assets_6a681b902dc99913ff7c7d4f/physics_6a681b902dc99913ff7c7d4f.json b/batch22/D00990 Wooden Whisk/IsaacSim_assets_6a681b902dc99913ff7c7d4f/physics_6a681b902dc99913ff7c7d4f.json index 56cb77e1da0446342091be306767095ec157ad2b..c16056ef50666c98f031195fec3d7bf677df9e21 100644 --- a/batch22/D00990 Wooden Whisk/IsaacSim_assets_6a681b902dc99913ff7c7d4f/physics_6a681b902dc99913ff7c7d4f.json +++ b/batch22/D00990 Wooden Whisk/IsaacSim_assets_6a681b902dc99913ff7c7d4f/physics_6a681b902dc99913ff7c7d4f.json @@ -1,65 +1,88 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.021918000653386, - 0.183766007423401, - 0.048757580108941 - ], "min": [ - -0.022041000425816, - -0.097281999886036, - 0.000912579948249 + -0.022041000425815582, + -0.09728199988603592, + 0.0009125799482490038 + ], + "max": [ + 0.021918000653386116, + 0.18376600742340088, + 0.0487575801089406 ], "size": [ - 0.043959001079202004, - 0.281048007309437, - 0.047845000160692 - ] + 0.0439590010792017, + 0.2810480073094368, + 0.0478450001606916 + ], + "units": "m" }, "description": "A classic kitchen whisk carved entirely from polished dark wood. It features a solid cylindrical handle attached to a bulbous head made of thick, continuous wooden tines.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00990", "parts": [ { "bounds": { - "center": [ - -6.6012229533e-05, - 0.011852795049288, - 0.024825385110907 + "min": [ + -0.022041000425815582, + -0.09728199988603592, + 0.0009125799482490038 ], "max": [ - 0.021918000653386, - 0.183766007423401, - 0.048757580108941 + 0.021918000653386116, + 0.18376600742340088, + 0.0487575801089406 ], - "min": [ - -0.022041000425816, - -0.097281999886036, - 0.000912579948249 - ] + "size": [ + 0.0439590010792017, + 0.2810480073094368, + 0.0478450001606916 + ], + "units": "m" }, "collision": {}, "density": 700, "id": "part_00", - "mass": 0.05, + "mass": 0.05000000074505806, "material": "polished_wood", "name": "generated reference 01", "physics_type": "rigid", "source": { "object_name": "generated reference 01", "part_name": "generated reference 01" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ccf54da47ed3ce5a352a3d1375d07a40a5acc9ca891fdd3b1c82c2e48ef93fb8" + }, + "usd_path": "batch22/D00990 Wooden Whisk/IsaacSim_assets_6a681b902dc99913ff7c7d4f/IsaacSim_asset_6a681b902dc99913ff7c7d4f.usd", + "usd_sha256": "06c21836c19fcc25f4e20cc239af2c3b299ad07e4e8bdab138f70ade13b4100e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -77,25 +100,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.043959001079202004, - 0.281048007309437, - 0.047845000160692 - ] + 0.0439590010792017, + 0.2810480073094368, + 0.0478450001606916 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "06c21836c19fcc25f4e20cc239af2c3b299ad07e4e8bdab138f70ade13b4100e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "06c21836c19fcc25f4e20cc239af2c3b299ad07e4e8bdab138f70ade13b4100e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 34, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "06c21836c19fcc25f4e20cc239af2c3b299ad07e4e8bdab138f70ade13b4100e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 34, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "06c21836c19fcc25f4e20cc239af2c3b299ad07e4e8bdab138f70ade13b4100e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00047_Bottle_Bowl/IsaacSim_assets_6a733b4e5d45b936d638afab/physics_6a733b4e5d45b936d638afab.json b/batch23/D00047_Bottle_Bowl/IsaacSim_assets_6a733b4e5d45b936d638afab/physics_6a733b4e5d45b936d638afab.json index 696c9f6b1fc3d69915052959fbb8ec047895934d..564c4f38acb3ec19539ee9c5fe30e3b8ecdabf73 100644 --- a/batch23/D00047_Bottle_Bowl/IsaacSim_assets_6a733b4e5d45b936d638afab/physics_6a733b4e5d45b936d638afab.json +++ b/batch23/D00047_Bottle_Bowl/IsaacSim_assets_6a733b4e5d45b936d638afab/physics_6a733b4e5d45b936d638afab.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12603700160980225, - 0.12612499296665192, - 0.08805184031371027 - ], "min": [ -0.12617899477481842, -0.1261959969997406, 0.0012728400834021159 ], + "max": [ + 0.12603700160980225, + 0.12612499296665192, + 0.08805184031371027 + ], "size": [ 0.25221599638462067, 0.2523209899663925, 0.08677900023030816 - ] + ], + "units": "m" }, "description": "D00047 Bottle Bowl", "name": "D00047 Bottle Bowl", "object_type": "rigid_bodies", - "total_mass": 2.83 + "total_mass": 2.8299999237060547, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00047", "parts": [ { "bounds": { - "center": [ - -7.099658250808716e-05, - -3.550201654434204e-05, - 0.044662340198556194 + "min": [ + -0.12617899477481842, + -0.1261959969997406, + 0.0012728400834021159 ], "max": [ 0.12603700160980225, 0.12612499296665192, 0.08805184031371027 ], - "min": [ - -0.12617899477481842, - -0.1261959969997406, - 0.0012728400834021159 - ] + "size": [ + 0.25221599638462067, + 0.2523209899663925, + 0.08677900023030816 + ], + "units": "m" }, "center_of_mass": [ 0.00024747842689976096, @@ -59,7 +65,7 @@ 0.013983945362269878, 0.02254427969455719 ], - "mass": 2.83, + "mass": 2.8299999237060547, "material": "metal", "name": "D00047 Bottle Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00047 Bottle Bowl", "part_name": "D00047 Bottle Bowl" }, - "volume": 0.00031584820577076504 + "volume": 0.00031584820577076504, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "809b4af1614bb103696bc1e806de960bc8618ac668008c51687b2ddf2c957bbc" + }, + "usd_path": "batch23/D00047_Bottle_Bowl/IsaacSim_assets_6a733b4e5d45b936d638afab/IsaacSim_asset_6a733b4e5d45b936d638afab.usd", + "usd_sha256": "42b3a236e6619176cff9150f08182bacf60616823296a68332250b9574118baf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.25221599638462067, 0.2523209899663925, 0.08677900023030816 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "42b3a236e6619176cff9150f08182bacf60616823296a68332250b9574118baf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.83 + "value_kg": 2.8299999237060547, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "42b3a236e6619176cff9150f08182bacf60616823296a68332250b9574118baf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.8299999237060547, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 27, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "42b3a236e6619176cff9150f08182bacf60616823296a68332250b9574118baf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 27, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "42b3a236e6619176cff9150f08182bacf60616823296a68332250b9574118baf", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "42b3a236e6619176cff9150f08182bacf60616823296a68332250b9574118baf", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:43.459349+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "37f6905c802ae8f83ba41b9756e66edcfe3247d6439faad57ef23b36d75715f0", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00069_Bowl_Pot_Strainer/IsaacSim_assets_6a6c860fcb2d3efc65c4b789/physics_6a6c860fcb2d3efc65c4b789.json b/batch23/D00069_Bowl_Pot_Strainer/IsaacSim_assets_6a6c860fcb2d3efc65c4b789/physics_6a6c860fcb2d3efc65c4b789.json index 7771b1d60124de7fef53307a8389f56edfe27486..62870592fb90e4e7bb8af19af78971b490e890d2 100644 --- a/batch23/D00069_Bowl_Pot_Strainer/IsaacSim_assets_6a6c860fcb2d3efc65c4b789/physics_6a6c860fcb2d3efc65c4b789.json +++ b/batch23/D00069_Bowl_Pot_Strainer/IsaacSim_assets_6a6c860fcb2d3efc65c4b789/physics_6a6c860fcb2d3efc65c4b789.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11493299901485443, - 0.11496900022029877, - 0.10879362933337688 - ], "min": [ -0.11488199979066849, -0.11471399664878845, 0.0007806297762726899 ], + "max": [ + 0.11493299901485443, + 0.11496900022029877, + 0.10879362933337688 + ], "size": [ 0.22981499880552292, 0.22968299686908722, 0.1080129995571042 - ] + ], + "units": "m" }, "description": "D00069 Bowl Pot Strainer", "name": "D00069 Bowl Pot Strainer", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.30000001192092896, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00069", "parts": [ { "bounds": { - "center": [ - 2.5499612092971802e-05, - 0.00012750178575515747, - 0.05478712955482479 + "min": [ + -0.11488199979066849, + -0.11471399664878845, + 0.0007806297762726899 ], "max": [ 0.11493299901485443, 0.11496900022029877, 0.10879362933337688 ], - "min": [ - -0.11488199979066849, - -0.11471399664878845, - 0.0007806297762726899 - ] + "size": [ + 0.22981499880552292, + 0.22968299686908722, + 0.1080129995571042 + ], + "units": "m" }, "center_of_mass": [ 0.0001255948591278866, @@ -59,7 +65,7 @@ 0.001594719709828496, 0.002287565963342786 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "metal", "name": "D00069 Bowl Pot Strainer", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00069 Bowl Pot Strainer", "part_name": "D00069 Bowl Pot Strainer" }, - "volume": 3.8216562028143814e-05 + "volume": 3.8216562028143814e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d8eb0b1b8613737ccf139500a655f66646eb9f34456f2b7f924b170ce1c74b70" + }, + "usd_path": "batch23/D00069_Bowl_Pot_Strainer/IsaacSim_assets_6a6c860fcb2d3efc65c4b789/IsaacSim_asset_6a6c860fcb2d3efc65c4b789.usd", + "usd_sha256": "8bfe9cf3d84874f6a463d05c0cda18d2d3e06b6e12aeb35ff4e49832a9b30ae8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.22981499880552292, 0.22968299686908722, 0.1080129995571042 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8bfe9cf3d84874f6a463d05c0cda18d2d3e06b6e12aeb35ff4e49832a9b30ae8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.30000001192092896, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8bfe9cf3d84874f6a463d05c0cda18d2d3e06b6e12aeb35ff4e49832a9b30ae8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.30000001192092896, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 193, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8bfe9cf3d84874f6a463d05c0cda18d2d3e06b6e12aeb35ff4e49832a9b30ae8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 193, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8bfe9cf3d84874f6a463d05c0cda18d2d3e06b6e12aeb35ff4e49832a9b30ae8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "8bfe9cf3d84874f6a463d05c0cda18d2d3e06b6e12aeb35ff4e49832a9b30ae8", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:13.454849+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "61dbbfab61d0c5fd0a29717d39ae6810474d9c75acfadc54b1b425064f79ceca", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00072_Bowl_Steamer/IsaacSim_assets_6a6c8811cb2d3efc65c4ebb5/physics_6a6c8811cb2d3efc65c4ebb5.json b/batch23/D00072_Bowl_Steamer/IsaacSim_assets_6a6c8811cb2d3efc65c4ebb5/physics_6a6c8811cb2d3efc65c4ebb5.json index bb73ed40b27c5fd9f8b93dbbd35df6a5a929cd4a..e8011127fc5b8c04e8d30c34cd1a7cffff460503 100644 --- a/batch23/D00072_Bowl_Steamer/IsaacSim_assets_6a6c8811cb2d3efc65c4ebb5/physics_6a6c8811cb2d3efc65c4ebb5.json +++ b/batch23/D00072_Bowl_Steamer/IsaacSim_assets_6a6c8811cb2d3efc65c4ebb5/physics_6a6c8811cb2d3efc65c4ebb5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09012900292873383, - 0.08124899864196777, - 0.05635405902285129 - ], "min": [ -0.09068100154399872, -0.08051200211048126, 0.0006220599680091254 ], + "max": [ + 0.09012900292873383, + 0.08124899864196777, + 0.05635405902285129 + ], "size": [ 0.18081000447273254, 0.16176100075244904, 0.05573199905484216 - ] + ], + "units": "m" }, "description": "D00072 Bowl Steamer", "name": "D00072 Bowl Steamer", "object_type": "rigid_bodies", - "total_mass": 0.99 + "total_mass": 0.9900000095367432, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00072", "parts": [ { "bounds": { - "center": [ - -0.0002759993076324463, - 0.0003684982657432556, - 0.028488059495430207 + "min": [ + -0.09068100154399872, + -0.08051200211048126, + 0.0006220599680091254 ], "max": [ 0.09012900292873383, 0.08124899864196777, 0.05635405902285129 ], - "min": [ - -0.09068100154399872, - -0.08051200211048126, - 0.0006220599680091254 - ] + "size": [ + 0.18081000447273254, + 0.16176100075244904, + 0.05573199905484216 + ], + "units": "m" }, "center_of_mass": [ -0.0003004249301739037, @@ -59,7 +65,7 @@ 0.0018750698072835803, 0.0030573694966733456 ], - "mass": 0.99, + "mass": 0.9900000095367432, "material": "metal", "name": "D00072 Bowl Steamer", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00072 Bowl Steamer", "part_name": "D00072 Bowl Steamer" }, - "volume": 0.0001237500011920929 + "volume": 0.0001237500011920929, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e20b779697ffdba18b6df133608e9edd4a6e381d9fcb71291b259097401f752b" + }, + "usd_path": "batch23/D00072_Bowl_Steamer/IsaacSim_assets_6a6c8811cb2d3efc65c4ebb5/IsaacSim_asset_6a6c8811cb2d3efc65c4ebb5.usd", + "usd_sha256": "58404e5ce2bf5269209ae4af85b13129ddfad98fa438ac16fb41a13dc64f6383", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.18081000447273254, 0.16176100075244904, 0.05573199905484216 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "58404e5ce2bf5269209ae4af85b13129ddfad98fa438ac16fb41a13dc64f6383", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.99 + "value_kg": 0.9900000095367432, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "58404e5ce2bf5269209ae4af85b13129ddfad98fa438ac16fb41a13dc64f6383", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.9900000095367432, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 256, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "58404e5ce2bf5269209ae4af85b13129ddfad98fa438ac16fb41a13dc64f6383", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 256, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "58404e5ce2bf5269209ae4af85b13129ddfad98fa438ac16fb41a13dc64f6383", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "58404e5ce2bf5269209ae4af85b13129ddfad98fa438ac16fb41a13dc64f6383", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:43.566866+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "7a30300228f38c81c8498e222fe0dc8ba2168d24c6659ac89c33371ac3e6735b", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00096_Can_Container/IsaacSim_assets_6a6c9003cb2d3efc65c5d0ce/physics_6a6c9003cb2d3efc65c5d0ce.json b/batch23/D00096_Can_Container/IsaacSim_assets_6a6c9003cb2d3efc65c5d0ce/physics_6a6c9003cb2d3efc65c5d0ce.json index 113c17e1602b014b711c559d919952e16a6463a5..14f49066af6cfb708340d02f2f93f63bfb3d9671 100644 --- a/batch23/D00096_Can_Container/IsaacSim_assets_6a6c9003cb2d3efc65c5d0ce/physics_6a6c9003cb2d3efc65c5d0ce.json +++ b/batch23/D00096_Can_Container/IsaacSim_assets_6a6c9003cb2d3efc65c5d0ce/physics_6a6c9003cb2d3efc65c5d0ce.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03378500044345856, - 0.03397500142455101, - 0.09460283280350268 - ], "min": [ -0.034297000616788864, -0.0339989997446537, 0.00034582986666009674 ], + "max": [ + 0.03378500044345856, + 0.03397500142455101, + 0.09460283280350268 + ], "size": [ 0.06808200106024742, 0.06797400116920471, 0.09425700293684258 - ] + ], + "units": "m" }, "description": "D00096 Can Container", "name": "D00096 Can Container", "object_type": "rigid_bodies", - "total_mass": 0.145 + "total_mass": 0.14499999582767487, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00096", "parts": [ { "bounds": { - "center": [ - -0.0002560000866651535, - -1.1999160051345825e-05, - 0.04747433133508139 + "min": [ + -0.034297000616788864, + -0.0339989997446537, + 0.00034582986666009674 ], "max": [ 0.03378500044345856, 0.03397500142455101, 0.09460283280350268 ], - "min": [ - -0.034297000616788864, - -0.0339989997446537, - 0.00034582986666009674 - ] + "size": [ + 0.06808200106024742, + 0.06797400116920471, + 0.09425700293684258 + ], + "units": "m" }, "center_of_mass": [ -0.0002508865436539054, @@ -59,7 +65,7 @@ 0.00014596880646422505, 0.00014614255633205175 ], - "mass": 0.145, + "mass": 0.14499999582767487, "material": "metal", "name": "D00096 Can Container", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00096 Can Container", "part_name": "D00096 Can Container" }, - "volume": 1.858974305483011e-05 + "volume": 1.858974305483011e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "444f2b492f956102b6a10d3a1ba679b0a64735e4caf1ea637e97c86fb05197ea" + }, + "usd_path": "batch23/D00096_Can_Container/IsaacSim_assets_6a6c9003cb2d3efc65c5d0ce/IsaacSim_asset_6a6c9003cb2d3efc65c5d0ce.usd", + "usd_sha256": "5c1657235663de876aa5b1b2e1b5b40e74ae7a734dc48c86e4b28e5d20e6f628", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.06808200106024742, 0.06797400116920471, 0.09425700293684258 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5c1657235663de876aa5b1b2e1b5b40e74ae7a734dc48c86e4b28e5d20e6f628", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.145 + "value_kg": 0.14499999582767487, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5c1657235663de876aa5b1b2e1b5b40e74ae7a734dc48c86e4b28e5d20e6f628", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.14499999582767487, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 7, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5c1657235663de876aa5b1b2e1b5b40e74ae7a734dc48c86e4b28e5d20e6f628", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 7, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5c1657235663de876aa5b1b2e1b5b40e74ae7a734dc48c86e4b28e5d20e6f628", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "5c1657235663de876aa5b1b2e1b5b40e74ae7a734dc48c86e4b28e5d20e6f628", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:00.290135+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "28dfdca1eafb56f7c611c31d4947ee8fdb48ac2637ac1f15f4c248c62f90cfef", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00110_Carafe/IsaacSim_assets_6a744ea092349ccf3108a045/physics_6a744ea092349ccf3108a045.json b/batch23/D00110_Carafe/IsaacSim_assets_6a744ea092349ccf3108a045/physics_6a744ea092349ccf3108a045.json index e91656b54676337c58d6866371e19318cd2cab99..e175c85ab57cc8db2bf255113fcd4c596bc48ee2 100644 --- a/batch23/D00110_Carafe/IsaacSim_assets_6a744ea092349ccf3108a045/physics_6a744ea092349ccf3108a045.json +++ b/batch23/D00110_Carafe/IsaacSim_assets_6a744ea092349ccf3108a045/physics_6a744ea092349ccf3108a045.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05299900099635124, - 0.053119998425245285, - 0.2163194715976715 - ], "min": [ -0.05379199981689453, -0.05266200006008148, 0.0010344599140807986 ], + "max": [ + 0.05299900099635124, + 0.053119998425245285, + 0.2163194715976715 + ], "size": [ 0.10679100081324577, 0.10578199848532677, 0.2152850116835907 - ] + ], + "units": "m" }, "description": "D00110 Carafe", "name": "D00110 Carafe", "object_type": "rigid_bodies", - "total_mass": 0.48875 + "total_mass": 0.48875001072883606, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00110", "parts": [ { "bounds": { - "center": [ - -0.0003964994102716446, - 0.00022899918258190155, - 0.10867696575587615 + "min": [ + -0.05379199981689453, + -0.05266200006008148, + 0.0010344599140807986 ], "max": [ 0.05299900099635124, 0.053119998425245285, 0.2163194715976715 ], - "min": [ - -0.05379199981689453, - -0.05266200006008148, - 0.0010344599140807986 - ] + "size": [ + 0.10679100081324577, + 0.10578199848532677, + 0.2152850116835907 + ], + "units": "m" }, "center_of_mass": [ -0.00041437489562667906, @@ -59,7 +65,7 @@ 0.0020781776402145624, 0.002083535073325038 ], - "mass": 0.48875, + "mass": 0.48875001072883606, "material": "ceramic", "name": "D00110 Carafe", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00110 Carafe", "part_name": "D00110 Carafe" }, - "volume": 0.00019550000429153442 + "volume": 0.00019550000429153442, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "db525b773a98e3e1123556a816334b3e1205466f309e1263df382ac2dd6041ce" + }, + "usd_path": "batch23/D00110_Carafe/IsaacSim_assets_6a744ea092349ccf3108a045/IsaacSim_asset_6a744ea092349ccf3108a045.usd", + "usd_sha256": "a861053068c59250b59b9d4e32bb01c3f7c8788051b55bdc40c0c9477c9e6f15", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.10679100081324577, 0.10578199848532677, 0.2152850116835907 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a861053068c59250b59b9d4e32bb01c3f7c8788051b55bdc40c0c9477c9e6f15", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.48875 + "value_kg": 0.48875001072883606, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a861053068c59250b59b9d4e32bb01c3f7c8788051b55bdc40c0c9477c9e6f15", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.48875001072883606, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 19, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a861053068c59250b59b9d4e32bb01c3f7c8788051b55bdc40c0c9477c9e6f15", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 19, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a861053068c59250b59b9d4e32bb01c3f7c8788051b55bdc40c0c9477c9e6f15", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "a861053068c59250b59b9d4e32bb01c3f7c8788051b55bdc40c0c9477c9e6f15", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:15:59.217593+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "1416e5e198fba43422ff4c9d8f92319ff7bf31c49a348230e5c923d9fb5e6167", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00118_Ceramic_Pitcher/IsaacSim_assets_6a6ffc53cb2d3efc65da28e5/physics_6a6ffc53cb2d3efc65da28e5.json b/batch23/D00118_Ceramic_Pitcher/IsaacSim_assets_6a6ffc53cb2d3efc65da28e5/physics_6a6ffc53cb2d3efc65da28e5.json index becee68e367229d78c86a09993951f64a32c10cf..c4d7404bb19482b2d9ef9826dba0c2bfa6ecdac3 100644 --- a/batch23/D00118_Ceramic_Pitcher/IsaacSim_assets_6a6ffc53cb2d3efc65da28e5/physics_6a6ffc53cb2d3efc65da28e5.json +++ b/batch23/D00118_Ceramic_Pitcher/IsaacSim_assets_6a6ffc53cb2d3efc65da28e5/physics_6a6ffc53cb2d3efc65da28e5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06191699951887131, - 0.056313998997211456, - 0.13773362711071968 - ], "min": [ -0.07825099676847458, -0.05627899989485741, 0.0005666199613187928 ], + "max": [ + 0.06191699951887131, + 0.056313998997211456, + 0.13773362711071968 + ], "size": [ 0.1401679962873459, 0.11259299889206886, 0.1371670071494009 - ] + ], + "units": "m" }, "description": "D00118 Ceramic Pitcher", "name": "D00118 Ceramic Pitcher", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00118", "parts": [ { "bounds": { - "center": [ - -0.008166998624801636, - 1.749955117702484e-05, - 0.06915012353601924 + "min": [ + -0.07825099676847458, + -0.05627899989485741, + 0.0005666199613187928 ], "max": [ 0.06191699951887131, 0.056313998997211456, 0.13773362711071968 ], - "min": [ - -0.07825099676847458, - -0.05627899989485741, - 0.0005666199613187928 - ] + "size": [ + 0.1401679962873459, + 0.11259299889206886, + 0.1371670071494009 + ], + "units": "m" }, "center_of_mass": [ -0.00021436410315800458, @@ -67,10 +73,27 @@ "object_name": "D00118 Ceramic Pitcher", "part_name": "D00118 Ceramic Pitcher" }, - "volume": 0.00020833333333333335 + "volume": 0.00020833333333333335, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a95af1d35c8915e54d9c45957d107e0d3e6c5f8b45ec0c9fdd389bc5b93b5e4a" + }, + "usd_path": "batch23/D00118_Ceramic_Pitcher/IsaacSim_assets_6a6ffc53cb2d3efc65da28e5/IsaacSim_asset_6a6ffc53cb2d3efc65da28e5.usd", + "usd_sha256": "c67860c619ebd6db4a2a5701507dfdca37b6f89da4b16d364d39b2c7530349af", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.1401679962873459, 0.11259299889206886, 0.1371670071494009 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c67860c619ebd6db4a2a5701507dfdca37b6f89da4b16d364d39b2c7530349af", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c67860c619ebd6db4a2a5701507dfdca37b6f89da4b16d364d39b2c7530349af", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c67860c619ebd6db4a2a5701507dfdca37b6f89da4b16d364d39b2c7530349af", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c67860c619ebd6db4a2a5701507dfdca37b6f89da4b16d364d39b2c7530349af", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "c67860c619ebd6db4a2a5701507dfdca37b6f89da4b16d364d39b2c7530349af", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:15:59.579909+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "bf73d4db95d4ec1fd604bb05de1f2fdd5816ac04b2a8db43e459bf3ba179b406", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00143_Cloth/IsaacSim_assets_6a74413992349ccf310772a0/physics_6a74413992349ccf310772a0.json b/batch23/D00143_Cloth/IsaacSim_assets_6a74413992349ccf310772a0/physics_6a74413992349ccf310772a0.json index d4c25e3ba39dd89a803b92f82a290b2b82d69395..fcc7209d945064f4d79220162fe6e5c7d7960372 100644 --- a/batch23/D00143_Cloth/IsaacSim_assets_6a74413992349ccf310772a0/physics_6a74413992349ccf310772a0.json +++ b/batch23/D00143_Cloth/IsaacSim_assets_6a74413992349ccf310772a0/physics_6a74413992349ccf310772a0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.34650400280952454, - 0.3672040104866028, - 0.2061316817998886 - ], "min": [ -0.3645400106906891, -0.38586899638175964, 0.004177676513791084 ], + "max": [ + 0.34650400280952454, + 0.3672040104866028, + 0.2061316817998886 + ], "size": [ 0.7110440135002136, 0.7530730068683624, 0.20195400528609753 - ] + ], + "units": "m" }, "description": "D00143 Cloth", "name": "D00143 Cloth", "object_type": "rigid_bodies", - "total_mass": 2.36 + "total_mass": 2.359999895095825, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00143", "parts": [ { "bounds": { - "center": [ - -0.009018003940582275, - -0.00933249294757843, - 0.10515467915683985 + "min": [ + -0.3645400106906891, + -0.38586899638175964, + 0.004177676513791084 ], "max": [ 0.34650400280952454, 0.3672040104866028, 0.2061316817998886 ], - "min": [ - -0.3645400106906891, - -0.38586899638175964, - 0.004177676513791084 - ] + "size": [ + 0.7110440135002136, + 0.7530730068683624, + 0.20195400528609753 + ], + "units": "m" }, "center_of_mass": [ -0.004348926246166229, @@ -59,7 +65,7 @@ 0.11088022589683533, 0.1922641396522522 ], - "mass": 2.36, + "mass": 2.359999895095825, "material": "generic", "name": "D00143 Cloth", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00143 Cloth", "part_name": "D00143 Cloth" }, - "volume": 0.011799999475479127 + "volume": 0.011799999475479127, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "525463455a53dfbe9d472b9995bffb45afd114fa3e9b1252efccef1440d0f39b" + }, + "usd_path": "batch23/D00143_Cloth/IsaacSim_assets_6a74413992349ccf310772a0/IsaacSim_asset_6a74413992349ccf310772a0.usd", + "usd_sha256": "b371b2d4fd9425c4c2eda762b5b53171de8d2021210e21f3fa6f9ce42c4ce462", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.7110440135002136, 0.7530730068683624, 0.20195400528609753 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b371b2d4fd9425c4c2eda762b5b53171de8d2021210e21f3fa6f9ce42c4ce462", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.36 + "value_kg": 2.359999895095825, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b371b2d4fd9425c4c2eda762b5b53171de8d2021210e21f3fa6f9ce42c4ce462", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.359999895095825, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b371b2d4fd9425c4c2eda762b5b53171de8d2021210e21f3fa6f9ce42c4ce462", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b371b2d4fd9425c4c2eda762b5b53171de8d2021210e21f3fa6f9ce42c4ce462", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "b371b2d4fd9425c4c2eda762b5b53171de8d2021210e21f3fa6f9ce42c4ce462", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:02.918217+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "a74805957113d1013730eddfb05118a0419ac990dcd0a9ff5fa27a7488d6dc95", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00170_Colander_Pot_Bowl/IsaacSim_assets_6a7196286739a30c21361cec/physics_6a7196286739a30c21361cec.json b/batch23/D00170_Colander_Pot_Bowl/IsaacSim_assets_6a7196286739a30c21361cec/physics_6a7196286739a30c21361cec.json index f3995e7d3384bf1c8c497dc0dcce01242fda3d95..0633bc147117352566b3b75d0642ff0d8b3f79f9 100644 --- a/batch23/D00170_Colander_Pot_Bowl/IsaacSim_assets_6a7196286739a30c21361cec/physics_6a7196286739a30c21361cec.json +++ b/batch23/D00170_Colander_Pot_Bowl/IsaacSim_assets_6a7196286739a30c21361cec/physics_6a7196286739a30c21361cec.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1204259991645813, - 0.12054000049829483, - 0.11743522435426712 - ], "min": [ -0.12031400203704834, -0.12031800299882889, 0.0012632202124223113 ], + "max": [ + 0.1204259991645813, + 0.12054000049829483, + 0.11743522435426712 + ], "size": [ 0.24074000120162964, 0.24085800349712372, 0.11617200414184481 - ] + ], + "units": "m" }, "description": "D00170 Colander Pot Bowl", "name": "D00170 Colander Pot Bowl", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00170", "parts": [ { "bounds": { - "center": [ - 5.599856376647949e-05, - 0.00011099874973297119, - 0.059349222283344716 + "min": [ + -0.12031400203704834, + -0.12031800299882889, + 0.0012632202124223113 ], "max": [ 0.1204259991645813, 0.12054000049829483, 0.11743522435426712 ], - "min": [ - -0.12031400203704834, - -0.12031800299882889, - 0.0012632202124223113 - ] + "size": [ + 0.24074000120162964, + 0.24085800349712372, + 0.11617200414184481 + ], + "units": "m" }, "center_of_mass": [ -1.5197147149592638e-05, @@ -59,7 +65,7 @@ 0.0014913924969732761, 0.0022251252084970474 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "metal", "name": "D00170 Colander Pot Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00170 Colander Pot Bowl", "part_name": "D00170 Colander Pot Bowl" }, - "volume": 5.1282052046213396e-05 + "volume": 5.1282052046213396e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b12e181f78007a78402ac6ee5216cdd435a57b27310402a19724589309d069b1" + }, + "usd_path": "batch23/D00170_Colander_Pot_Bowl/IsaacSim_assets_6a7196286739a30c21361cec/IsaacSim_asset_6a7196286739a30c21361cec.usd", + "usd_sha256": "0476bc39b7bffec08b1201d6b33c47a29712fd6ac5f1d70b42d1b21a30d55ef2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.24074000120162964, 0.24085800349712372, 0.11617200414184481 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0476bc39b7bffec08b1201d6b33c47a29712fd6ac5f1d70b42d1b21a30d55ef2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0476bc39b7bffec08b1201d6b33c47a29712fd6ac5f1d70b42d1b21a30d55ef2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 36, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0476bc39b7bffec08b1201d6b33c47a29712fd6ac5f1d70b42d1b21a30d55ef2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 36, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0476bc39b7bffec08b1201d6b33c47a29712fd6ac5f1d70b42d1b21a30d55ef2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "0476bc39b7bffec08b1201d6b33c47a29712fd6ac5f1d70b42d1b21a30d55ef2", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:04.740256+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "20755ba0e003e524b93caa5b89e11bfdd1faf821b97900ab33e51604564c828f", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00197_Cooking_Oil/IsaacSim_assets_6a7403ef5d45b936d644d6b2/physics_6a7403ef5d45b936d644d6b2.json b/batch23/D00197_Cooking_Oil/IsaacSim_assets_6a7403ef5d45b936d644d6b2/physics_6a7403ef5d45b936d644d6b2.json index d937dd4655710750302a0e4c1e8ab75d1c71a590..2ecb18816713fa6015a082d1e29dd925952959a6 100644 --- a/batch23/D00197_Cooking_Oil/IsaacSim_assets_6a7403ef5d45b936d644d6b2/physics_6a7403ef5d45b936d644d6b2.json +++ b/batch23/D00197_Cooking_Oil/IsaacSim_assets_6a7403ef5d45b936d644d6b2/physics_6a7403ef5d45b936d644d6b2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03424900025129318, - 0.0347989983856678, - 0.25683698058128357 - ], "min": [ -0.034230999648571014, -0.033316001296043396, 0.0 ], + "max": [ + 0.03424900025129318, + 0.0347989983856678, + 0.25683698058128357 + ], "size": [ 0.0684799998998642, 0.0681149996817112, 0.25683698058128357 - ] + ], + "units": "m" }, "description": "D00197 Cooking Oil", "name": "D00197 Cooking Oil", "object_type": "rigid_bodies", - "total_mass": 1.1 + "total_mass": 1.100000023841858, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00197", "parts": [ { "bounds": { - "center": [ - 9.000301361083984e-06, - 0.0007414985448122025, - 0.12841849029064178 + "min": [ + -0.034230999648571014, + -0.033316001296043396, + 0.0 ], "max": [ 0.03424900025129318, 0.0347989983856678, 0.25683698058128357 ], - "min": [ - -0.034230999648571014, - -0.033316001296043396, - 0.0 - ] + "size": [ + 0.0684799998998642, + 0.0681149996817112, + 0.25683698058128357 + ], + "units": "m" }, "center_of_mass": [ 3.875894253724255e-05, @@ -59,7 +65,7 @@ 0.005419198889285326, 0.005420010536909103 ], - "mass": 1.1, + "mass": 1.100000023841858, "material": "wood", "name": "D00197 Cooking Oil", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00197 Cooking Oil", "part_name": "D00197 Cooking Oil" }, - "volume": 0.0011802575363110063 + "volume": 0.0011802575363110063, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d11536a9234e6effb62da31d82e91411a14d2ac2152641192e7b4c4d9d15045f" + }, + "usd_path": "batch23/D00197_Cooking_Oil/IsaacSim_assets_6a7403ef5d45b936d644d6b2/IsaacSim_asset_6a7403ef5d45b936d644d6b2.usd", + "usd_sha256": "eea01458ae36a4ee9438b366eb3cea2280b0f9170055f4ca556534665d8c2ec7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.0684799998998642, 0.0681149996817112, 0.25683698058128357 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eea01458ae36a4ee9438b366eb3cea2280b0f9170055f4ca556534665d8c2ec7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.1 + "value_kg": 1.100000023841858, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eea01458ae36a4ee9438b366eb3cea2280b0f9170055f4ca556534665d8c2ec7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.100000023841858, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eea01458ae36a4ee9438b366eb3cea2280b0f9170055f4ca556534665d8c2ec7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "eea01458ae36a4ee9438b366eb3cea2280b0f9170055f4ca556534665d8c2ec7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00198_Cooking_Oil_Bottle/IsaacSim_assets_6a74037f5d45b936d644c01b/physics_6a74037f5d45b936d644c01b.json b/batch23/D00198_Cooking_Oil_Bottle/IsaacSim_assets_6a74037f5d45b936d644c01b/physics_6a74037f5d45b936d644c01b.json index 6fb158066d1135ccd77c57721063b5fa891f36cc..66a747086c629744e3d4b913147ff33cc0c5fad1 100644 --- a/batch23/D00198_Cooking_Oil_Bottle/IsaacSim_assets_6a74037f5d45b936d644c01b/physics_6a74037f5d45b936d644c01b.json +++ b/batch23/D00198_Cooking_Oil_Bottle/IsaacSim_assets_6a74037f5d45b936d644c01b/physics_6a74037f5d45b936d644c01b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03254599869251251, - 0.03468399867415428, - 0.25929903984069824 - ], "min": [ -0.03215700015425682, -0.029454000294208527, 0.0004410325491335243 ], + "max": [ + 0.03254599869251251, + 0.03468399867415428, + 0.25929903984069824 + ], "size": [ 0.06470299884676933, 0.06413799896836281, 0.2588580072915647 - ] + ], + "units": "m" }, "description": "D00198 Cooking Oil Bottle", "name": "D00198 Cooking Oil Bottle", "object_type": "rigid_bodies", - "total_mass": 1.4 + "total_mass": 1.399999976158142, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00198", "parts": [ { "bounds": { - "center": [ - 0.00019449926912784576, - 0.0026149991899728775, - 0.12987003619491588 + "min": [ + -0.03215700015425682, + -0.029454000294208527, + 0.0004410325491335243 ], "max": [ 0.03254599869251251, 0.03468399867415428, 0.25929903984069824 ], - "min": [ - -0.03215700015425682, - -0.029454000294208527, - 0.0004410325491335243 - ] + "size": [ + 0.06470299884676933, + 0.06413799896836281, + 0.2588580072915647 + ], + "units": "m" }, "center_of_mass": [ 0.000203892748686485, @@ -59,7 +65,7 @@ 0.0066500199027359486, 0.006670781411230564 ], - "mass": 1.4, + "mass": 1.399999976158142, "material": "composite", "name": "D00198 Cooking Oil Bottle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00198 Cooking Oil Bottle", "part_name": "D00198 Cooking Oil Bottle" }, - "volume": 0.0010769230585831863 + "volume": 0.0010769230585831863, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f1a537e4d121377ae37726c3bfeeb6e9d8e1eff3e7ee922c541e00419e963c0c" + }, + "usd_path": "batch23/D00198_Cooking_Oil_Bottle/IsaacSim_assets_6a74037f5d45b936d644c01b/IsaacSim_asset_6a74037f5d45b936d644c01b.usd", + "usd_sha256": "bebde712bc44cf7eca6dd325a5607ece2dc1243ece1e38016d500f2d6b349f31", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.06470299884676933, 0.06413799896836281, 0.2588580072915647 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bebde712bc44cf7eca6dd325a5607ece2dc1243ece1e38016d500f2d6b349f31", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.4 + "value_kg": 1.399999976158142, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bebde712bc44cf7eca6dd325a5607ece2dc1243ece1e38016d500f2d6b349f31", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.399999976158142, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bebde712bc44cf7eca6dd325a5607ece2dc1243ece1e38016d500f2d6b349f31", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bebde712bc44cf7eca6dd325a5607ece2dc1243ece1e38016d500f2d6b349f31", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00199_Cooking_Pan/IsaacSim_assets_6a7431bb92349ccf3105f75b/physics_6a7431bb92349ccf3105f75b.json b/batch23/D00199_Cooking_Pan/IsaacSim_assets_6a7431bb92349ccf3105f75b/physics_6a7431bb92349ccf3105f75b.json index 8e84c578beb54ef7df971e604c540e0c4cfaff0c..0c64b207cdf7f741fe7f731d0414187eee8f7e66 100644 --- a/batch23/D00199_Cooking_Pan/IsaacSim_assets_6a7431bb92349ccf3105f75b/physics_6a7431bb92349ccf3105f75b.json +++ b/batch23/D00199_Cooking_Pan/IsaacSim_assets_6a7431bb92349ccf3105f75b/physics_6a7431bb92349ccf3105f75b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.24445900321006775, - 0.10300599783658981, - 0.04557891935110092 - ], "min": [ -0.13828499615192413, -0.10291299968957901, 0.0021359198726713657 ], + "max": [ + 0.24445900321006775, + 0.10300599783658981, + 0.04557891935110092 + ], "size": [ 0.3827439993619919, 0.20591899752616882, 0.043442999478429556 - ] + ], + "units": "m" }, "description": "D00199 Cooking Pan", "name": "D00199 Cooking Pan", "object_type": "rigid_bodies", - "total_mass": 2.25 + "total_mass": 2.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00199", "parts": [ { "bounds": { - "center": [ - 0.05308700352907181, - 4.649907350540161e-05, - 0.023857419611886144 + "min": [ + -0.13828499615192413, + -0.10291299968957901, + 0.0021359198726713657 ], "max": [ 0.24445900321006775, 0.10300599783658981, 0.04557891935110092 ], - "min": [ - -0.13828499615192413, - -0.10291299968957901, - 0.0021359198726713657 - ] + "size": [ + 0.3827439993619919, + 0.20591899752616882, + 0.043442999478429556 + ], + "units": "m" }, "center_of_mass": [ 0.02221015654504299, @@ -67,10 +73,27 @@ "object_name": "D00199 Cooking Pan", "part_name": "D00199 Cooking Pan" }, - "volume": 0.0003125 + "volume": 0.0003125, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "33d3d57d90a5c1aed31db7588090a7cabc671eb6fb51eab27aa214b11f5b42e7" + }, + "usd_path": "batch23/D00199_Cooking_Pan/IsaacSim_assets_6a7431bb92349ccf3105f75b/IsaacSim_asset_6a7431bb92349ccf3105f75b.usd", + "usd_sha256": "9664a7be0af493dcc47705a1b0bc6c3a0a57bb249abdb7c7654925d982db3724", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.3827439993619919, 0.20591899752616882, 0.043442999478429556 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9664a7be0af493dcc47705a1b0bc6c3a0a57bb249abdb7c7654925d982db3724", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.25 + "value_kg": 2.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9664a7be0af493dcc47705a1b0bc6c3a0a57bb249abdb7c7654925d982db3724", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9664a7be0af493dcc47705a1b0bc6c3a0a57bb249abdb7c7654925d982db3724", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9664a7be0af493dcc47705a1b0bc6c3a0a57bb249abdb7c7654925d982db3724", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "9664a7be0af493dcc47705a1b0bc6c3a0a57bb249abdb7c7654925d982db3724", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:07.048901+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "43466eca2f51e33a0b5beb1834334cafc258bb912f07be1a9dc84f4d54de9b84", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00210_Cookware_Towel/IsaacSim_assets_6a746c5e92349ccf3109cd04/physics_6a746c5e92349ccf3109cd04.json b/batch23/D00210_Cookware_Towel/IsaacSim_assets_6a746c5e92349ccf3109cd04/physics_6a746c5e92349ccf3109cd04.json index 9c38b76b15deb556405ece55be330d8f24ddbd85..67bd7512f5821a7f52f032ebb4db73e4acb049b2 100644 --- a/batch23/D00210_Cookware_Towel/IsaacSim_assets_6a746c5e92349ccf3109cd04/physics_6a746c5e92349ccf3109cd04.json +++ b/batch23/D00210_Cookware_Towel/IsaacSim_assets_6a746c5e92349ccf3109cd04/physics_6a746c5e92349ccf3109cd04.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2443840056657791, - 0.25450098514556885, - 0.11927115172147751 - ], "min": [ -0.25190800428390503, -0.25171399116516113, 0.0025941506028175354 ], + "max": [ + 0.2443840056657791, + 0.25450098514556885, + 0.11927115172147751 + ], "size": [ 0.49629200994968414, 0.50621497631073, 0.11667700111865997 - ] + ], + "units": "m" }, "description": "D00210 Cookware Towel", "name": "D00210 Cookware Towel", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00210", "parts": [ { "bounds": { - "center": [ - -0.0037619993090629578, - 0.0013934969902038574, - 0.06093265116214752 + "min": [ + -0.25190800428390503, + -0.25171399116516113, + 0.0025941506028175354 ], "max": [ 0.2443840056657791, 0.25450098514556885, 0.11927115172147751 ], - "min": [ - -0.25190800428390503, - -0.25171399116516113, - 0.0025941506028175354 - ] + "size": [ + 0.49629200994968414, + 0.50621497631073, + 0.11667700111865997 + ], + "units": "m" }, "center_of_mass": [ -0.001167351147159934, @@ -59,7 +65,7 @@ 0.003219909965991974, 0.0059459335170686245 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "generic", "name": "D00210 Cookware Towel", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00210 Cookware Towel", "part_name": "D00210 Cookware Towel" }, - "volume": 0.0025000000993410745 + "volume": 0.0025000000993410745, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f9a938413bf430b38836dc6ed77ff9f55397d9f00ff0551027d9352acb73fa2c" + }, + "usd_path": "batch23/D00210_Cookware_Towel/IsaacSim_assets_6a746c5e92349ccf3109cd04/IsaacSim_asset_6a746c5e92349ccf3109cd04.usd", + "usd_sha256": "ae01ecddc505198eea2b0ea011a5ebfea8e2c1bf494d1c5cb6448b71ea5ebf82", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.49629200994968414, 0.50621497631073, 0.11667700111865997 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae01ecddc505198eea2b0ea011a5ebfea8e2c1bf494d1c5cb6448b71ea5ebf82", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae01ecddc505198eea2b0ea011a5ebfea8e2c1bf494d1c5cb6448b71ea5ebf82", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 13, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae01ecddc505198eea2b0ea011a5ebfea8e2c1bf494d1c5cb6448b71ea5ebf82", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 13, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae01ecddc505198eea2b0ea011a5ebfea8e2c1bf494d1c5cb6448b71ea5ebf82", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "ae01ecddc505198eea2b0ea011a5ebfea8e2c1bf494d1c5cb6448b71ea5ebf82", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:01.846072+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "7f7234a3cea233d2a3cadf3286a37c05f5e28265f7ee72198e185bd915f5db20", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00212_Cork_Coaster_Cutting_Board/IsaacSim_assets_6a7410aa5d45b936d646534d/physics_6a7410aa5d45b936d646534d.json b/batch23/D00212_Cork_Coaster_Cutting_Board/IsaacSim_assets_6a7410aa5d45b936d646534d/physics_6a7410aa5d45b936d646534d.json index 7efe24073d0dff406ebd87952f2a1592c78ab6fd..5127d0eb756e747d43dacb38df0850ccd8d0475f 100644 --- a/batch23/D00212_Cork_Coaster_Cutting_Board/IsaacSim_assets_6a7410aa5d45b936d646534d/physics_6a7410aa5d45b936d646534d.json +++ b/batch23/D00212_Cork_Coaster_Cutting_Board/IsaacSim_assets_6a7410aa5d45b936d646534d/physics_6a7410aa5d45b936d646534d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07109300047159195, - 0.07099699974060059, - 0.016124729067087173 - ], "min": [ -0.07061400264501572, -0.07070799916982651, 0.0006497304420918226 ], + "max": [ + 0.07109300047159195, + 0.07099699974060059, + 0.016124729067087173 + ], "size": [ 0.14170700311660767, 0.1417049989104271, 0.01547499862499535 - ] + ], + "units": "m" }, "description": "D00212 Cork Coaster Cutting Board", "name": "D00212 Cork Coaster Cutting Board", "object_type": "rigid_bodies", - "total_mass": 0.075 + "total_mass": 0.07500000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00212", "parts": [ { "bounds": { - "center": [ - 0.00023949891328811646, - 0.00014450028538703918, - 0.008387229754589498 + "min": [ + -0.07061400264501572, + -0.07070799916982651, + 0.0006497304420918226 ], "max": [ 0.07109300047159195, 0.07099699974060059, 0.016124729067087173 ], - "min": [ - -0.07061400264501572, - -0.07070799916982651, - 0.0006497304420918226 - ] + "size": [ + 0.14170700311660767, + 0.1417049989104271, + 0.01547499862499535 + ], + "units": "m" }, "center_of_mass": [ 0.0002261643676320091, @@ -59,7 +65,7 @@ 9.487251372775063e-05, 0.00018665184325072914 ], - "mass": 0.075, + "mass": 0.07500000298023224, "material": "generic", "name": "D00212 Cork Coaster Cutting Board", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00212 Cork Coaster Cutting Board", "part_name": "D00212 Cork Coaster Cutting Board" }, - "volume": 0.0004687500186264515 + "volume": 0.0004687500186264515, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "257b44304af5eb083c1fdd013816d7654b69da5e58e3c8bad4446f54bb80022b" + }, + "usd_path": "batch23/D00212_Cork_Coaster_Cutting_Board/IsaacSim_assets_6a7410aa5d45b936d646534d/IsaacSim_asset_6a7410aa5d45b936d646534d.usd", + "usd_sha256": "47ea5ec094313c37a024ee3816f2c546ffced876c283d998051b57be2f591b1c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.14170700311660767, 0.1417049989104271, 0.01547499862499535 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47ea5ec094313c37a024ee3816f2c546ffced876c283d998051b57be2f591b1c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.075 + "value_kg": 0.07500000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47ea5ec094313c37a024ee3816f2c546ffced876c283d998051b57be2f591b1c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07500000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47ea5ec094313c37a024ee3816f2c546ffced876c283d998051b57be2f591b1c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47ea5ec094313c37a024ee3816f2c546ffced876c283d998051b57be2f591b1c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00246_Current_Image/IsaacSim_assets_6a7480d892349ccf310cf60b/physics_6a7480d892349ccf310cf60b.json b/batch23/D00246_Current_Image/IsaacSim_assets_6a7480d892349ccf310cf60b/physics_6a7480d892349ccf310cf60b.json index 90701b2bca835be8c75bbf9f9bfccbd063bc5e02..82752303c179e7a19e09290aabbd3be6832d03d7 100644 --- a/batch23/D00246_Current_Image/IsaacSim_assets_6a7480d892349ccf310cf60b/physics_6a7480d892349ccf310cf60b.json +++ b/batch23/D00246_Current_Image/IsaacSim_assets_6a7480d892349ccf310cf60b/physics_6a7480d892349ccf310cf60b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.3023500144481659, - 0.033872999250888824, - 0.7976564168930054 - ], "min": [ -0.3047100007534027, -0.02843800000846386, 0.004148414358496666 ], + "max": [ + 0.3023500144481659, + 0.033872999250888824, + 0.7976564168930054 + ], "size": [ 0.6070600152015686, 0.062310999259352684, 0.7935080025345087 - ] + ], + "units": "m" }, "description": "D00246 Current Image", "name": "D00246 Current Image", "object_type": "rigid_bodies", - "total_mass": 4.5 + "total_mass": 4.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00246", "parts": [ { "bounds": { - "center": [ - -0.0011799931526184082, - 0.0027174996212124825, - 0.400902415625751 + "min": [ + -0.3047100007534027, + -0.02843800000846386, + 0.004148414358496666 ], "max": [ 0.3023500144481659, 0.033872999250888824, 0.7976564168930054 ], - "min": [ - -0.3047100007534027, - -0.02843800000846386, - 0.004148414358496666 - ] + "size": [ + 0.6070600152015686, + 0.062310999259352684, + 0.7935080025345087 + ], + "units": "m" }, "center_of_mass": [ -0.0011190468212589622, @@ -67,10 +73,27 @@ "object_name": "D00246 Current Image", "part_name": "D00246 Current Image" }, - "volume": 0.006414825374198147 + "volume": 0.006414825374198147, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "61f8646e8da08357786c1cb1b303bf82182458dac0ccc6d16eb72c4338f923cc" + }, + "usd_path": "batch23/D00246_Current_Image/IsaacSim_assets_6a7480d892349ccf310cf60b/IsaacSim_asset_6a7480d892349ccf310cf60b.usd", + "usd_sha256": "6d9d33078c2aad7cad663aad013306c1531053319228eabdc23af613b297c6d5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.6070600152015686, 0.062310999259352684, 0.7935080025345087 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d9d33078c2aad7cad663aad013306c1531053319228eabdc23af613b297c6d5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.5 + "value_kg": 4.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d9d33078c2aad7cad663aad013306c1531053319228eabdc23af613b297c6d5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d9d33078c2aad7cad663aad013306c1531053319228eabdc23af613b297c6d5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d9d33078c2aad7cad663aad013306c1531053319228eabdc23af613b297c6d5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "6d9d33078c2aad7cad663aad013306c1531053319228eabdc23af613b297c6d5", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:10.159384+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "b8075eb608e4d1f818b0fa0652da6b079cc55823c04085e3007182a4a5be55b8", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00257_Cutting_Board_Tray/IsaacSim_assets_6a74241a5d45b936d648921c/physics_6a74241a5d45b936d648921c.json b/batch23/D00257_Cutting_Board_Tray/IsaacSim_assets_6a74241a5d45b936d648921c/physics_6a74241a5d45b936d648921c.json index 9645fef25adce601457685e1a37e95ec98e16fe0..13eb48e21ab413f1a241047166504181691e2013 100644 --- a/batch23/D00257_Cutting_Board_Tray/IsaacSim_assets_6a74241a5d45b936d648921c/physics_6a74241a5d45b936d648921c.json +++ b/batch23/D00257_Cutting_Board_Tray/IsaacSim_assets_6a74241a5d45b936d648921c/physics_6a74241a5d45b936d648921c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.19886000454425812, - 0.15039299428462982, - 0.03978998214006424 - ], "min": [ -0.20041899383068085, -0.14923100173473358, 0.0021779800299555063 ], + "max": [ + 0.19886000454425812, + 0.15039299428462982, + 0.03978998214006424 + ], "size": [ 0.39927899837493896, 0.2996239960193634, 0.03761200211010873 - ] + ], + "units": "m" }, "description": "D00257 Cutting Board Tray", "name": "D00257 Cutting Board Tray", "object_type": "rigid_bodies", - "total_mass": 0.48 + "total_mass": 0.47999998927116394, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00257", "parts": [ { "bounds": { - "center": [ - -0.0007794946432113647, - 0.0005809962749481201, - 0.020983981085009873 + "min": [ + -0.20041899383068085, + -0.14923100173473358, + 0.0021779800299555063 ], "max": [ 0.19886000454425812, 0.15039299428462982, 0.03978998214006424 ], - "min": [ - -0.20041899383068085, - -0.14923100173473358, - 0.0021779800299555063 - ] + "size": [ + 0.39927899837493896, + 0.2996239960193634, + 0.03761200211010873 + ], + "units": "m" }, "center_of_mass": [ -0.0007971622399054468, @@ -59,7 +65,7 @@ 0.006420985795557499, 0.00994397234171629 ], - "mass": 0.48, + "mass": 0.47999998927116394, "material": "wood", "name": "D00257 Cutting Board Tray", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00257 Cutting Board Tray", "part_name": "D00257 Cutting Board Tray" }, - "volume": 0.0007999999821186065 + "volume": 0.0007999999821186065, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "339f963928fa1a381a98b915585e5a66063cd75b592f750f162980f2eb39bebf" + }, + "usd_path": "batch23/D00257_Cutting_Board_Tray/IsaacSim_assets_6a74241a5d45b936d648921c/IsaacSim_asset_6a74241a5d45b936d648921c.usd", + "usd_sha256": "329150fb2aed9a90e27a5ec0150904533dbc9ae1bf9bd8ec4e7270f319a503db", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.39927899837493896, 0.2996239960193634, 0.03761200211010873 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "329150fb2aed9a90e27a5ec0150904533dbc9ae1bf9bd8ec4e7270f319a503db", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.48 + "value_kg": 0.47999998927116394, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "329150fb2aed9a90e27a5ec0150904533dbc9ae1bf9bd8ec4e7270f319a503db", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.47999998927116394, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "329150fb2aed9a90e27a5ec0150904533dbc9ae1bf9bd8ec4e7270f319a503db", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "329150fb2aed9a90e27a5ec0150904533dbc9ae1bf9bd8ec4e7270f319a503db", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00334 Garlic Shallot/IsaacSim_assets_69f5b5fa431507ff7cec725c/physics_69f5b5fa431507ff7cec725c.json b/batch23/D00334 Garlic Shallot/IsaacSim_assets_69f5b5fa431507ff7cec725c/physics_69f5b5fa431507ff7cec725c.json index bad61c6cceb167dd5555414b481ca0eb68750e2b..ab320886d9c8872325673007ae315be06501d1a9 100644 --- a/batch23/D00334 Garlic Shallot/IsaacSim_assets_69f5b5fa431507ff7cec725c/physics_69f5b5fa431507ff7cec725c.json +++ b/batch23/D00334 Garlic Shallot/IsaacSim_assets_69f5b5fa431507ff7cec725c/physics_69f5b5fa431507ff7cec725c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.020329000428318977, - 0.015448000282049179, - 0.037555430084466934 - ], "min": [ -0.01792999915778637, -0.013763000257313251, 0.00021042994922026992 ], + "max": [ + 0.020329000428318977, + 0.015448000282049179, + 0.037555430084466934 + ], "size": [ 0.03825899958610535, 0.02921100053936243, 0.037345000135246664 - ] + ], + "units": "m" }, "description": "A single shallot with a teardrop shape, covered in dry, papery, reddish-brown outer skin. It features small, dry root remnants at the base and a twisted, tapering top.", "name": "D00334 Garlic Shallot", "object_type": "rigid_bodies", - "total_mass": 0.025 + "total_mass": 0.02500000037252903, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00334", "parts": [ { "bounds": { - "center": [ - 0.001199500635266304, - 0.0008425000123679638, - 0.018882930016843602 + "min": [ + -0.01792999915778637, + -0.013763000257313251, + 0.00021042994922026992 ], "max": [ 0.020329000428318977, 0.015448000282049179, 0.037555430084466934 ], - "min": [ - -0.01792999915778637, - -0.013763000257313251, - 0.00021042994922026992 - ] + "size": [ + 0.03825899958610535, + 0.02921100053936243, + 0.037345000135246664 + ], + "units": "m" }, "center_of_mass": [ -5.2967357329622613e-05, @@ -59,7 +65,7 @@ 3.3284460193390312e-06, 3.397533647101852e-06 ], - "mass": 0.025, + "mass": 0.02500000037252903, "material": "organic_vegetable_tissue", "name": "D00334 Garlic Shallot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00334 Garlic Shallot", "part_name": "D00334 Garlic Shallot" }, - "volume": 1.683172437908137e-05 + "volume": 1.683172437908137e-05, + "source_prim_path": "/World/part_00_organic_vegetable_tissue", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d311eddf7e9c51fc7425cb6411e68b4e45d87e96992804f0da6cd4f719fac0f1" + }, + "usd_path": "batch23/D00334 Garlic Shallot/IsaacSim_assets_69f5b5fa431507ff7cec725c/IsaacSim_asset_69f5b5fa431507ff7cec725c.usd", + "usd_sha256": "55ca914518fb677cbc3128c21cfdf33b0331bf2af88495e2f2e083f413a84085", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -89,22 +112,56 @@ 0.03825899958610535, 0.02921100053936243, 0.037345000135246664 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55ca914518fb677cbc3128c21cfdf33b0331bf2af88495e2f2e083f413a84085", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.025 + "value_kg": 0.02500000037252903, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55ca914518fb677cbc3128c21cfdf33b0331bf2af88495e2f2e083f413a84085", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.02500000037252903, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55ca914518fb677cbc3128c21cfdf33b0331bf2af88495e2f2e083f413a84085", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55ca914518fb677cbc3128c21cfdf33b0331bf2af88495e2f2e083f413a84085", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00402 Jar Glass/IsaacSim_assets_6a75b36ad43e18960500310a/physics_6a75b36ad43e18960500310a.json b/batch23/D00402 Jar Glass/IsaacSim_assets_6a75b36ad43e18960500310a/physics_6a75b36ad43e18960500310a.json index bdfcc915146bf57cbfa6c8b67761699fb3a05266..5aa20a51e9ac0e146d97fdd7c797a4852655543a 100644 --- a/batch23/D00402 Jar Glass/IsaacSim_assets_6a75b36ad43e18960500310a/physics_6a75b36ad43e18960500310a.json +++ b/batch23/D00402 Jar Glass/IsaacSim_assets_6a75b36ad43e18960500310a/physics_6a75b36ad43e18960500310a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04439600184559822, - 0.0445219986140728, - 0.11359869688749313 - ], "min": [ -0.0447550006210804, -0.04471400007605553, 0.0006196999456733465 ], + "max": [ + 0.04439600184559822, + 0.0445219986140728, + 0.11359869688749313 + ], "size": [ 0.08915100246667862, 0.08923599869012833, 0.11297899694181979 - ] + ], + "units": "m" }, "description": "D00402 Jar Glass", "name": "D00402 Jar Glass", "object_type": "rigid_bodies", - "total_mass": 0.153 + "total_mass": 0.15299999713897705, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00402", "parts": [ { "bounds": { - "center": [ - -0.00017949938774108887, - -9.600073099136353e-05, - 0.05710919841658324 + "min": [ + -0.0447550006210804, + -0.04471400007605553, + 0.0006196999456733465 ], "max": [ 0.04439600184559822, 0.0445219986140728, 0.11359869688749313 ], - "min": [ - -0.0447550006210804, - -0.04471400007605553, - 0.0006196999456733465 - ] + "size": [ + 0.08915100246667862, + 0.08923599869012833, + 0.11297899694181979 + ], + "units": "m" }, "center_of_mass": [ -0.00017330722766928375, @@ -59,7 +65,7 @@ 0.00023667665664106607, 0.0002368252899032086 ], - "mass": 0.153, + "mass": 0.15299999713897705, "material": "ceramic", "name": "D00402 Jar Glass", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00402 Jar Glass", "part_name": "D00402 Jar Glass" }, - "volume": 6.119999885559082e-05 + "volume": 6.119999885559082e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5e4ce2bb0f5d31a18df6cde50dc1d825fc25a9c8ecdf66b8abfcf2cd19be2628" + }, + "usd_path": "batch23/D00402 Jar Glass/IsaacSim_assets_6a75b36ad43e18960500310a/IsaacSim_asset_6a75b36ad43e18960500310a.usd", + "usd_sha256": "e370b687ed392e39fb9758c029639060946a0ee8bfb37c407da0bb3ce5714c2b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08915100246667862, 0.08923599869012833, 0.11297899694181979 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e370b687ed392e39fb9758c029639060946a0ee8bfb37c407da0bb3ce5714c2b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.153 + "value_kg": 0.15299999713897705, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e370b687ed392e39fb9758c029639060946a0ee8bfb37c407da0bb3ce5714c2b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15299999713897705, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 13, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e370b687ed392e39fb9758c029639060946a0ee8bfb37c407da0bb3ce5714c2b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 13, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e370b687ed392e39fb9758c029639060946a0ee8bfb37c407da0bb3ce5714c2b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00406 Carving Fork/IsaacSim_assets_6a799923d43e18960535bcef/physics_6a799923d43e18960535bcef.json b/batch23/D00406 Carving Fork/IsaacSim_assets_6a799923d43e18960535bcef/physics_6a799923d43e18960535bcef.json index f3a8e53a960940e0c69ac861f5a414ac0d1bbb94..21dbe2f6ce080da0598eac8f642fcc410285c98b 100644 --- a/batch23/D00406 Carving Fork/IsaacSim_assets_6a799923d43e18960535bcef/physics_6a799923d43e18960535bcef.json +++ b/batch23/D00406 Carving Fork/IsaacSim_assets_6a799923d43e18960535bcef/physics_6a799923d43e18960535bcef.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.19583800435066223, - 0.01912200078368187, - 0.027995910495519638 - ], "min": [ -0.10723400115966797, -0.019116999581456184, 0.0004939106293022633 ], + "max": [ + 0.19583800435066223, + 0.01912200078368187, + 0.027995910495519638 + ], "size": [ 0.3030720055103302, 0.038239000365138054, 0.027501999866217375 - ] + ], + "units": "m" }, "description": "D00406 Carving Fork", "name": "D00406 Carving Fork", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00406", "parts": [ { "bounds": { - "center": [ - 0.04430200159549713, - 2.50060111284256e-06, - 0.01424491056241095 + "min": [ + -0.10723400115966797, + -0.019116999581456184, + 0.0004939106293022633 ], "max": [ 0.19583800435066223, 0.01912200078368187, 0.027995910495519638 ], - "min": [ - -0.10723400115966797, - -0.019116999581456184, - 0.0004939106293022633 - ] + "size": [ + 0.3030720055103302, + 0.038239000365138054, + 0.027501999866217375 + ], + "units": "m" }, "center_of_mass": [ 0.02695094794034958, @@ -67,10 +73,27 @@ "object_name": "D00406 Carving Fork", "part_name": "D00406 Carving Fork" }, - "volume": 6.881365262868153e-05 + "volume": 6.881365262868153e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bf5eca5cf0299bd3a504a80a5138734abf361b93b0c3c5581322a09536a92efb" + }, + "usd_path": "batch23/D00406 Carving Fork/IsaacSim_assets_6a799923d43e18960535bcef/IsaacSim_asset_6a799923d43e18960535bcef.usd", + "usd_sha256": "c8498501ee0624b7bc5f333e14c1214b5e66cc13b8e7b173b1b826267ef74754", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.3030720055103302, 0.038239000365138054, 0.027501999866217375 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c8498501ee0624b7bc5f333e14c1214b5e66cc13b8e7b173b1b826267ef74754", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c8498501ee0624b7bc5f333e14c1214b5e66cc13b8e7b173b1b826267ef74754", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c8498501ee0624b7bc5f333e14c1214b5e66cc13b8e7b173b1b826267ef74754", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c8498501ee0624b7bc5f333e14c1214b5e66cc13b8e7b173b1b826267ef74754", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00407 Apricot/IsaacSim_assets_6a754a5192349ccf311b8862/physics_6a754a5192349ccf311b8862.json b/batch23/D00407 Apricot/IsaacSim_assets_6a754a5192349ccf311b8862/physics_6a754a5192349ccf311b8862.json index e07badc7bbb38678b6dfacb2a6fcc9a47da134ef..39b8915b8e966109760b43c724161a2b3e886484 100644 --- a/batch23/D00407 Apricot/IsaacSim_assets_6a754a5192349ccf311b8862/physics_6a754a5192349ccf311b8862.json +++ b/batch23/D00407 Apricot/IsaacSim_assets_6a754a5192349ccf311b8862/physics_6a754a5192349ccf311b8862.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.022942999377846718, - 0.022792000323534012, - 0.04726896062493324 - ], "min": [ -0.023238999769091606, -0.02167399972677231, 0.0001739613217068836 ], + "max": [ + 0.022942999377846718, + 0.022792000323534012, + 0.04726896062493324 + ], "size": [ 0.046181999146938324, 0.04446600005030632, 0.04709499930322636 - ] + ], + "units": "m" }, "description": "D00407 Apricot", "name": "D00407 Apricot", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00407", "parts": [ { "bounds": { - "center": [ - -0.00014800019562244415, - 0.0005590002983808517, - 0.023721460973320063 + "min": [ + -0.023238999769091606, + -0.02167399972677231, + 0.0001739613217068836 ], "max": [ 0.022942999377846718, 0.022792000323534012, 0.04726896062493324 ], - "min": [ - -0.023238999769091606, - -0.02167399972677231, - 0.0001739613217068836 - ] + "size": [ + 0.046181999146938324, + 0.04446600005030632, + 0.04709499930322636 + ], + "units": "m" }, "center_of_mass": [ -1.575476926518604e-05, @@ -59,7 +65,7 @@ 1.1484323295007925e-05, 1.1879662451974582e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "plastic", "name": "D00407 Apricot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00407 Apricot", "part_name": "D00407 Apricot" }, - "volume": 5.2631579731640065e-05 + "volume": 5.2631579731640065e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6c85ac1f911a8b4dcfa1ffc2e39fc692cb18cc30248dad35785f8d53e89310cb" + }, + "usd_path": "batch23/D00407 Apricot/IsaacSim_assets_6a754a5192349ccf311b8862/IsaacSim_asset_6a754a5192349ccf311b8862.usd", + "usd_sha256": "466d8022b257cc338f88d0d1821fe0d8e2ab7a6709968396069fbe531c54979c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.046181999146938324, 0.04446600005030632, 0.04709499930322636 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "466d8022b257cc338f88d0d1821fe0d8e2ab7a6709968396069fbe531c54979c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "466d8022b257cc338f88d0d1821fe0d8e2ab7a6709968396069fbe531c54979c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "466d8022b257cc338f88d0d1821fe0d8e2ab7a6709968396069fbe531c54979c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "466d8022b257cc338f88d0d1821fe0d8e2ab7a6709968396069fbe531c54979c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00420 Jug Pitcher/IsaacSim_assets_6a6c3c58cb2d3efc65b81dda/physics_6a6c3c58cb2d3efc65b81dda.json b/batch23/D00420 Jug Pitcher/IsaacSim_assets_6a6c3c58cb2d3efc65b81dda/physics_6a6c3c58cb2d3efc65b81dda.json index 7817ecbcc701f5ec96b99a0591df2ff9563556e3..73a45d2570d1d2ae8864c8b1fe7cd729cfa9a469 100644 --- a/batch23/D00420 Jug Pitcher/IsaacSim_assets_6a6c3c58cb2d3efc65b81dda/physics_6a6c3c58cb2d3efc65b81dda.json +++ b/batch23/D00420 Jug Pitcher/IsaacSim_assets_6a6c3c58cb2d3efc65b81dda/physics_6a6c3c58cb2d3efc65b81dda.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08188600093126297, - 0.05822800099849701, - 0.16244880424346775 - ], "min": [ -0.09741400182247162, -0.0580499991774559, 0.0006148000611574389 ], + "max": [ + 0.08188600093126297, + 0.05822800099849701, + 0.16244880424346775 + ], "size": [ 0.1793000027537346, 0.11627800017595291, 0.1618340041823103 - ] + ], + "units": "m" }, "description": "D00420 Jug Pitcher", "name": "D00420 Jug Pitcher", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00420", "parts": [ { "bounds": { - "center": [ - -0.007764000445604324, - 8.900091052055359e-05, - 0.0815318021523126 + "min": [ + -0.09741400182247162, + -0.0580499991774559, + 0.0006148000611574389 ], "max": [ 0.08188600093126297, 0.05822800099849701, 0.16244880424346775 ], - "min": [ - -0.09741400182247162, - -0.0580499991774559, - 0.0006148000611574389 - ] + "size": [ + 0.1793000027537346, + 0.11627800017595291, + 0.1618340041823103 + ], + "units": "m" }, "center_of_mass": [ 0.001115702441893518, @@ -67,10 +73,27 @@ "object_name": "D00420 Jug Pitcher", "part_name": "D00420 Jug Pitcher" }, - "volume": 0.00020833333333333335 + "volume": 0.00020833333333333335, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a6c16a1c731de98ae7130f86cfaaff20c8ccd58a3993bcad369177f006b00977" + }, + "usd_path": "batch23/D00420 Jug Pitcher/IsaacSim_assets_6a6c3c58cb2d3efc65b81dda/IsaacSim_asset_6a6c3c58cb2d3efc65b81dda.usd", + "usd_sha256": "ebf057ede2cd1f64ac192b5a2c64b9ecef80c79fc269dd6087ec29869784e51b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1793000027537346, 0.11627800017595291, 0.1618340041823103 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ebf057ede2cd1f64ac192b5a2c64b9ecef80c79fc269dd6087ec29869784e51b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ebf057ede2cd1f64ac192b5a2c64b9ecef80c79fc269dd6087ec29869784e51b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 148, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ebf057ede2cd1f64ac192b5a2c64b9ecef80c79fc269dd6087ec29869784e51b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 148, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ebf057ede2cd1f64ac192b5a2c64b9ecef80c79fc269dd6087ec29869784e51b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00433 Champagne Bucket/IsaacSim_assets_6a75b239d43e189605ffdf2a/physics_6a75b239d43e189605ffdf2a.json b/batch23/D00433 Champagne Bucket/IsaacSim_assets_6a75b239d43e189605ffdf2a/physics_6a75b239d43e189605ffdf2a.json index ca72b409e51491d71f90980066783f5f7a24bbda..da330e7c24fd81dddf68576b812e1105dcdf61f2 100644 --- a/batch23/D00433 Champagne Bucket/IsaacSim_assets_6a75b239d43e189605ffdf2a/physics_6a75b239d43e189605ffdf2a.json +++ b/batch23/D00433 Champagne Bucket/IsaacSim_assets_6a75b239d43e189605ffdf2a/physics_6a75b239d43e189605ffdf2a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11438699811697006, - 0.09352199733257294, - 0.18948997557163239 - ], "min": [ -0.11431699991226196, -0.09408099949359894, 0.0012299701338633895 ], + "max": [ + 0.11438699811697006, + 0.09352199733257294, + 0.18948997557163239 + ], "size": [ 0.22870399802923203, 0.18760299682617188, 0.188260005437769 - ] + ], + "units": "m" }, "description": "D00433 Champagne Bucket", "name": "D00433 Champagne Bucket", "object_type": "rigid_bodies", - "total_mass": 2.0 + "total_mass": 2.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00433", "parts": [ { "bounds": { - "center": [ - 3.499910235404968e-05, - -0.0002795010805130005, - 0.09535997285274789 + "min": [ + -0.11431699991226196, + -0.09408099949359894, + 0.0012299701338633895 ], "max": [ 0.11438699811697006, 0.09352199733257294, 0.18948997557163239 ], - "min": [ - -0.11431699991226196, - -0.09408099949359894, - 0.0012299701338633895 - ] + "size": [ + 0.22870399802923203, + 0.18760299682617188, + 0.188260005437769 + ], + "units": "m" }, "center_of_mass": [ 2.087589746224694e-05, @@ -67,10 +73,27 @@ "object_name": "D00433 Champagne Bucket", "part_name": "D00433 Champagne Bucket" }, - "volume": 0.00025316455696202533 + "volume": 0.00025316455696202533, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "67a8618b7237abc54929a1486333152fd085cbc67797e98b8cf1a786cd2fc5be" + }, + "usd_path": "batch23/D00433 Champagne Bucket/IsaacSim_assets_6a75b239d43e189605ffdf2a/IsaacSim_asset_6a75b239d43e189605ffdf2a.usd", + "usd_sha256": "7ced4132cc7b615be8a9a8819df0f073c63b476e51271f54563a949173ad5deb", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.22870399802923203, 0.18760299682617188, 0.188260005437769 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ced4132cc7b615be8a9a8819df0f073c63b476e51271f54563a949173ad5deb", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.0 + "value_kg": 2.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ced4132cc7b615be8a9a8819df0f073c63b476e51271f54563a949173ad5deb", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ced4132cc7b615be8a9a8819df0f073c63b476e51271f54563a949173ad5deb", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ced4132cc7b615be8a9a8819df0f073c63b476e51271f54563a949173ad5deb", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00453 Irish Coffee Glass/IsaacSim_assets_6a75b226d43e189605ffd736/physics_6a75b226d43e189605ffd736.json b/batch23/D00453 Irish Coffee Glass/IsaacSim_assets_6a75b226d43e189605ffd736/physics_6a75b226d43e189605ffd736.json index bc30b15f72ba9591c96b91186a6da44189671ea7..3af26684fa7470028e58857d5aaf344853d3463f 100644 --- a/batch23/D00453 Irish Coffee Glass/IsaacSim_assets_6a75b226d43e189605ffd736/physics_6a75b226d43e189605ffd736.json +++ b/batch23/D00453 Irish Coffee Glass/IsaacSim_assets_6a75b226d43e189605ffd736/physics_6a75b226d43e189605ffd736.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.050324998795986176, - 0.029702000319957733, - 0.14970256388187408 - ], "min": [ -0.03274499997496605, -0.02988000027835369, 0.00040357024408876896 ], + "max": [ + 0.050324998795986176, + 0.029702000319957733, + 0.14970256388187408 + ], "size": [ 0.08306999877095222, 0.059582000598311424, 0.14929899363778532 - ] + ], + "units": "m" }, "description": "D00453 Irish Coffee Glass", "name": "D00453 Irish Coffee Glass", "object_type": "rigid_bodies", - "total_mass": 0.11 + "total_mass": 0.10999999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00453", "parts": [ { "bounds": { - "center": [ - 0.008789999410510063, - -8.899997919797897e-05, - 0.07505306706298143 + "min": [ + -0.03274499997496605, + -0.02988000027835369, + 0.00040357024408876896 ], "max": [ 0.050324998795986176, 0.029702000319957733, 0.14970256388187408 ], - "min": [ - -0.03274499997496605, - -0.02988000027835369, - 0.00040357024408876896 - ] + "size": [ + 0.08306999877095222, + 0.059582000598311424, + 0.14929899363778532 + ], + "units": "m" }, "center_of_mass": [ 0.0009615813032723963, @@ -59,7 +65,7 @@ 0.00022013820125721395, 0.00023149722255766392 ], - "mass": 0.11, + "mass": 0.10999999940395355, "material": "ceramic", "name": "D00453 Irish Coffee Glass", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00453 Irish Coffee Glass", "part_name": "D00453 Irish Coffee Glass" }, - "volume": 4.399999976158142e-05 + "volume": 4.399999976158142e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a85eefd54b78f66af2bd0f870c1b729ab4bd01f11556a7945b2c1e7dccd6cf7a" + }, + "usd_path": "batch23/D00453 Irish Coffee Glass/IsaacSim_assets_6a75b226d43e189605ffd736/IsaacSim_asset_6a75b226d43e189605ffd736.usd", + "usd_sha256": "0e94e4ec3a2225744a1cf1fe7e31cff053f378c983ee7976826254034a917381", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08306999877095222, 0.059582000598311424, 0.14929899363778532 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0e94e4ec3a2225744a1cf1fe7e31cff053f378c983ee7976826254034a917381", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.11 + "value_kg": 0.10999999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0e94e4ec3a2225744a1cf1fe7e31cff053f378c983ee7976826254034a917381", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.10999999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0e94e4ec3a2225744a1cf1fe7e31cff053f378c983ee7976826254034a917381", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0e94e4ec3a2225744a1cf1fe7e31cff053f378c983ee7976826254034a917381", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00482 Knives/IsaacSim_assets_6a6c34f1cb2d3efc65b5ae5e/physics_6a6c34f1cb2d3efc65b5ae5e.json b/batch23/D00482 Knives/IsaacSim_assets_6a6c34f1cb2d3efc65b5ae5e/physics_6a6c34f1cb2d3efc65b5ae5e.json index 26cf1cbc05aff58cdea2f2f606b97893215e96e8..22b3b3a3e3b8ea490a7a238e683a44da2ddec5f4 100644 --- a/batch23/D00482 Knives/IsaacSim_assets_6a6c34f1cb2d3efc65b5ae5e/physics_6a6c34f1cb2d3efc65b5ae5e.json +++ b/batch23/D00482 Knives/IsaacSim_assets_6a6c34f1cb2d3efc65b5ae5e/physics_6a6c34f1cb2d3efc65b5ae5e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17296700179576874, - 0.025335000827908516, - 0.01942881941795349 - ], "min": [ -0.1181040033698082, -0.03889400139451027, 0.0010338193110328575 ], + "max": [ + 0.17296700179576874, + 0.025335000827908516, + 0.01942881941795349 + ], "size": [ 0.29107100516557693, 0.06422900222241879, 0.018395000106920634 - ] + ], + "units": "m" }, "description": "D00482 Knives", "name": "D00482 Knives", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00482", "parts": [ { "bounds": { - "center": [ - 0.02743149921298027, - -0.006779500283300877, - 0.010231319364493174 + "min": [ + -0.1181040033698082, + -0.03889400139451027, + 0.0010338193110328575 ], "max": [ 0.17296700179576874, 0.025335000827908516, 0.01942881941795349 ], - "min": [ - -0.1181040033698082, - -0.03889400139451027, - 0.0010338193110328575 - ] + "size": [ + 0.29107100516557693, + 0.06422900222241879, + 0.018395000106920634 + ], + "units": "m" }, "center_of_mass": [ -0.016779610887169838, @@ -59,7 +65,7 @@ 0.0007937455666251481, 0.0008213514811359346 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "glass", "name": "D00482 Knives", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00482 Knives", "part_name": "D00482 Knives" }, - "volume": 4.8309179463824214e-05 + "volume": 4.8309179463824214e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8850f68e29bf4f9d0542a58dcc04cfd4d299f9054dc97e111e676856a5acd7b4" + }, + "usd_path": "batch23/D00482 Knives/IsaacSim_assets_6a6c34f1cb2d3efc65b5ae5e/IsaacSim_asset_6a6c34f1cb2d3efc65b5ae5e.usd", + "usd_sha256": "d61bb0d7d56d59d15af7baac7e1b0953f5fcfb38649818ed8207046eabea7253", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.29107100516557693, 0.06422900222241879, 0.018395000106920634 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d61bb0d7d56d59d15af7baac7e1b0953f5fcfb38649818ed8207046eabea7253", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d61bb0d7d56d59d15af7baac7e1b0953f5fcfb38649818ed8207046eabea7253", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d61bb0d7d56d59d15af7baac7e1b0953f5fcfb38649818ed8207046eabea7253", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d61bb0d7d56d59d15af7baac7e1b0953f5fcfb38649818ed8207046eabea7253", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00533 Mortar/IsaacSim_assets_6a6c2f4acb2d3efc65b3fcc8/physics_6a6c2f4acb2d3efc65b3fcc8.json b/batch23/D00533 Mortar/IsaacSim_assets_6a6c2f4acb2d3efc65b3fcc8/physics_6a6c2f4acb2d3efc65b3fcc8.json index d14b3c81d2ae7144084a8cbf8edb6d493bd226d3..26ed061e586e8fe947a74628902febac95a7abd9 100644 --- a/batch23/D00533 Mortar/IsaacSim_assets_6a6c2f4acb2d3efc65b3fcc8/physics_6a6c2f4acb2d3efc65b3fcc8.json +++ b/batch23/D00533 Mortar/IsaacSim_assets_6a6c2f4acb2d3efc65b3fcc8/physics_6a6c2f4acb2d3efc65b3fcc8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04504000023007393, - 0.04606800153851509, - 0.09605541825294495 - ], "min": [ -0.04843999817967415, -0.04610000178217888, 0.0003434198151808232 ], + "max": [ + 0.04504000023007393, + 0.04606800153851509, + 0.09605541825294495 + ], "size": [ 0.09347999840974808, 0.09216800332069397, 0.09571199843776412 - ] + ], + "units": "m" }, "description": "D00533 Mortar", "name": "D00533 Mortar", "object_type": "rigid_bodies", - "total_mass": 0.65 + "total_mass": 0.6500000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00533", "parts": [ { "bounds": { - "center": [ - -0.002213999629020691, - -1.600012183189392e-05, - 0.02992741960042622 + "min": [ + -0.04843999817967415, + -0.04610000178217888, + 0.0003434198151808232 ], "max": [ 0.04401199892163277, 0.04606800153851509, 0.059511419385671616 ], - "min": [ - -0.04843999817967415, - -0.04610000178217888, - 0.0003434198151808232 - ] + "size": [ + 0.09245199710130692, + 0.09216800332069397, + 0.05916799957049079 + ], + "units": "m" }, "center_of_mass": [ -0.0021837404929101467, @@ -67,25 +73,28 @@ "object_name": "D00533 Mortar", "part_name": "D00533 Mortar" }, - "volume": 0.00018518518518518518 + "volume": 0.00018518518518518518, + "source_prim_path": "/World/textured_mesh_6a6c2f4acb2d3efc65b3fcc8/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.010158499702811241, - -0.00024150032550096512, - 0.05523441918194294 + "min": [ + -0.024723000824451447, + -0.0128370001912117, + 0.014413420110940933 ], "max": [ 0.04504000023007393, 0.01235399954020977, 0.09605541825294495 ], - "min": [ - -0.024723000824451447, - -0.0128370001912117, - 0.014413420110940933 - ] + "size": [ + 0.06976300105452538, + 0.02519099973142147, + 0.08164199814200401 + ], + "units": "m" }, "center_of_mass": [ 0.00751692708581686, @@ -100,7 +109,7 @@ 0.00010057020699605346, 0.00010086409747600555 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "ceramic", "name": "D00533 Mortar", "physics_type": "rigid", @@ -108,10 +117,27 @@ "object_name": "D00533 Mortar", "part_name": "D00533 Mortar" }, - "volume": 5.5555557763134994e-05 + "volume": 5.5555557763134994e-05, + "source_prim_path": "/World/textured_mesh_6a6c2f4acb2d3efc65b3fcc8/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e94f22aae4c65de654fb73e16dc2b8dd3d3a82dda7c23194868c6514d26ca4c9" + }, + "usd_path": "batch23/D00533 Mortar/IsaacSim_assets_6a6c2f4acb2d3efc65b3fcc8/IsaacSim_asset_6a6c2f4acb2d3efc65b3fcc8.usd", + "usd_sha256": "4aa1e37a44faeb27a60a43e26122002a7eefbfd5b350a0ae7da27a9edf83b963", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -132,22 +158,56 @@ 0.09347999840974808, 0.09216800332069397, 0.09571199843776412 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4aa1e37a44faeb27a60a43e26122002a7eefbfd5b350a0ae7da27a9edf83b963", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.65 + "value_kg": 0.6500000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4aa1e37a44faeb27a60a43e26122002a7eefbfd5b350a0ae7da27a9edf83b963", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6500000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 123, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4aa1e37a44faeb27a60a43e26122002a7eefbfd5b350a0ae7da27a9edf83b963", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 123, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4aa1e37a44faeb27a60a43e26122002a7eefbfd5b350a0ae7da27a9edf83b963", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch23/D00583 Paper/IsaacSim_assets_6a74386e92349ccf3106cf40/physics_6a74386e92349ccf3106cf40.json b/batch23/D00583 Paper/IsaacSim_assets_6a74386e92349ccf3106cf40/physics_6a74386e92349ccf3106cf40.json index aa4b49e9116945685bda110e99bff6ce5302bef6..b195bdf93be8b2fa942ff7dcac3587243e839631 100644 --- a/batch23/D00583 Paper/IsaacSim_assets_6a74386e92349ccf3106cf40/physics_6a74386e92349ccf3106cf40.json +++ b/batch23/D00583 Paper/IsaacSim_assets_6a74386e92349ccf3106cf40/physics_6a74386e92349ccf3106cf40.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10228700190782547, - 0.14435499906539917, - 0.006945830304175615 - ], "min": [ -0.10266400128602982, -0.1442209929227829, 0.0010538301430642605 ], + "max": [ + 0.10228700190782547, + 0.14435499906539917, + 0.006945830304175615 + ], "size": [ 0.20495100319385529, 0.28857599198818207, 0.005892000161111355 - ] + ], + "units": "m" }, "description": "D00583 Paper", "name": "D00583 Paper", "object_type": "rigid_bodies", - "total_mass": 0.048 + "total_mass": 0.04800000041723251, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00583", "parts": [ { "bounds": { - "center": [ - -0.00018849968910217285, - 6.700307130813599e-05, - 0.003999830223619938 + "min": [ + -0.10266400128602982, + -0.1442209929227829, + 0.0010538301430642605 ], "max": [ 0.10228700190782547, 0.14435499906539917, 0.006945830304175615 ], - "min": [ - -0.10266400128602982, - -0.1442209929227829, - 0.0010538301430642605 - ] + "size": [ + 0.20495100319385529, + 0.28857599198818207, + 0.005892000161111355 + ], + "units": "m" }, "center_of_mass": [ -0.00029938071384094656, @@ -59,7 +65,7 @@ 0.0003330984618514776, 0.0004994024056941271 ], - "mass": 0.048, + "mass": 0.04800000041723251, "material": "wood", "name": "D00583 Paper", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00583 Paper", "part_name": "D00583 Paper" }, - "volume": 6.0000000521540644e-05 + "volume": 6.0000000521540644e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "61d6df7acb90b611bfa18ab64732b5c0976d87d952703adb54ded3b4daed5582" + }, + "usd_path": "batch23/D00583 Paper/IsaacSim_assets_6a74386e92349ccf3106cf40/IsaacSim_asset_6a74386e92349ccf3106cf40.usd", + "usd_sha256": "fe6a47b93972cb782172193dd0074d327074173dda6ae3c4ea7f701ef0a5a6d3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.20495100319385529, 0.28857599198818207, 0.005892000161111355 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe6a47b93972cb782172193dd0074d327074173dda6ae3c4ea7f701ef0a5a6d3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.048 + "value_kg": 0.04800000041723251, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe6a47b93972cb782172193dd0074d327074173dda6ae3c4ea7f701ef0a5a6d3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04800000041723251, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe6a47b93972cb782172193dd0074d327074173dda6ae3c4ea7f701ef0a5a6d3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe6a47b93972cb782172193dd0074d327074173dda6ae3c4ea7f701ef0a5a6d3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00012_Container_Jar_Cup/IsaacSim_assets_6a7954ebd43e18960530008f/physics_6a7954ebd43e18960530008f.json b/batch24/D00012_Container_Jar_Cup/IsaacSim_assets_6a7954ebd43e18960530008f/physics_6a7954ebd43e18960530008f.json index edbecb451457f617a6819e419513e3acaec87e21..0a77a06721411352a4eca9c61d98f08c14d07d23 100644 --- a/batch24/D00012_Container_Jar_Cup/IsaacSim_assets_6a7954ebd43e18960530008f/physics_6a7954ebd43e18960530008f.json +++ b/batch24/D00012_Container_Jar_Cup/IsaacSim_assets_6a7954ebd43e18960530008f/physics_6a7954ebd43e18960530008f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.044975001364946365, - 0.045364998281002045, - 0.10462405905127525 - ], "min": [ -0.045054998248815536, -0.045322999358177185, 0.000552059964320506 ], + "max": [ + 0.044975001364946365, + 0.045364998281002045, + 0.10462405905127525 + ], "size": [ 0.0900299996137619, 0.09068799763917923, 0.10407199908695475 - ] + ], + "units": "m" }, "description": "D00012 Container Jar Cup", "name": "D00012 Container Jar Cup", "object_type": "rigid_bodies", - "total_mass": 0.151 + "total_mass": 0.1509999930858612, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00012", "parts": [ { "bounds": { - "center": [ - -3.999844193458557e-05, - 2.099946141242981e-05, - 0.05258805950779788 + "min": [ + -0.045054998248815536, + -0.045322999358177185, + 0.000552059964320506 ], "max": [ 0.044975001364946365, 0.045364998281002045, 0.10462405905127525 ], - "min": [ - -0.045054998248815536, - -0.045322999358177185, - 0.000552059964320506 - ] + "size": [ + 0.0900299996137619, + 0.09068799763917923, + 0.10407199908695475 + ], + "units": "m" }, "center_of_mass": [ -3.846885738312267e-05, @@ -59,7 +65,7 @@ 0.00020595506066456437, 0.00020633747044485062 ], - "mass": 0.151, + "mass": 0.1509999930858612, "material": "ceramic", "name": "D00012 Container Jar Cup", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00012 Container Jar Cup", "part_name": "D00012 Container Jar Cup" }, - "volume": 6.039999723434448e-05 + "volume": 6.039999723434448e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3a8b065df7a4095ee9090f69d08beb55402a7a370b13d226e1ce2649f139132c" + }, + "usd_path": "batch24/D00012_Container_Jar_Cup/IsaacSim_assets_6a7954ebd43e18960530008f/IsaacSim_asset_6a7954ebd43e18960530008f.usd", + "usd_sha256": "127ba025a1b58ec1dfe7f80cb2ab81ad2e50907906621a5488093ea0c4a2d215", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.0900299996137619, 0.09068799763917923, 0.10407199908695475 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "127ba025a1b58ec1dfe7f80cb2ab81ad2e50907906621a5488093ea0c4a2d215", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.151 + "value_kg": 0.1509999930858612, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "127ba025a1b58ec1dfe7f80cb2ab81ad2e50907906621a5488093ea0c4a2d215", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.1509999930858612, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 32, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "127ba025a1b58ec1dfe7f80cb2ab81ad2e50907906621a5488093ea0c4a2d215", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 32, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "127ba025a1b58ec1dfe7f80cb2ab81ad2e50907906621a5488093ea0c4a2d215", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "127ba025a1b58ec1dfe7f80cb2ab81ad2e50907906621a5488093ea0c4a2d215", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:10.492438+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "cbc7aa6379d66f19df88f8028e0e66367aa5f112f5237a11d1ae19b80e18f950", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00013_Olive_Oil_Jar_Bottle/IsaacSim_assets_69f5c8a3431507ff7cf2db47/physics_69f5c8a3431507ff7cf2db47.json b/batch24/D00013_Olive_Oil_Jar_Bottle/IsaacSim_assets_69f5c8a3431507ff7cf2db47/physics_69f5c8a3431507ff7cf2db47.json index df78bd3a3c1e9ba9290641bea1a5a68c72f5c900..2abdd99ff13d8ab4c5339fcb16b792b3760f5427 100644 --- a/batch24/D00013_Olive_Oil_Jar_Bottle/IsaacSim_assets_69f5c8a3431507ff7cf2db47/physics_69f5c8a3431507ff7cf2db47.json +++ b/batch24/D00013_Olive_Oil_Jar_Bottle/IsaacSim_assets_69f5c8a3431507ff7cf2db47/physics_69f5c8a3431507ff7cf2db47.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0276699997484684, - 0.027786999940872192, - 0.1817069947719574 - ], "min": [ -0.027744999155402184, -0.02749600075185299, -7.699999696342275e-05 ], + "max": [ + 0.0276699997484684, + 0.027786999940872192, + 0.1817069947719574 + ], "size": [ 0.05541499890387058, 0.05528300069272518, 0.18178399476892082 - ] + ], + "units": "m" }, "description": "A translucent cylindrical plastic squeeze bottle filled with yellow liquid, with a ribbed screw cap and tapered dispensing nozzle.", "name": "D00408 Jar Olive Oil Bottle", "object_type": "rigid_bodies", - "total_mass": 0.36 + "total_mass": 0.36000001430511475, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00013", "parts": [ { "bounds": { - "center": [ - -3.749970346689224e-05, - 0.0001454995945096016, - 0.09081499738749699 + "min": [ + -0.027744999155402184, + -0.02749600075185299, + -7.699999696342275e-05 ], "max": [ 0.0276699997484684, 0.027786999940872192, 0.1817069947719574 ], - "min": [ - -0.027744999155402184, - -0.02749600075185299, - -7.699999696342275e-05 - ] + "size": [ + 0.05541499890387058, + 0.05528300069272518, + 0.18178399476892082 + ], + "units": "m" }, "center_of_mass": [ -8.434669963780226e-05, @@ -59,7 +65,7 @@ 0.0007618353691726491, 0.0007619425580304853 ], - "mass": 0.36, + "mass": 0.36000001430511475, "material": "plastic", "name": "D00408 Jar Olive Oil Bottle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00408 Jar Olive Oil Bottle", "part_name": "D00408 Jar Olive Oil Bottle" }, - "volume": 0.0003559007149405939 + "volume": 0.0003559007149405939, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4b252416cfc9f8dd54e974fda181e87c0268a516a386689426e6fa390a7c108a" + }, + "usd_path": "batch24/D00013_Olive_Oil_Jar_Bottle/IsaacSim_assets_69f5c8a3431507ff7cf2db47/IsaacSim_asset_69f5c8a3431507ff7cf2db47.usd", + "usd_sha256": "b0ebbf664c938e7cad8b851d00ca23bacb1359ba53a106c34cee189e460257cb", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -89,22 +112,73 @@ 0.05541499890387058, 0.05528300069272518, 0.18178399476892082 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b0ebbf664c938e7cad8b851d00ca23bacb1359ba53a106c34cee189e460257cb", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.36 + "value_kg": 0.36000001430511475, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b0ebbf664c938e7cad8b851d00ca23bacb1359ba53a106c34cee189e460257cb", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.36000001430511475, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 43, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b0ebbf664c938e7cad8b851d00ca23bacb1359ba53a106c34cee189e460257cb", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 43, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b0ebbf664c938e7cad8b851d00ca23bacb1359ba53a106c34cee189e460257cb", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "b0ebbf664c938e7cad8b851d00ca23bacb1359ba53a106c34cee189e460257cb", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:21.957483+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "a2f900f074081630e11e2dbc05c0a486ebf98e82c536f6292480fa9a2550cb23", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00014_Container_Jar_Spice/IsaacSim_assets_6a795b6ad43e18960530c430/physics_6a795b6ad43e18960530c430.json b/batch24/D00014_Container_Jar_Spice/IsaacSim_assets_6a795b6ad43e18960530c430/physics_6a795b6ad43e18960530c430.json index 8f76db936f6379df1db028d14e3ea226bbb6d8b0..acacee04437708ce3c7168fdad48ebbde3fac6af 100644 --- a/batch24/D00014_Container_Jar_Spice/IsaacSim_assets_6a795b6ad43e18960530c430/physics_6a795b6ad43e18960530c430.json +++ b/batch24/D00014_Container_Jar_Spice/IsaacSim_assets_6a795b6ad43e18960530c430/physics_6a795b6ad43e18960530c430.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.022211000323295593, - 0.022424999624490738, - 0.1017993614077568 - ], "min": [ -0.022363999858498573, -0.02243500016629696, 0.00018335975028094254 ], + "max": [ + 0.022211000323295593, + 0.022424999624490738, + 0.1017993614077568 + ], "size": [ 0.04457500018179417, 0.0448599997907877, 0.10161600165747586 - ] + ], + "units": "m" }, "description": "D00014 Container Jar Spice", "name": "D00014 Container Jar Spice", "object_type": "rigid_bodies", - "total_mass": 0.08 + "total_mass": 0.07999999821186066, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00014", "parts": [ { "bounds": { - "center": [ - -7.649976760149002e-05, - -5.000270903110504e-06, - 0.050991360579018874 + "min": [ + -0.022363999858498573, + -0.02243500016629696, + 0.00018335975028094254 ], "max": [ 0.022211000323295593, 0.022424999624490738, 0.1017993614077568 ], - "min": [ - -0.022363999858498573, - -0.02243500016629696, - 0.00018335975028094254 - ] + "size": [ + 0.04457500018179417, + 0.0448599997907877, + 0.10161600165747586 + ], + "units": "m" }, "center_of_mass": [ -0.00011084272409789264, @@ -59,7 +65,7 @@ 7.737467967672274e-05, 7.751179509796202e-05 ], - "mass": 0.08, + "mass": 0.07999999821186066, "material": "ceramic", "name": "D00014 Container Jar Spice", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00014 Container Jar Spice", "part_name": "D00014 Container Jar Spice" }, - "volume": 3.199999928474426e-05 + "volume": 3.199999928474426e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5133adca52d24b42a975c82b4e760e74d69f1950ed34a156ea4e9b0ba53d5cc6" + }, + "usd_path": "batch24/D00014_Container_Jar_Spice/IsaacSim_assets_6a795b6ad43e18960530c430/IsaacSim_asset_6a795b6ad43e18960530c430.usd", + "usd_sha256": "f46059a54a6c2f434d90a25579e981c8f90012b20e4ec1aea5a061ddae43a719", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.04457500018179417, 0.0448599997907877, 0.10161600165747586 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f46059a54a6c2f434d90a25579e981c8f90012b20e4ec1aea5a061ddae43a719", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.08 + "value_kg": 0.07999999821186066, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f46059a54a6c2f434d90a25579e981c8f90012b20e4ec1aea5a061ddae43a719", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07999999821186066, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f46059a54a6c2f434d90a25579e981c8f90012b20e4ec1aea5a061ddae43a719", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f46059a54a6c2f434d90a25579e981c8f90012b20e4ec1aea5a061ddae43a719", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "f46059a54a6c2f434d90a25579e981c8f90012b20e4ec1aea5a061ddae43a719", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:41.790681+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "66826bad3631098e45102de27e06193913d7531e07b11b6f0be2785e42529d92", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00027_Jar_Bottle_Water/IsaacSim_assets_6a795d97d43e1896053102a3/physics_6a795d97d43e1896053102a3.json b/batch24/D00027_Jar_Bottle_Water/IsaacSim_assets_6a795d97d43e1896053102a3/physics_6a795d97d43e1896053102a3.json index 7ec802406f48c1e0b6789586163a04e85ef65cd2..d175ae7927f027cdeb0553b96124716a0d53e2a7 100644 --- a/batch24/D00027_Jar_Bottle_Water/IsaacSim_assets_6a795d97d43e1896053102a3/physics_6a795d97d43e1896053102a3.json +++ b/batch24/D00027_Jar_Bottle_Water/IsaacSim_assets_6a795d97d43e1896053102a3/physics_6a795d97d43e1896053102a3.json @@ -1,50 +1,153 @@ { "articulation": { - "has_joints": false, - "joints": [] + "has_joints": true, + "joints": [ + { + "id": "joint_jar_body__lid", + "path": "/World/textured_mesh_6a795d97d43e1896053102a3/Joints/joint_jar_body__lid", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a795d97d43e1896053102a3/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a795d97d43e1896053102a3/part_1" + ], + "authored_usd": { + "id": "joint_jar_body__lid", + "source_prim_path": "/World/textured_mesh_6a795d97d43e1896053102a3/Joints/joint_jar_body__lid", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a795d97d43e1896053102a3/part_0" + ], + "body1": [ + "/World/textured_mesh_6a795d97d43e1896053102a3/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_lid__seal_ring", + "path": "/World/textured_mesh_6a795d97d43e1896053102a3/Joints/joint_lid__seal_ring", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a795d97d43e1896053102a3/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_6a795d97d43e1896053102a3/part_2" + ], + "authored_usd": { + "id": "joint_lid__seal_ring", + "source_prim_path": "/World/textured_mesh_6a795d97d43e1896053102a3/Joints/joint_lid__seal_ring", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a795d97d43e1896053102a3/part_1" + ], + "body1": [ + "/World/textured_mesh_6a795d97d43e1896053102a3/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + } + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03962000086903572, - 0.04002299904823303, - 0.1909719246905297 - ], "min": [ -0.03990999981760979, -0.03945700079202652, 0.0008299300625367323 ], + "max": [ + 0.03962000086903572, + 0.04002299904823303, + 0.1909719246905297 + ], "size": [ 0.07953000068664551, 0.07947999984025955, 0.19014199462799297 - ] + ], + "units": "m" }, "description": "D00027 Jar Bottle Water", "name": "D00027 Jar Bottle Water", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.44999999552965164, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00027", "parts": [ { "bounds": { - "center": [ - -0.00014499947428703308, - 0.0002829991281032562, - 0.08538242865779466 + "min": [ + -0.03990999981760979, + -0.03945700079202652, + 0.0008299300625367323 ], "max": [ 0.03962000086903572, 0.04002299904823303, 0.1699349272530526 ], - "min": [ - -0.03990999981760979, - -0.03945700079202652, - 0.0008299300625367323 - ] + "size": [ + 0.07953000068664551, + 0.07947999984025955, + 0.16910499719051586 + ], + "units": "m" }, "center_of_mass": [ -0.00023353374854195863, @@ -59,7 +162,7 @@ 0.0009998355526477098, 0.0010013097198680043 ], - "mass": 0.38, + "mass": 0.3799999952316284, "material": "ceramic", "name": "D00027 Jar Bottle Water", "physics_type": "rigid", @@ -67,25 +170,28 @@ "object_name": "D00027 Jar Bottle Water", "part_name": "D00027 Jar Bottle Water" }, - "volume": 0.00015199999809265138 + "volume": 0.00015199999809265138, + "source_prim_path": "/World/textured_mesh_6a795d97d43e1896053102a3/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -9.199976921081543e-05, - 0.00021400116384029388, - 0.17906942847184837 + "min": [ + -0.03772199898958206, + -0.03761199861764908, + 0.16716693225316703 ], "max": [ 0.03753799945116043, 0.038040000945329666, 0.1909719246905297 ], - "min": [ - -0.03772199898958206, - -0.03761199861764908, - 0.16716693225316703 - ] + "size": [ + 0.07525999844074249, + 0.07565199956297874, + 0.02380499243736267 + ], + "units": "m" }, "center_of_mass": [ -9.74985960056074e-05, @@ -100,7 +206,7 @@ 1.926938239193987e-05, 3.3706455724313855e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "metal", "name": "D00027 Jar Bottle Water", "physics_type": "rigid", @@ -108,25 +214,28 @@ "object_name": "D00027 Jar Bottle Water", "part_name": "D00027 Jar Bottle Water" }, - "volume": 6.369426846504211e-06 + "volume": 6.369426846504211e-06, + "source_prim_path": "/World/textured_mesh_6a795d97d43e1896053102a3/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00020299851894378662, - 0.0002995003014802933, - 0.16619443031959236 + "min": [ + -0.03696700185537338, + -0.03734700009226799, + 0.16374893370084465 ], "max": [ 0.037372998893260956, 0.03794600069522858, 0.16863992693834007 ], - "min": [ - -0.03696700185537338, - -0.03734700009226799, - 0.16374893370084465 - ] + "size": [ + 0.07434000074863434, + 0.07529300078749657, + 0.004890993237495422 + ], + "units": "m" }, "center_of_mass": [ -9.269735892303288e-05, @@ -141,7 +250,7 @@ 6.466076229116879e-06, 1.2846661775256507e-05 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "plastic", "name": "D00027 Jar Bottle Water", "physics_type": "rigid", @@ -149,10 +258,27 @@ "object_name": "D00027 Jar Bottle Water", "part_name": "D00027 Jar Bottle Water" }, - "volume": 1.6666666294137637e-05 + "volume": 1.6666666294137637e-05, + "source_prim_path": "/World/textured_mesh_6a795d97d43e1896053102a3/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "70c0ed027343adfbdd8880a24dae1c9a76f2f0d94740d022705ff0b2d5ec55f1" + }, + "usd_path": "batch24/D00027_Jar_Bottle_Water/IsaacSim_assets_6a795d97d43e1896053102a3/IsaacSim_asset_6a795d97d43e1896053102a3.usd", + "usd_sha256": "d9d3bf6ad6e744826f3d4112b6803ec477bab789b2472c3ec72084dbf683e7cf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -173,22 +299,73 @@ 0.07953000068664551, 0.07947999984025955, 0.19014199462799297 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9d3bf6ad6e744826f3d4112b6803ec477bab789b2472c3ec72084dbf683e7cf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.44999999552965164, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9d3bf6ad6e744826f3d4112b6803ec477bab789b2472c3ec72084dbf683e7cf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.44999999552965164, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 42, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9d3bf6ad6e744826f3d4112b6803ec477bab789b2472c3ec72084dbf683e7cf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 42, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9d3bf6ad6e744826f3d4112b6803ec477bab789b2472c3ec72084dbf683e7cf", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "d9d3bf6ad6e744826f3d4112b6803ec477bab789b2472c3ec72084dbf683e7cf", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:41.491833+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "70f2473b9657d0fcbb4bc6975348b8a48586452fca50652f681baa0c07126733", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00029_Juice_Drink/IsaacSim_assets_6a797488d43e189605327e85/physics_6a797488d43e189605327e85.json b/batch24/D00029_Juice_Drink/IsaacSim_assets_6a797488d43e189605327e85/physics_6a797488d43e189605327e85.json index 68adbd4c865cca44144c8003306dbb6fd4da7f2f..8a10471e67bf00562407c4c0dc84e695a6d2c27d 100644 --- a/batch24/D00029_Juice_Drink/IsaacSim_assets_6a797488d43e189605327e85/physics_6a797488d43e189605327e85.json +++ b/batch24/D00029_Juice_Drink/IsaacSim_assets_6a797488d43e189605327e85/physics_6a797488d43e189605327e85.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03407200053334236, - 0.036593999713659286, - 0.19971689581871033 - ], "min": [ -0.034196000546216965, -0.03514200076460838, 0.0010858991099667037 ], + "max": [ + 0.03407200053334236, + 0.036593999713659286, + 0.19971689581871033 + ], "size": [ 0.06826800107955933, 0.07173600047826767, 0.19863099670874362 - ] + ], + "units": "m" }, "description": "D00029 Juice Drink", "name": "D00029 Juice Drink", "object_type": "rigid_bodies", - "total_mass": 1.05 + "total_mass": 1.0499999523162842, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00029", "parts": [ { "bounds": { - "center": [ - -6.200000643730164e-05, - 0.0007259994745254517, - 0.10040139746433852 + "min": [ + -0.034196000546216965, + -0.03514200076460838, + 0.0010858991099667037 ], "max": [ 0.03407200053334236, 0.036593999713659286, 0.19971689581871033 ], - "min": [ - -0.034196000546216965, - -0.03514200076460838, - 0.0010858991099667037 - ] + "size": [ + 0.06826800107955933, + 0.07173600047826767, + 0.19863099670874362 + ], + "units": "m" }, "center_of_mass": [ -7.10073800291866e-05, @@ -59,7 +65,7 @@ 0.0033877838868647814, 0.003403938142582774 ], - "mass": 1.05, + "mass": 1.0499999523162842, "material": "plastic", "name": "D00029 Juice Drink", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00029 Juice Drink", "part_name": "D00029 Juice Drink" }, - "volume": 0.0009800260671923339 + "volume": 0.0009800260671923339, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "feb1e6849dc43de852582c1f312552537aeabd7936ce73d1488917f93ec09b2a" + }, + "usd_path": "batch24/D00029_Juice_Drink/IsaacSim_assets_6a797488d43e189605327e85/IsaacSim_asset_6a797488d43e189605327e85.usd", + "usd_sha256": "6df4f1b8e3b3a354debe145b8c9f998d86959aaef1f849113c7ecbdebc72f707", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.06826800107955933, 0.07173600047826767, 0.19863099670874362 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6df4f1b8e3b3a354debe145b8c9f998d86959aaef1f849113c7ecbdebc72f707", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.05 + "value_kg": 1.0499999523162842, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6df4f1b8e3b3a354debe145b8c9f998d86959aaef1f849113c7ecbdebc72f707", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0499999523162842, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6df4f1b8e3b3a354debe145b8c9f998d86959aaef1f849113c7ecbdebc72f707", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6df4f1b8e3b3a354debe145b8c9f998d86959aaef1f849113c7ecbdebc72f707", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "6df4f1b8e3b3a354debe145b8c9f998d86959aaef1f849113c7ecbdebc72f707", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:22.385921+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "02c87b2a52b5fce596d629d262cdbfd1b8890ff9c16e7d18e237b391fc0e35b4", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00126_Chili_Flakes/IsaacSim_assets_6a74453a92349ccf3107a360/physics_6a74453a92349ccf3107a360.json b/batch24/D00126_Chili_Flakes/IsaacSim_assets_6a74453a92349ccf3107a360/physics_6a74453a92349ccf3107a360.json index bcbc3e5ec587e584edbc66b33ad5f092f35ec23a..0d1ba39b28e5e8a6b3dc9bf9cf12b7e76fe1ee67 100644 --- a/batch24/D00126_Chili_Flakes/IsaacSim_assets_6a74453a92349ccf3107a360/physics_6a74453a92349ccf3107a360.json +++ b/batch24/D00126_Chili_Flakes/IsaacSim_assets_6a74453a92349ccf3107a360/physics_6a74453a92349ccf3107a360.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.020230000838637352, - 0.020718999207019806, - 0.012458279612474144 - ], "min": [ -0.018633000552654266, -0.01872600056231022, 0.00018427999054893007 ], + "max": [ + 0.020230000838637352, + 0.020718999207019806, + 0.012458279612474144 + ], "size": [ 0.03886300139129162, 0.039444999769330025, 0.012273999621925213 - ] + ], + "units": "m" }, "description": "D00126 Chili Flakes", "name": "D00126 Chili Flakes", "object_type": "rigid_bodies", - "total_mass": 0.002 + "total_mass": 0.0020000000949949026, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00126", "parts": [ { "bounds": { - "center": [ - 0.0007985001429915428, - 0.0009964993223547935, - 0.006321279801511537 + "min": [ + -0.018633000552654266, + -0.01872600056231022, + 0.00018427999054893007 ], "max": [ 0.020230000838637352, 0.020718999207019806, 0.012458279612474144 ], - "min": [ - -0.018633000552654266, - -0.01872600056231022, - 0.00018427999054893007 - ] + "size": [ + 0.03886300139129162, + 0.039444999769330025, + 0.012273999621925213 + ], + "units": "m" }, "center_of_mass": [ 0.0007040282944217324, @@ -59,7 +65,7 @@ 1.3780436347587965e-07, 2.426563128210546e-07 ], - "mass": 0.002, + "mass": 0.0020000000949949026, "material": "foam", "name": "D00126 Chili Flakes", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00126 Chili Flakes", "part_name": "D00126 Chili Flakes" }, - "volume": 5.000000237487257e-06 + "volume": 5.000000237487257e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a9247ab9624e6b91f8a2dd33b6d15e8c108725df465180a874a745cae98baa57" + }, + "usd_path": "batch24/D00126_Chili_Flakes/IsaacSim_assets_6a74453a92349ccf3107a360/IsaacSim_asset_6a74453a92349ccf3107a360.usd", + "usd_sha256": "196ed0ec95231b69fa7297b28784954d2d51297019dd217ba392a72d5378b57e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.03886300139129162, 0.039444999769330025, 0.012273999621925213 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "196ed0ec95231b69fa7297b28784954d2d51297019dd217ba392a72d5378b57e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.002 + "value_kg": 0.0020000000949949026, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "196ed0ec95231b69fa7297b28784954d2d51297019dd217ba392a72d5378b57e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0020000000949949026, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "196ed0ec95231b69fa7297b28784954d2d51297019dd217ba392a72d5378b57e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "196ed0ec95231b69fa7297b28784954d2d51297019dd217ba392a72d5378b57e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "196ed0ec95231b69fa7297b28784954d2d51297019dd217ba392a72d5378b57e", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:15:59.944274+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "de4919cec78be1e2e2570bfbd93cc3c46e7869bcb0179f309e6c178d1f298b6a", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00228_Cup_Glass/IsaacSim_assets_6a756ac092349ccf31222af5/physics_6a756ac092349ccf31222af5.json b/batch24/D00228_Cup_Glass/IsaacSim_assets_6a756ac092349ccf31222af5/physics_6a756ac092349ccf31222af5.json index f85321bc1f13f0ec4a9b443ef8ade3fe19f31578..adbf107d4e3844bcdb06756e461ca0df95efda7d 100644 --- a/batch24/D00228_Cup_Glass/IsaacSim_assets_6a756ac092349ccf31222af5/physics_6a756ac092349ccf31222af5.json +++ b/batch24/D00228_Cup_Glass/IsaacSim_assets_6a756ac092349ccf31222af5/physics_6a756ac092349ccf31222af5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04257100075483322, - 0.04211299866437912, - 0.09858834254555404 - ], "min": [ -0.04259299859404564, -0.042381998151540756, 0.0005143400558154099 ], + "max": [ + 0.04257100075483322, + 0.04211299866437912, + 0.09858834254555404 + ], "size": [ 0.08516399934887886, 0.08449499681591988, 0.09807400248973863 - ] + ], + "units": "m" }, "description": "D00228 Cup Glass", "name": "D00228 Cup Glass", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00228", "parts": [ { "bounds": { - "center": [ - -1.0998919606208801e-05, - -0.00013449974358081818, - 0.049551341300684726 + "min": [ + -0.04259299859404564, + -0.042381998151540756, + 0.0005143400558154099 ], "max": [ 0.04257100075483322, 0.04211299866437912, 0.09858834254555404 ], - "min": [ - -0.04259299859404564, - -0.042381998151540756, - 0.0005143400558154099 - ] + "size": [ + 0.08516399934887886, + 0.08449499681591988, + 0.09807400248973863 + ], + "units": "m" }, "center_of_mass": [ -1.4415808209378156e-06, @@ -59,7 +65,7 @@ 0.00016866200894583017, 0.00016970076831057668 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "ceramic", "name": "D00228 Cup Glass", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00228 Cup Glass", "part_name": "D00228 Cup Glass" }, - "volume": 6.000000238418579e-05 + "volume": 6.000000238418579e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a67b49151561169e6ac9bdbe54a1160189289d08c4d6b2ee5d85abef184b7c0b" + }, + "usd_path": "batch24/D00228_Cup_Glass/IsaacSim_assets_6a756ac092349ccf31222af5/IsaacSim_asset_6a756ac092349ccf31222af5.usd", + "usd_sha256": "60d1f1a4a34ded0944e8983bb9e737cc0ec3c0ede772820841d5d47cebcf8fc2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.08516399934887886, 0.08449499681591988, 0.09807400248973863 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "60d1f1a4a34ded0944e8983bb9e737cc0ec3c0ede772820841d5d47cebcf8fc2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "60d1f1a4a34ded0944e8983bb9e737cc0ec3c0ede772820841d5d47cebcf8fc2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "60d1f1a4a34ded0944e8983bb9e737cc0ec3c0ede772820841d5d47cebcf8fc2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "60d1f1a4a34ded0944e8983bb9e737cc0ec3c0ede772820841d5d47cebcf8fc2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "60d1f1a4a34ded0944e8983bb9e737cc0ec3c0ede772820841d5d47cebcf8fc2", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:09.070612+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "36c39805a36ed0d4e403b3b9175846fdf2fefe892ed5734f5148a9e0bffcbca0", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00229_Cup_Glass_Pitcher_Pot/IsaacSim_assets_6a79443fd43e1896052e547f/physics_6a79443fd43e1896052e547f.json b/batch24/D00229_Cup_Glass_Pitcher_Pot/IsaacSim_assets_6a79443fd43e1896052e547f/physics_6a79443fd43e1896052e547f.json index b3181e500682bffda3ac25022b009400d9c60412..57a61c8d610292f4cbaf0cb123b3c20f7b226574 100644 --- a/batch24/D00229_Cup_Glass_Pitcher_Pot/IsaacSim_assets_6a79443fd43e1896052e547f/physics_6a79443fd43e1896052e547f.json +++ b/batch24/D00229_Cup_Glass_Pitcher_Pot/IsaacSim_assets_6a79443fd43e1896052e547f/physics_6a79443fd43e1896052e547f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04603099822998047, - 0.03217199817299843, - 0.10676347673870623 - ], "min": [ -0.03523299843072891, -0.03228199854493141, 0.0005774800741846775 ], + "max": [ + 0.04603099822998047, + 0.03217199817299843, + 0.10676347673870623 + ], "size": [ 0.08126399666070938, 0.06445399671792984, 0.10618599666452155 - ] + ], + "units": "m" }, "description": "D00229 Cup Glass Pitcher Pot", "name": "D00229 Cup Glass Pitcher Pot", "object_type": "rigid_bodies", - "total_mass": 0.1 + "total_mass": 0.10000000149011612, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00229", "parts": [ { "bounds": { - "center": [ - 0.005398999899625778, - -5.50001859664917e-05, - 0.053670478406445454 + "min": [ + -0.03523299843072891, + -0.03228199854493141, + 0.0005774800741846775 ], "max": [ 0.04603099822998047, 0.03217199817299843, 0.10676347673870623 ], - "min": [ - -0.03523299843072891, - -0.03228199854493141, - 0.0005774800741846775 - ] + "size": [ + 0.08126399666070938, + 0.06445399671792984, + 0.10618599666452155 + ], + "units": "m" }, "center_of_mass": [ 0.0002109436463797465, @@ -59,7 +65,7 @@ 0.00013728880730923265, 0.00014836504124104977 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "ceramic", "name": "D00229 Cup Glass Pitcher Pot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00229 Cup Glass Pitcher Pot", "part_name": "D00229 Cup Glass Pitcher Pot" }, - "volume": 4.000000059604645e-05 + "volume": 4.000000059604645e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ce895fed193cae6a8a7ba8457049493aaaa5e60d7d68e9e1d7d2d52657e98b3b" + }, + "usd_path": "batch24/D00229_Cup_Glass_Pitcher_Pot/IsaacSim_assets_6a79443fd43e1896052e547f/IsaacSim_asset_6a79443fd43e1896052e547f.usd", + "usd_sha256": "c5191adfe88c3b6c74190e45cdf03c90b9d7f66cbb44dc00bcf9c4a9ff5ba736", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.08126399666070938, 0.06445399671792984, 0.10618599666452155 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c5191adfe88c3b6c74190e45cdf03c90b9d7f66cbb44dc00bcf9c4a9ff5ba736", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.1 + "value_kg": 0.10000000149011612, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c5191adfe88c3b6c74190e45cdf03c90b9d7f66cbb44dc00bcf9c4a9ff5ba736", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.10000000149011612, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 36, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c5191adfe88c3b6c74190e45cdf03c90b9d7f66cbb44dc00bcf9c4a9ff5ba736", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 36, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c5191adfe88c3b6c74190e45cdf03c90b9d7f66cbb44dc00bcf9c4a9ff5ba736", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "c5191adfe88c3b6c74190e45cdf03c90b9d7f66cbb44dc00bcf9c4a9ff5ba736", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:02.854510+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "0fb0dd33e3a655006d2b4418c690d9025589c92af67d4030d3ebf02bd284fe99", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00230_Cup_Jar/IsaacSim_assets_6a75641792349ccf312068a1/physics_6a75641792349ccf312068a1.json b/batch24/D00230_Cup_Jar/IsaacSim_assets_6a75641792349ccf312068a1/physics_6a75641792349ccf312068a1.json index a0b76c10d95512f48d70e221ecf000aef3a2b3f0..13d375887c418e1a9f1690cb7e6554ad4c52a534 100644 --- a/batch24/D00230_Cup_Jar/IsaacSim_assets_6a75641792349ccf312068a1/physics_6a75641792349ccf312068a1.json +++ b/batch24/D00230_Cup_Jar/IsaacSim_assets_6a75641792349ccf312068a1/physics_6a75641792349ccf312068a1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.046466000378131866, - 0.0461059994995594, - 0.09673368209041655 - ], "min": [ -0.04606200009584427, -0.045510999858379364, 0.0005126801534061087 ], + "max": [ + 0.046466000378131866, + 0.0461059994995594, + 0.09673368209041655 + ], "size": [ 0.09252800047397614, 0.09161699935793877, 0.09622100193701044 - ] + ], + "units": "m" }, "description": "D00230 Cup Jar", "name": "D00230 Cup Jar", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00230", "parts": [ { "bounds": { - "center": [ - 0.00020200014114379883, - 0.0002974998205900192, - 0.04862318112191133 + "min": [ + -0.04606200009584427, + -0.045510999858379364, + 0.0005126801534061087 ], "max": [ 0.046466000378131866, 0.0461059994995594, 0.09673368209041655 ], - "min": [ - -0.04606200009584427, - -0.045510999858379364, - 0.0005126801534061087 - ] + "size": [ + 0.09252800047397614, + 0.09161699935793877, + 0.09622100193701044 + ], + "units": "m" }, "center_of_mass": [ 0.00021335920609999448, @@ -67,10 +73,27 @@ "object_name": "D00230 Cup Jar", "part_name": "D00230 Cup Jar" }, - "volume": 0.0001 + "volume": 0.0001, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c0da654caf327e67ba21dc345adf524b5600db8d3cd362ccd86c0c5604612a9b" + }, + "usd_path": "batch24/D00230_Cup_Jar/IsaacSim_assets_6a75641792349ccf312068a1/IsaacSim_asset_6a75641792349ccf312068a1.usd", + "usd_sha256": "0ba3c262feeaacd166ca4a84cb1ff15da08f6ed4a50b41756df9137a0f71fdc0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.09252800047397614, 0.09161699935793877, 0.09622100193701044 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ba3c262feeaacd166ca4a84cb1ff15da08f6ed4a50b41756df9137a0f71fdc0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ba3c262feeaacd166ca4a84cb1ff15da08f6ed4a50b41756df9137a0f71fdc0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ba3c262feeaacd166ca4a84cb1ff15da08f6ed4a50b41756df9137a0f71fdc0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ba3c262feeaacd166ca4a84cb1ff15da08f6ed4a50b41756df9137a0f71fdc0", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00250_Cutter/IsaacSim_assets_6a746f2892349ccf310a3708/physics_6a746f2892349ccf310a3708.json b/batch24/D00250_Cutter/IsaacSim_assets_6a746f2892349ccf310a3708/physics_6a746f2892349ccf310a3708.json index 7c6656a4f797fff815ac09b9e6db5c11b504cc03..9cc2b58c9c7be0af86c8a2b2a05f27950215a805 100644 --- a/batch24/D00250_Cutter/IsaacSim_assets_6a746f2892349ccf310a3708/physics_6a746f2892349ccf310a3708.json +++ b/batch24/D00250_Cutter/IsaacSim_assets_6a746f2892349ccf310a3708/physics_6a746f2892349ccf310a3708.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13333700597286224, - 0.022182999178767204, - 0.021939150989055634 - ], "min": [ -0.19428099691867828, -0.03224699944257736, 0.0011831505157715583 ], + "max": [ + 0.13333700597286224, + 0.022182999178767204, + 0.021939150989055634 + ], "size": [ 0.3276180028915405, 0.054429998621344566, 0.020756000473284075 - ] + ], + "units": "m" }, "description": "D00250 Cutter", "name": "D00250 Cutter", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00250", "parts": [ { "bounds": { - "center": [ - -0.03047199547290802, - -0.005032000131905079, - 0.011561150752413596 + "min": [ + -0.19428099691867828, + -0.03224699944257736, + 0.0011831505157715583 ], "max": [ 0.13333700597286224, 0.022182999178767204, 0.021939150989055634 ], - "min": [ - -0.19428099691867828, - -0.03224699944257736, - 0.0011831505157715583 - ] + "size": [ + 0.3276180028915405, + 0.054429998621344566, + 0.020756000473284075 + ], + "units": "m" }, "center_of_mass": [ 0.013304075226187706, @@ -67,10 +73,27 @@ "object_name": "D00250 Cutter", "part_name": "D00250 Cutter" }, - "volume": 6.361323155216285e-05 + "volume": 6.361323155216285e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4fce364553df5284390730c63158c84b6dd96f418c6db40c3c522b03d306e386" + }, + "usd_path": "batch24/D00250_Cutter/IsaacSim_assets_6a746f2892349ccf310a3708/IsaacSim_asset_6a746f2892349ccf310a3708.usd", + "usd_sha256": "f4facdccba769067f5a25c12c7abe70251d533ce1feb3268035860adaab2be56", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.3276180028915405, 0.054429998621344566, 0.020756000473284075 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f4facdccba769067f5a25c12c7abe70251d533ce1feb3268035860adaab2be56", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f4facdccba769067f5a25c12c7abe70251d533ce1feb3268035860adaab2be56", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f4facdccba769067f5a25c12c7abe70251d533ce1feb3268035860adaab2be56", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f4facdccba769067f5a25c12c7abe70251d533ce1feb3268035860adaab2be56", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "f4facdccba769067f5a25c12c7abe70251d533ce1feb3268035860adaab2be56", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:10.431023+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "0f6e7220e3335c48a980644611eec80f6d7b928283c2238247759dae15a2fe5b", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00253_Cutting_Board_Knife/IsaacSim_assets_6a794c7dd43e1896052f4239/physics_6a794c7dd43e1896052f4239.json b/batch24/D00253_Cutting_Board_Knife/IsaacSim_assets_6a794c7dd43e1896052f4239/physics_6a794c7dd43e1896052f4239.json index 0ef1054c6eb8f01d9636651bb59e9b8cb3c85110..e9e1cc99ec8ce9fa7b57d1ebc94094e07c8789de 100644 --- a/batch24/D00253_Cutting_Board_Knife/IsaacSim_assets_6a794c7dd43e1896052f4239/physics_6a794c7dd43e1896052f4239.json +++ b/batch24/D00253_Cutting_Board_Knife/IsaacSim_assets_6a794c7dd43e1896052f4239/physics_6a794c7dd43e1896052f4239.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12983199954032898, - 0.01894799992442131, - 0.021922370418906212 - ], "min": [ -0.19997499883174896, -0.030722999945282936, 0.0011513697049849725 ], + "max": [ + 0.12983199954032898, + 0.01894799992442131, + 0.021922370418906212 + ], "size": [ 0.32980699837207794, 0.049670999869704247, 0.02077100071392124 - ] + ], + "units": "m" }, "description": "D00253 Cutting Board Knife", "name": "D00253 Cutting Board Knife", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00253", "parts": [ { "bounds": { - "center": [ - -0.03507149964570999, - -0.005887500010430813, - 0.011536870061945592 + "min": [ + -0.19997499883174896, + -0.030722999945282936, + 0.0011513697049849725 ], "max": [ 0.12983199954032898, 0.01894799992442131, 0.021922370418906212 ], - "min": [ - -0.19997499883174896, - -0.030722999945282936, - 0.0011513697049849725 - ] + "size": [ + 0.32980699837207794, + 0.049670999869704247, + 0.02077100071392124 + ], + "units": "m" }, "center_of_mass": [ 0.012703468091785908, @@ -59,7 +65,7 @@ 0.0010335209080949426, 0.0010524715762585402 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "glass", "name": "D00253 Cutting Board Knife", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00253 Cutting Board Knife", "part_name": "D00253 Cutting Board Knife" }, - "volume": 5.3885116315878285e-05 + "volume": 5.3885116315878285e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "89a8af1b9446f9c91d61bc82f1dfe2bfe27f78f5dfdaecf988b3d9eeaac9f223" + }, + "usd_path": "batch24/D00253_Cutting_Board_Knife/IsaacSim_assets_6a794c7dd43e1896052f4239/IsaacSim_asset_6a794c7dd43e1896052f4239.usd", + "usd_sha256": "9c870ea77e8bdcbe27429816bd279b315d7847866678046ecbc43a9be1eb5b43", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.32980699837207794, 0.049670999869704247, 0.02077100071392124 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9c870ea77e8bdcbe27429816bd279b315d7847866678046ecbc43a9be1eb5b43", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9c870ea77e8bdcbe27429816bd279b315d7847866678046ecbc43a9be1eb5b43", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9c870ea77e8bdcbe27429816bd279b315d7847866678046ecbc43a9be1eb5b43", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9c870ea77e8bdcbe27429816bd279b315d7847866678046ecbc43a9be1eb5b43", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00375 Herb/IsaacSim_assets_69f5c110431507ff7cf057dc/physics_69f5c110431507ff7cf057dc.json b/batch24/D00375 Herb/IsaacSim_assets_69f5c110431507ff7cf057dc/physics_69f5c110431507ff7cf057dc.json index 969dd945bfcdd5a3be5efe15bacac9951f365e0d..40d5bf0a280208120614dd6e1374cba10501c15a 100644 --- a/batch24/D00375 Herb/IsaacSim_assets_69f5c110431507ff7cf057dc/physics_69f5c110431507ff7cf057dc.json +++ b/batch24/D00375 Herb/IsaacSim_assets_69f5c110431507ff7cf057dc/physics_69f5c110431507ff7cf057dc.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.032235000282526016, - 0.03385400027036667, - 0.08878874033689499 - ], "min": [ -0.03823599964380264, -0.06510599702596664, 0.0003227407046324515 ], + "max": [ + 0.032235000282526016, + 0.03385400027036667, + 0.08878874033689499 + ], "size": [ 0.07047099992632866, 0.09895999729633331, 0.08846599963226254 - ] + ], + "units": "m" }, "description": "A single sprig of fresh thyme with a central woody stem and small, oval-shaped green leaves.", "name": "D00375 Herb", "object_type": "rigid_bodies", - "total_mass": 0.002 + "total_mass": 0.0020000000949949026, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00375", "parts": [ { "bounds": { - "center": [ - -0.0030004996806383133, - -0.015625998377799988, - 0.04455574052076372 + "min": [ + -0.03823599964380264, + -0.06510599702596664, + 0.0003227407046324515 ], "max": [ 0.032235000282526016, 0.03385400027036667, 0.08878874033689499 ], - "min": [ - -0.03823599964380264, - -0.06510599702596664, - 0.0003227407046324515 - ] + "size": [ + 0.07047099992632866, + 0.09895999729633331, + 0.08846599963226254 + ], + "units": "m" }, "center_of_mass": [ -0.00042443353205695334, @@ -59,7 +65,7 @@ 1.2414932223792891e-06, 1.6201105765086227e-06 ], - "mass": 0.002, + "mass": 0.0020000000949949026, "material": "plant_matter", "name": "D00375 Herb", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00375 Herb", "part_name": "D00375 Herb" }, - "volume": 0.00024896836883973677 + "volume": 0.00024896836883973677, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "75e5979e4a524f093b90ee14eb3f16eb8124add3d32f50e48b73d6e18f69dffd" + }, + "usd_path": "batch24/D00375 Herb/IsaacSim_assets_69f5c110431507ff7cf057dc/IsaacSim_asset_69f5c110431507ff7cf057dc.usd", + "usd_sha256": "28997de73e1657634167c2061b8abcd16d06b8a3b32356c1ce180d5ccc9a1b73", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -89,22 +112,56 @@ 0.07047099992632866, 0.09895999729633331, 0.08846599963226254 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "28997de73e1657634167c2061b8abcd16d06b8a3b32356c1ce180d5ccc9a1b73", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.002 + "value_kg": 0.0020000000949949026, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "28997de73e1657634167c2061b8abcd16d06b8a3b32356c1ce180d5ccc9a1b73", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0020000000949949026, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "28997de73e1657634167c2061b8abcd16d06b8a3b32356c1ce180d5ccc9a1b73", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "28997de73e1657634167c2061b8abcd16d06b8a3b32356c1ce180d5ccc9a1b73", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00637 Pot/IsaacSim_assets_6a7304615d45b936d63400fd/physics_6a7304615d45b936d63400fd.json b/batch24/D00637 Pot/IsaacSim_assets_6a7304615d45b936d63400fd/physics_6a7304615d45b936d63400fd.json index fce83bd8eab577b8141e526782e6407e7cae1754..b9e5dc480645d7ee5c2421624a49eee53123ba3b 100644 --- a/batch24/D00637 Pot/IsaacSim_assets_6a7304615d45b936d63400fd/physics_6a7304615d45b936d63400fd.json +++ b/batch24/D00637 Pot/IsaacSim_assets_6a7304615d45b936d63400fd/physics_6a7304615d45b936d63400fd.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12613999843597412, - 0.08866000175476074, - 0.1070772334933281 - ], "min": [ -0.12589100003242493, -0.08772999793291092, 0.001366229960694909 ], + "max": [ + 0.12613999843597412, + 0.08866000175476074, + 0.1070772334933281 + ], "size": [ 0.25203099846839905, 0.17638999968767166, 0.10571100353263319 - ] + ], + "units": "m" }, "description": "D00637 Pot", "name": "D00637 Pot", "object_type": "rigid_bodies", - "total_mass": 2.42 + "total_mass": 2.4200000762939453, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00637", "parts": [ { "bounds": { - "center": [ - 0.00012449920177459717, - 0.0004650019109249115, - 0.0542217317270115 + "min": [ + -0.12589100003242493, + -0.08772999793291092, + 0.001366229960694909 ], "max": [ 0.12613999843597412, 0.08866000175476074, 0.1070772334933281 ], - "min": [ - -0.12589100003242493, - -0.08772999793291092, - 0.001366229960694909 - ] + "size": [ + 0.25203099846839905, + 0.17638999968767166, + 0.10571100353263319 + ], + "units": "m" }, "center_of_mass": [ -0.000329043687088415, @@ -59,7 +65,7 @@ 0.008891514502465725, 0.010833606123924255 ], - "mass": 2.42, + "mass": 2.4200000762939453, "material": "metal", "name": "D00637 Pot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00637 Pot", "part_name": "D00637 Pot" }, - "volume": 0.0003025000095367432 + "volume": 0.0003025000095367432, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d25df55e8ea7bc0da4825e350fca1703fb4f6b1a56e4006812cfe78ac7bfb8d1" + }, + "usd_path": "batch24/D00637 Pot/IsaacSim_assets_6a7304615d45b936d63400fd/IsaacSim_asset_6a7304615d45b936d63400fd.usd", + "usd_sha256": "6d64570969c35033383ceaae0094991d65ef0ee9c807212033d19a7cc7e349de", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.25203099846839905, 0.17638999968767166, 0.10571100353263319 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d64570969c35033383ceaae0094991d65ef0ee9c807212033d19a7cc7e349de", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.42 + "value_kg": 2.4200000762939453, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d64570969c35033383ceaae0094991d65ef0ee9c807212033d19a7cc7e349de", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.4200000762939453, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 29, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d64570969c35033383ceaae0094991d65ef0ee9c807212033d19a7cc7e349de", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 29, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d64570969c35033383ceaae0094991d65ef0ee9c807212033d19a7cc7e349de", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00672 Rolling Pin/IsaacSim_assets_6a6ac269cb2d3efc659c3c7b/physics_6a6ac269cb2d3efc659c3c7b.json b/batch24/D00672 Rolling Pin/IsaacSim_assets_6a6ac269cb2d3efc659c3c7b/physics_6a6ac269cb2d3efc659c3c7b.json index 2d11f4c8da6ae0d58ab87c70be61a4a2596d184c..bab764fe5bdcda7b142d51069402c6c0a08b181c 100644 --- a/batch24/D00672 Rolling Pin/IsaacSim_assets_6a6ac269cb2d3efc659c3c7b/physics_6a6ac269cb2d3efc659c3c7b.json +++ b/batch24/D00672 Rolling Pin/IsaacSim_assets_6a6ac269cb2d3efc659c3c7b/physics_6a6ac269cb2d3efc659c3c7b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.027132000774145126, - 0.22713999450206757, - 0.05839550122618675 - ], "min": [ -0.026940999552607536, -0.22400200366973877, 0.0015825002919882536 ], + "max": [ + 0.027132000774145126, + 0.22713999450206757, + 0.05839550122618675 + ], "size": [ 0.05407300032675266, 0.45114199817180634, 0.0568130009341985 - ] + ], + "units": "m" }, "description": "D00672 Rolling Pin", "name": "D00672 Rolling Pin", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00672", "parts": [ { "bounds": { - "center": [ - 9.550061076879501e-05, - 0.0015689954161643982, - 0.029989000759087503 + "min": [ + -0.026940999552607536, + -0.22400200366973877, + 0.0015825002919882536 ], "max": [ 0.027132000774145126, 0.22713999450206757, 0.05839550122618675 ], - "min": [ - -0.026940999552607536, - -0.22400200366973877, - 0.0015825002919882536 - ] + "size": [ + 0.05407300032675266, + 0.45114199817180634, + 0.0568130009341985 + ], + "units": "m" }, "center_of_mass": [ 5.169667929294519e-05, @@ -59,7 +65,7 @@ 0.00875283032655716, 0.00876722764223814 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "wood", "name": "D00672 Rolling Pin", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00672 Rolling Pin", "part_name": "D00672 Rolling Pin" }, - "volume": 0.0010666666825612386 + "volume": 0.0010666666825612386, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6ddfd7d0e0ec1e4e457994a2f848be2f6cb5cbc8a3f5d57a46eb08e6cb5ff9f6" + }, + "usd_path": "batch24/D00672 Rolling Pin/IsaacSim_assets_6a6ac269cb2d3efc659c3c7b/IsaacSim_asset_6a6ac269cb2d3efc659c3c7b.usd", + "usd_sha256": "83d8581d040ded510d259bc51c54d8b58fab5369b2f593060fb0181ea8c12165", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.05407300032675266, 0.45114199817180634, 0.0568130009341985 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "83d8581d040ded510d259bc51c54d8b58fab5369b2f593060fb0181ea8c12165", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "83d8581d040ded510d259bc51c54d8b58fab5369b2f593060fb0181ea8c12165", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "83d8581d040ded510d259bc51c54d8b58fab5369b2f593060fb0181ea8c12165", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "83d8581d040ded510d259bc51c54d8b58fab5369b2f593060fb0181ea8c12165", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00674 Rolls/IsaacSim_assets_6a744c9f92349ccf310859b1/physics_6a744c9f92349ccf310859b1.json b/batch24/D00674 Rolls/IsaacSim_assets_6a744c9f92349ccf310859b1/physics_6a744c9f92349ccf310859b1.json index 3ff622c501ad4ae9bb1a2e0001b55ca799c80cbb..aa65c6f76af5ef3e5883f76c45b5ee909864daaa 100644 --- a/batch24/D00674 Rolls/IsaacSim_assets_6a744c9f92349ccf310859b1/physics_6a744c9f92349ccf310859b1.json +++ b/batch24/D00674 Rolls/IsaacSim_assets_6a744c9f92349ccf310859b1/physics_6a744c9f92349ccf310859b1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05045299977064133, - 0.05269699916243553, - 0.08028721064329147 - ], "min": [ -0.04594400152564049, -0.050498999655246735, 0.00045021201367489994 ], + "max": [ + 0.05045299977064133, + 0.05269699916243553, + 0.08028721064329147 + ], "size": [ 0.09639700129628181, 0.10319599881768227, 0.07983699862961657 - ] + ], + "units": "m" }, "description": "D00674 Rolls", "name": "D00674 Rolls", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00674", "parts": [ { "bounds": { - "center": [ - 0.0022544991225004196, - 0.0010989997535943985, - 0.04036871132848319 + "min": [ + -0.04594400152564049, + -0.050498999655246735, + 0.00045021201367489994 ], "max": [ 0.05045299977064133, 0.05269699916243553, 0.08028721064329147 ], - "min": [ - -0.04594400152564049, - -0.050498999655246735, - 0.00045021201367489994 - ] + "size": [ + 0.09639700129628181, + 0.10319599881768227, + 0.07983699862961657 + ], + "units": "m" }, "center_of_mass": [ 0.0017893076874315739, @@ -59,7 +65,7 @@ 0.00017583134467713535, 0.0001805639622034505 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "generic", "name": "D00674 Rolls", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00674 Rolls", "part_name": "D00674 Rolls" }, - "volume": 0.001041666708058781 + "volume": 0.001041666708058781, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f0487f8969223814bbdae7179a5bad333e1312eef7017fa0212b9e0f43188bd0" + }, + "usd_path": "batch24/D00674 Rolls/IsaacSim_assets_6a744c9f92349ccf310859b1/IsaacSim_asset_6a744c9f92349ccf310859b1.usd", + "usd_sha256": "660879782fe546f525abe20131bcf798003d3f668540b8d2ee5da110c1f59148", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.09639700129628181, 0.10319599881768227, 0.07983699862961657 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "660879782fe546f525abe20131bcf798003d3f668540b8d2ee5da110c1f59148", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "660879782fe546f525abe20131bcf798003d3f668540b8d2ee5da110c1f59148", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "660879782fe546f525abe20131bcf798003d3f668540b8d2ee5da110c1f59148", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "660879782fe546f525abe20131bcf798003d3f668540b8d2ee5da110c1f59148", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00697 Saucepan/IsaacSim_assets_6a7407075d45b936d6455fdd/physics_6a7407075d45b936d6455fdd.json b/batch24/D00697 Saucepan/IsaacSim_assets_6a7407075d45b936d6455fdd/physics_6a7407075d45b936d6455fdd.json index b3bf9f92ae7e7a30489abe430e9474c30743caa7..5bd03eb4e7b76dba65a73d808f3eec173522f1cd 100644 --- a/batch24/D00697 Saucepan/IsaacSim_assets_6a7407075d45b936d6455fdd/physics_6a7407075d45b936d6455fdd.json +++ b/batch24/D00697 Saucepan/IsaacSim_assets_6a7407075d45b936d6455fdd/physics_6a7407075d45b936d6455fdd.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.20306585729122162, - 0.0741347000002861, - 0.07084894180297852 - ], "min": [ -0.10463415086269379, -0.07471530139446259, 0.0015429399209097028 ], + "max": [ + 0.20306585729122162, + 0.0741347000002861, + 0.07084894180297852 + ], "size": [ 0.3077000081539154, 0.1488500013947487, 0.06930600188206881 - ] + ], + "units": "m" }, "description": "D00697 Saucepan", "name": "D00697 Saucepan", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00697", "parts": [ { "bounds": { - "center": [ - 0.049215853214263916, - -0.0002903006970882416, - 0.03619594086194411 + "min": [ + -0.10463415086269379, + -0.07471530139446259, + 0.0015429399209097028 ], "max": [ 0.20306585729122162, 0.0741347000002861, 0.07084894180297852 ], - "min": [ - -0.10463415086269379, - -0.07471530139446259, - 0.0015429399209097028 - ] + "size": [ + 0.3077000081539154, + 0.1488500013947487, + 0.06930600188206881 + ], + "units": "m" }, "center_of_mass": [ 0.007283004000782967, @@ -67,10 +73,27 @@ "object_name": "D00697 Saucepan", "part_name": "D00697 Saucepan" }, - "volume": 0.0001910828025477707 + "volume": 0.0001910828025477707, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c004aaf8ef6c25fa0e374112f8528fdb79d412b462cc693a3368dd50d3f1a473" + }, + "usd_path": "batch24/D00697 Saucepan/IsaacSim_assets_6a7407075d45b936d6455fdd/IsaacSim_asset_6a7407075d45b936d6455fdd.usd", + "usd_sha256": "38355e401406603f675895dcd8c16db7914e61dc8f6f3d9e30dd8b9e240c4374", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.3077000081539154, 0.1488500013947487, 0.06930600188206881 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "38355e401406603f675895dcd8c16db7914e61dc8f6f3d9e30dd8b9e240c4374", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "38355e401406603f675895dcd8c16db7914e61dc8f6f3d9e30dd8b9e240c4374", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "38355e401406603f675895dcd8c16db7914e61dc8f6f3d9e30dd8b9e240c4374", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "38355e401406603f675895dcd8c16db7914e61dc8f6f3d9e30dd8b9e240c4374", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00704 Saucepan Pot/IsaacSim_assets_6a75b979d43e18960501e285/physics_6a75b979d43e18960501e285.json b/batch24/D00704 Saucepan Pot/IsaacSim_assets_6a75b979d43e18960501e285/physics_6a75b979d43e18960501e285.json index 47c15f1c221904e63ac89df839a67568497631d7..5ae9d19ae76948b17e6c6485e1956ec7be659d2a 100644 --- a/batch24/D00704 Saucepan Pot/IsaacSim_assets_6a75b979d43e18960501e285/physics_6a75b979d43e18960501e285.json +++ b/batch24/D00704 Saucepan Pot/IsaacSim_assets_6a75b979d43e18960501e285/physics_6a75b979d43e18960501e285.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2168940007686615, - 0.07967899739742279, - 0.09408482164144516 - ], "min": [ -0.10545600205659866, -0.07931800186634064, 0.0016228202730417252 ], + "max": [ + 0.2168940007686615, + 0.07967899739742279, + 0.09408482164144516 + ], "size": [ 0.32235000282526016, 0.15899699926376343, 0.09246200136840343 - ] + ], + "units": "m" }, "description": "D00704 Saucepan Pot", "name": "D00704 Saucepan Pot", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00704", "parts": [ { "bounds": { - "center": [ - 0.05571899935603142, - 0.00018049776554107666, - 0.04785382095724344 + "min": [ + -0.10545600205659866, + -0.07931800186634064, + 0.0016228202730417252 ], "max": [ 0.2168940007686615, 0.07967899739742279, 0.09408482164144516 ], - "min": [ - -0.10545600205659866, - -0.07931800186634064, - 0.0016228202730417252 - ] + "size": [ + 0.32235000282526016, + 0.15899699926376343, + 0.09246200136840343 + ], + "units": "m" }, "center_of_mass": [ 0.01030864380300045, @@ -67,10 +73,27 @@ "object_name": "D00704 Saucepan Pot", "part_name": "D00704 Saucepan Pot" }, - "volume": 0.0001923076923076923 + "volume": 0.0001923076923076923, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "28bf36bbe731ba7e21706877fd54b9a8f8134aebf62f06de9bf90e73b2a3a592" + }, + "usd_path": "batch24/D00704 Saucepan Pot/IsaacSim_assets_6a75b979d43e18960501e285/IsaacSim_asset_6a75b979d43e18960501e285.usd", + "usd_sha256": "b406a676f5261522ec15c8e33085045b0185e395867e5578a74b458a943197f1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.32235000282526016, 0.15899699926376343, 0.09246200136840343 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b406a676f5261522ec15c8e33085045b0185e395867e5578a74b458a943197f1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b406a676f5261522ec15c8e33085045b0185e395867e5578a74b458a943197f1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b406a676f5261522ec15c8e33085045b0185e395867e5578a74b458a943197f1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b406a676f5261522ec15c8e33085045b0185e395867e5578a74b458a943197f1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00723 Set Bowls/IsaacSim_assets_6a75b645d43e18960500ec75/physics_6a75b645d43e18960500ec75.json b/batch24/D00723 Set Bowls/IsaacSim_assets_6a75b645d43e18960500ec75/physics_6a75b645d43e18960500ec75.json index 54783eb9859b192c8567013c3763f784d6cd8d76..53873f5f15ebf419f02cbaaf3948b3b86a328051 100644 --- a/batch24/D00723 Set Bowls/IsaacSim_assets_6a75b645d43e18960500ec75/physics_6a75b645d43e18960500ec75.json +++ b/batch24/D00723 Set Bowls/IsaacSim_assets_6a75b645d43e18960500ec75/physics_6a75b645d43e18960500ec75.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07401999831199646, - 0.0748319998383522, - 0.07854599505662918 - ], "min": [ -0.074522003531456, -0.07340700179338455, 0.0007329998770728707 ], + "max": [ + 0.07401999831199646, + 0.0748319998383522, + 0.07854599505662918 + ], "size": [ 0.14854200184345245, 0.14823900163173676, 0.07781299517955631 - ] + ], + "units": "m" }, "description": "D00723 Set Bowls", "name": "D00723 Set Bowls", "object_type": "rigid_bodies", - "total_mass": 0.192 + "total_mass": 0.19200000166893005, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00723", "parts": [ { "bounds": { - "center": [ - -0.00025100260972976685, - 0.0007124990224838257, - 0.039639497466851026 + "min": [ + -0.074522003531456, + -0.07340700179338455, + 0.0007329998770728707 ], "max": [ 0.07401999831199646, 0.0748319998383522, 0.07854599505662918 ], - "min": [ - -0.074522003531456, - -0.07340700179338455, - 0.0007329998770728707 - ] + "size": [ + 0.14854200184345245, + 0.14823900163173676, + 0.07781299517955631 + ], + "units": "m" }, "center_of_mass": [ -0.00018838838150259107, @@ -59,7 +65,7 @@ 0.00039241727790795267, 0.0005774072487838566 ], - "mass": 0.192, + "mass": 0.19200000166893005, "material": "ceramic", "name": "D00723 Set Bowls", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00723 Set Bowls", "part_name": "D00723 Set Bowls" }, - "volume": 8.727272803133185e-05 + "volume": 8.727272803133185e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "adb0b9be5e2dbfe977f27224a47c74127b4987af25086570d0f159f5924baf03" + }, + "usd_path": "batch24/D00723 Set Bowls/IsaacSim_assets_6a75b645d43e18960500ec75/IsaacSim_asset_6a75b645d43e18960500ec75.usd", + "usd_sha256": "0ca470977d30393a880b70abc6daf4277cf78b5f8f8b081af524a60589048e99", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.14854200184345245, 0.14823900163173676, 0.07781299517955631 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ca470977d30393a880b70abc6daf4277cf78b5f8f8b081af524a60589048e99", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.192 + "value_kg": 0.19200000166893005, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ca470977d30393a880b70abc6daf4277cf78b5f8f8b081af524a60589048e99", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.19200000166893005, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 28, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ca470977d30393a880b70abc6daf4277cf78b5f8f8b081af524a60589048e99", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 28, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ca470977d30393a880b70abc6daf4277cf78b5f8f8b081af524a60589048e99", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00793 Spoonware/IsaacSim_assets_6a7400495d45b936d6445e91/physics_6a7400495d45b936d6445e91.json b/batch24/D00793 Spoonware/IsaacSim_assets_6a7400495d45b936d6445e91/physics_6a7400495d45b936d6445e91.json index 478e4ca3c269084f3ba9f730c7285022f24a0537..bcc9387cc4b5a722ffc64fd0675f26f9be3c9175 100644 --- a/batch24/D00793 Spoonware/IsaacSim_assets_6a7400495d45b936d6445e91/physics_6a7400495d45b936d6445e91.json +++ b/batch24/D00793 Spoonware/IsaacSim_assets_6a7400495d45b936d6445e91/physics_6a7400495d45b936d6445e91.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.01606599986553192, - 0.06476499885320663, - 0.018899230286478996 - ], "min": [ -0.016078999266028404, -0.09349899739027023, 0.000566229922696948 ], + "max": [ + 0.01606599986553192, + 0.06476499885320663, + 0.018899230286478996 + ], "size": [ 0.032144999131560326, 0.15826399624347687, 0.018333000363782048 - ] + ], + "units": "m" }, "description": "D00793 Spoonware", "name": "D00793 Spoonware", "object_type": "rigid_bodies", - "total_mass": 0.065 + "total_mass": 0.06499999761581421, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00793", "parts": [ { "bounds": { - "center": [ - -6.4997002482414246e-06, - -0.0143669992685318, - 0.009732730104587972 + "min": [ + -0.016078999266028404, + -0.09349899739027023, + 0.000566229922696948 ], "max": [ 0.01606599986553192, 0.06476499885320663, 0.018899230286478996 ], - "min": [ - -0.016078999266028404, - -0.09349899739027023, - 0.000566229922696948 - ] + "size": [ + 0.032144999131560326, + 0.15826399624347687, + 0.018333000363782048 + ], + "units": "m" }, "center_of_mass": [ -1.2773349226335995e-05, @@ -59,7 +65,7 @@ 9.966723882826045e-05, 0.00010142515384359285 ], - "mass": 0.065, + "mass": 0.06499999761581421, "material": "metal", "name": "D00793 Spoonware", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00793 Spoonware", "part_name": "D00793 Spoonware" }, - "volume": 8.124999701976776e-06 + "volume": 8.124999701976776e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d794f277f1938d3c7595937d3d91a37b6496a7edbc113337088cac22cf5eca7c" + }, + "usd_path": "batch24/D00793 Spoonware/IsaacSim_assets_6a7400495d45b936d6445e91/IsaacSim_asset_6a7400495d45b936d6445e91.usd", + "usd_sha256": "3731e6dd14041ad0b6f8ee94272baae77fc26a6a672973e5021891aeb6a4e891", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.032144999131560326, 0.15826399624347687, 0.018333000363782048 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3731e6dd14041ad0b6f8ee94272baae77fc26a6a672973e5021891aeb6a4e891", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.065 + "value_kg": 0.06499999761581421, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3731e6dd14041ad0b6f8ee94272baae77fc26a6a672973e5021891aeb6a4e891", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.06499999761581421, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 13, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3731e6dd14041ad0b6f8ee94272baae77fc26a6a672973e5021891aeb6a4e891", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 13, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3731e6dd14041ad0b6f8ee94272baae77fc26a6a672973e5021891aeb6a4e891", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00801 Stainless Steel Container/IsaacSim_assets_6a73ff205d45b936d64431fe/physics_6a73ff205d45b936d64431fe.json b/batch24/D00801 Stainless Steel Container/IsaacSim_assets_6a73ff205d45b936d64431fe/physics_6a73ff205d45b936d64431fe.json index 9e8874be735ba4d0bf3ea075c06c98fdba82e3cf..0664b2eaf741990bb33a7805187e0534220be9a8 100644 --- a/batch24/D00801 Stainless Steel Container/IsaacSim_assets_6a73ff205d45b936d64431fe/physics_6a73ff205d45b936d64431fe.json +++ b/batch24/D00801 Stainless Steel Container/IsaacSim_assets_6a73ff205d45b936d64431fe/physics_6a73ff205d45b936d64431fe.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15079399943351746, - 0.148158997297287, - 0.1451817899942398 - ], "min": [ -0.14967499673366547, -0.14748099446296692, 0.0016487899702042341 ], + "max": [ + 0.15079399943351746, + 0.148158997297287, + 0.1451817899942398 + ], "size": [ 0.3004689961671829, 0.2956399917602539, 0.14353300002403557 - ] + ], + "units": "m" }, "description": "D00801 Stainless Steel Container", "name": "D00801 Stainless Steel Container", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00801", "parts": [ { "bounds": { - "center": [ - 0.0005595013499259949, - 0.0003390014171600342, - 0.07341528998222202 + "min": [ + -0.14967499673366547, + -0.14748099446296692, + 0.0016487899702042341 ], "max": [ 0.15079399943351746, 0.148158997297287, 0.1451817899942398 ], - "min": [ - -0.14967499673366547, - -0.14748099446296692, - 0.0016487899702042341 - ] + "size": [ + 0.3004689961671829, + 0.2956399917602539, + 0.14353300002403557 + ], + "units": "m" }, "center_of_mass": [ 0.0007321700686588883, @@ -59,7 +65,7 @@ 0.013639092445373535, 0.020312653854489326 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "metal", "name": "D00801 Stainless Steel Container", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00801 Stainless Steel Container", "part_name": "D00801 Stainless Steel Container" }, - "volume": 0.00015000000596046448 + "volume": 0.00015000000596046448, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "eeb7b3d12dfcd163b855c8f5cb20fb4298af45b4731ecbdca553fd35b196452c" + }, + "usd_path": "batch24/D00801 Stainless Steel Container/IsaacSim_assets_6a73ff205d45b936d64431fe/IsaacSim_asset_6a73ff205d45b936d64431fe.usd", + "usd_sha256": "346456129cb0399a15bcd2a099a16afff9f32b8c73187daf533d9db0edbb133b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.3004689961671829, 0.2956399917602539, 0.14353300002403557 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "346456129cb0399a15bcd2a099a16afff9f32b8c73187daf533d9db0edbb133b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "346456129cb0399a15bcd2a099a16afff9f32b8c73187daf533d9db0edbb133b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 38, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "346456129cb0399a15bcd2a099a16afff9f32b8c73187daf533d9db0edbb133b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 38, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "346456129cb0399a15bcd2a099a16afff9f32b8c73187daf533d9db0edbb133b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00816 Storage Box/IsaacSim_assets_6a72d2ae5d45b936d62f0aa6/physics_6a72d2ae5d45b936d62f0aa6.json b/batch24/D00816 Storage Box/IsaacSim_assets_6a72d2ae5d45b936d62f0aa6/physics_6a72d2ae5d45b936d62f0aa6.json index 77969d8a0eb422f399ae34cdc071067cb276d079..08c27e35cbce63a4fb76840d6bd28f77d9657aa8 100644 --- a/batch24/D00816 Storage Box/IsaacSim_assets_6a72d2ae5d45b936d62f0aa6/physics_6a72d2ae5d45b936d62f0aa6.json +++ b/batch24/D00816 Storage Box/IsaacSim_assets_6a72d2ae5d45b936d62f0aa6/physics_6a72d2ae5d45b936d62f0aa6.json @@ -1,50 +1,108 @@ { "articulation": { - "has_joints": false, - "joints": [] + "has_joints": true, + "joints": [ + { + "id": "joint_part_00__part_01", + "path": "/World/textured_mesh_6a72d2ae5d45b936d62f0aa6/Joints/joint_part_00__part_01", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a72d2ae5d45b936d62f0aa6/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a72d2ae5d45b936d62f0aa6/part_1" + ], + "authored_usd": { + "id": "joint_part_00__part_01", + "source_prim_path": "/World/textured_mesh_6a72d2ae5d45b936d62f0aa6/Joints/joint_part_00__part_01", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a72d2ae5d45b936d62f0aa6/part_0" + ], + "body1": [ + "/World/textured_mesh_6a72d2ae5d45b936d62f0aa6/part_1" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -42.0, + "upperLimit": 90.0, + "localPos0": [ + 0.1289537101984024, + 0.09771933406591415, + 0.1782761514186859 + ], + "localPos1": [ + 0.1289537101984024, + 0.09771933406591415, + 0.1782761514186859 + ], + "localRot0": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "localRot1": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "static_frames": [] + }, + "type": "PhysicsRevoluteJoint" + } + ], + "moving_joints": 1, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17573300004005432, - 0.11507099866867065, - 0.3417612314224243 - ], "min": [ -0.17713600397109985, -0.13786399364471436, 0.001890229876153171 ], + "max": [ + 0.17573300004005432, + 0.11507099866867065, + 0.3417612314224243 + ], "size": [ 0.3528690040111542, 0.252934992313385, 0.33987100154627115 - ] + ], + "units": "m" }, "description": "D00816 Storage Box", "name": "D00816 Storage Box", "object_type": "rigid_bodies", - "total_mass": 1.0 + "total_mass": 1.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00816", "parts": [ { "bounds": { - "center": [ - -0.0007015019655227661, - -0.019544996321201324, - 0.09399823233252391 + "min": [ + -0.17713600397109985, + -0.13786399364471436, + 0.001890229876153171 ], "max": [ 0.17573300004005432, 0.0987740010023117, 0.18610623478889465 ], - "min": [ - -0.17713600397109985, - -0.13786399364471436, - 0.001890229876153171 - ] + "size": [ + 0.3528690040111542, + 0.23663799464702606, + 0.18421600491274148 + ], + "units": "m" }, "center_of_mass": [ -0.0012654339661821723, @@ -59,7 +117,7 @@ 0.008323357440531254, 0.009457489475607872 ], - "mass": 0.7, + "mass": 0.699999988079071, "material": "plastic", "name": "D00816 Storage Box", "physics_type": "rigid", @@ -67,25 +125,28 @@ "object_name": "D00816 Storage Box", "part_name": "D00816 Storage Box" }, - "volume": 0.0007368420927148117 + "volume": 0.0007368420927148117, + "source_prim_path": "/World/textured_mesh_6a72d2ae5d45b936d62f0aa6/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.000836499035358429, - 0.02132049947977066, - 0.2558027356863022 + "min": [ + -0.16750499606132507, + -0.07242999970912933, + 0.16984423995018005 ], "max": [ 0.16583199799060822, 0.11507099866867065, 0.3417612314224243 ], - "min": [ - -0.16750499606132507, - -0.07242999970912933, - 0.16984423995018005 - ] + "size": [ + 0.3333369940519333, + 0.1875009983778, + 0.17191699147224426 + ], + "units": "m" }, "center_of_mass": [ -0.0008705705404281616, @@ -100,7 +161,7 @@ 0.002725800732150674, 0.004030589479953051 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "plastic", "name": "D00816 Storage Box", "physics_type": "rigid", @@ -108,10 +169,27 @@ "object_name": "D00816 Storage Box", "part_name": "D00816 Storage Box" }, - "volume": 0.0003157894862325568 + "volume": 0.0003157894862325568, + "source_prim_path": "/World/textured_mesh_6a72d2ae5d45b936d62f0aa6/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "057b1b476b6cf843ffc2fa5596e2df9ad21fce6822d7aa21fe34a23b9a978f4f" + }, + "usd_path": "batch24/D00816 Storage Box/IsaacSim_assets_6a72d2ae5d45b936d62f0aa6/IsaacSim_asset_6a72d2ae5d45b936d62f0aa6.usd", + "usd_sha256": "14d716d084e81c16a61733bd9e4f7f1cb3e6e3db5a3ea925c9dde6e0e024e63c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -132,22 +210,56 @@ 0.3528690040111542, 0.252934992313385, 0.33987100154627115 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14d716d084e81c16a61733bd9e4f7f1cb3e6e3db5a3ea925c9dde6e0e024e63c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0 + "value_kg": 1.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14d716d084e81c16a61733bd9e4f7f1cb3e6e3db5a3ea925c9dde6e0e024e63c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14d716d084e81c16a61733bd9e4f7f1cb3e6e3db5a3ea925c9dde6e0e024e63c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14d716d084e81c16a61733bd9e4f7f1cb3e6e3db5a3ea925c9dde6e0e024e63c", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00850 Tableware/IsaacSim_assets_6a73f45b5d45b936d642dbc9/physics_6a73f45b5d45b936d642dbc9.json b/batch24/D00850 Tableware/IsaacSim_assets_6a73f45b5d45b936d642dbc9/physics_6a73f45b5d45b936d642dbc9.json index 551dd1f017bdc04fa5d7fdaaf136ba5324ab494b..22f34d281a26de6e5f225e4420907329c947f487 100644 --- a/batch24/D00850 Tableware/IsaacSim_assets_6a73f45b5d45b936d642dbc9/physics_6a73f45b5d45b936d642dbc9.json +++ b/batch24/D00850 Tableware/IsaacSim_assets_6a73f45b5d45b936d642dbc9/physics_6a73f45b5d45b936d642dbc9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12043599784374237, - 0.12083200365304947, - 0.05635740980505943 - ], "min": [ -0.12064100056886673, -0.12038200348615646, 0.0011794104939326644 ], + "max": [ + 0.12043599784374237, + 0.12083200365304947, + 0.05635740980505943 + ], "size": [ 0.2410769984126091, 0.24121400713920593, 0.05517799931112677 - ] + ], + "units": "m" }, "description": "D00850 Tableware", "name": "D00850 Tableware", "object_type": "rigid_bodies", - "total_mass": 0.538 + "total_mass": 0.5379999876022339, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00850", "parts": [ { "bounds": { - "center": [ - -0.00010250136256217957, - 0.00022500008344650269, - 0.02876841014949605 + "min": [ + -0.12064100056886673, + -0.12038200348615646, + 0.0011794104939326644 ], "max": [ 0.12043599784374237, 0.12083200365304947, 0.05635740980505943 ], - "min": [ - -0.12064100056886673, - -0.12038200348615646, - 0.0011794104939326644 - ] + "size": [ + 0.2410769984126091, + 0.24121400713920593, + 0.05517799931112677 + ], + "units": "m" }, "center_of_mass": [ -4.0490740502718836e-05, @@ -59,7 +65,7 @@ 0.0018786981236189604, 0.0034408154897391796 ], - "mass": 0.538, + "mass": 0.5379999876022339, "material": "ceramic", "name": "D00850 Tableware", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00850 Tableware", "part_name": "D00850 Tableware" }, - "volume": 0.00022416666150093078 + "volume": 0.00022416666150093078, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a0240b3661a734ebe2d2c2b31eb71121ec41b2d70499248826fb3d9e6ac96846" + }, + "usd_path": "batch24/D00850 Tableware/IsaacSim_assets_6a73f45b5d45b936d642dbc9/IsaacSim_asset_6a73f45b5d45b936d642dbc9.usd", + "usd_sha256": "069f82b1726238b6f696883cb81eaea9b352e74250b7a2c31d02ff65a936e1ee", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.2410769984126091, 0.24121400713920593, 0.05517799931112677 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "069f82b1726238b6f696883cb81eaea9b352e74250b7a2c31d02ff65a936e1ee", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.538 + "value_kg": 0.5379999876022339, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "069f82b1726238b6f696883cb81eaea9b352e74250b7a2c31d02ff65a936e1ee", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5379999876022339, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 21, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "069f82b1726238b6f696883cb81eaea9b352e74250b7a2c31d02ff65a936e1ee", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 21, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "069f82b1726238b6f696883cb81eaea9b352e74250b7a2c31d02ff65a936e1ee", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00859 Teapot Pot/IsaacSim_assets_6a73f43a5d45b936d642d21f/physics_6a73f43a5d45b936d642d21f.json b/batch24/D00859 Teapot Pot/IsaacSim_assets_6a73f43a5d45b936d642d21f/physics_6a73f43a5d45b936d642d21f.json index 127ada264cf6ab24fd3f1141e9f103a1c426b2be..bcc76b0909837cfc7e45fe033dc276ed4006f39d 100644 --- a/batch24/D00859 Teapot Pot/IsaacSim_assets_6a73f43a5d45b936d642d21f/physics_6a73f43a5d45b936d642d21f.json +++ b/batch24/D00859 Teapot Pot/IsaacSim_assets_6a73f43a5d45b936d642d21f/physics_6a73f43a5d45b936d642d21f.json @@ -1,50 +1,108 @@ { "articulation": { - "has_joints": false, - "joints": [] + "has_joints": true, + "joints": [ + { + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a73f43a5d45b936d642d21f/Joints/joint_part_0__part_1", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a73f43a5d45b936d642d21f/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a73f43a5d45b936d642d21f/part_1" + ], + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a73f43a5d45b936d642d21f/Joints/joint_part_0__part_1", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a73f43a5d45b936d642d21f/part_0" + ], + "body1": [ + "/World/textured_mesh_6a73f43a5d45b936d642d21f/part_1" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -100.0, + "upperLimit": 0.0, + "localPos0": [ + 0.02870713174343109, + 0.005499126855283976, + 0.08866134285926819 + ], + "localPos1": [ + 0.02870713174343109, + 0.005499126855283976, + 0.08866134285926819 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsRevoluteJoint" + } + ], + "moving_joints": 1, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07165700197219849, - 0.04682900011539459, - 0.15698875486850739 - ], "min": [ -0.07961700111627579, -0.04659999907016754, 0.0008187599014490843 ], + "max": [ + 0.07165700197219849, + 0.04682900011539459, + 0.15698875486850739 + ], "size": [ 0.15127400308847427, 0.09342899918556213, 0.1561699949670583 - ] + ], + "units": "m" }, "description": "D00859 Teapot Pot", "name": "D00859 Teapot Pot", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.45000000670552254, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00859", "parts": [ { "bounds": { - "center": [ - -0.0039799995720386505, - 0.00011450052261352539, - 0.048240758827887475 + "min": [ + -0.07961700111627579, + -0.04659999907016754, + 0.0008187599014490843 ], "max": [ 0.07165700197219849, 0.04682900011539459, 0.09566275775432587 ], - "min": [ - -0.07961700111627579, - -0.04659999907016754, - 0.0008187599014490843 - ] + "size": [ + 0.15127400308847427, + 0.09342899918556213, + 0.09484399785287678 + ], + "units": "m" }, "center_of_mass": [ -0.004723517224192619, @@ -59,7 +117,7 @@ 0.0005076591041870415, 0.0005668398225679994 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "metal", "name": "D00859 Teapot Pot", "physics_type": "rigid", @@ -67,25 +125,28 @@ "object_name": "D00859 Teapot Pot", "part_name": "D00859 Teapot Pot" }, - "volume": 5.1282052046213396e-05 + "volume": 5.1282052046213396e-05, + "source_prim_path": "/World/textured_mesh_6a73f43a5d45b936d642d21f/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.03243099991232157, - 5.2998773753643036e-05, - 0.12100004777312279 + "min": [ + 0.020416999235749245, + -0.031168000772595406, + 0.08501134067773819 ], "max": [ 0.04444500058889389, 0.03127399832010269, 0.15698875486850739 ], - "min": [ - 0.020416999235749245, - -0.031168000772595406, - 0.08501134067773819 - ] + "size": [ + 0.024028001353144646, + 0.0624419990926981, + 0.0719774141907692 + ], + "units": "m" }, "center_of_mass": [ 0.03307893127202988, @@ -100,7 +161,7 @@ 1.1771475328714587e-05, 2.074021176667884e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "metal", "name": "D00859 Teapot Pot", "physics_type": "rigid", @@ -108,10 +169,27 @@ "object_name": "D00859 Teapot Pot", "part_name": "D00859 Teapot Pot" }, - "volume": 6.4102565057766745e-06 + "volume": 6.4102565057766745e-06, + "source_prim_path": "/World/textured_mesh_6a73f43a5d45b936d642d21f/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ae60bbe0595c4406d7dbff060d4c5346166bca2750b24d27c452f36079bf0bfe" + }, + "usd_path": "batch24/D00859 Teapot Pot/IsaacSim_assets_6a73f43a5d45b936d642d21f/IsaacSim_asset_6a73f43a5d45b936d642d21f.usd", + "usd_sha256": "a0afa0efa85a94cee3da9259d80e23c387b716db1a4add8013e029b33a411f53", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -132,22 +210,56 @@ 0.15127400308847427, 0.09342899918556213, 0.1561699949670583 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a0afa0efa85a94cee3da9259d80e23c387b716db1a4add8013e029b33a411f53", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.45000000670552254, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a0afa0efa85a94cee3da9259d80e23c387b716db1a4add8013e029b33a411f53", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.45000000670552254, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a0afa0efa85a94cee3da9259d80e23c387b716db1a4add8013e029b33a411f53", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a0afa0efa85a94cee3da9259d80e23c387b716db1a4add8013e029b33a411f53", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00988 Wooden Utensils Knife Block/IsaacSim_assets_6a7152e7b22aed4dbad323d4/physics_6a7152e7b22aed4dbad323d4.json b/batch24/D00988 Wooden Utensils Knife Block/IsaacSim_assets_6a7152e7b22aed4dbad323d4/physics_6a7152e7b22aed4dbad323d4.json index a9fe253424d4f4dec8e60ca042e82c0a5952d345..8d88c37812ee21d95dc987f72ba8952d36e298c7 100644 --- a/batch24/D00988 Wooden Utensils Knife Block/IsaacSim_assets_6a7152e7b22aed4dbad323d4/physics_6a7152e7b22aed4dbad323d4.json +++ b/batch24/D00988 Wooden Utensils Knife Block/IsaacSim_assets_6a7152e7b22aed4dbad323d4/physics_6a7152e7b22aed4dbad323d4.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08601099997758865, - 0.08219599723815918, - 0.22000616788864136 - ], "min": [ -0.09506099671125412, -0.08158999681472778, 0.0011401800438761711 ], + "max": [ + 0.08601099997758865, + 0.08219599723815918, + 0.22000616788864136 + ], "size": [ 0.18107199668884277, 0.16378599405288696, 0.2188659878447652 - ] + ], + "units": "m" }, "description": "D00988 Wooden Utensils Knife Block", "name": "D00988 Wooden Utensils Knife Block", "object_type": "rigid_bodies", - "total_mass": 2.0 + "total_mass": 2.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00988", "parts": [ { "bounds": { - "center": [ - -0.004524998366832733, - 0.00030300021171569824, - 0.11057317396625876 + "min": [ + -0.09506099671125412, + -0.08158999681472778, + 0.0011401800438761711 ], "max": [ 0.08601099997758865, 0.08219599723815918, 0.22000616788864136 ], - "min": [ - -0.09506099671125412, - -0.08158999681472778, - 0.0011401800438761711 - ] + "size": [ + 0.18107199668884277, + 0.16378599405288696, + 0.2188659878447652 + ], + "units": "m" }, "center_of_mass": [ -0.009980720467865467, @@ -67,10 +73,27 @@ "object_name": "D00988 Wooden Utensils Knife Block", "part_name": "D00988 Wooden Utensils Knife Block" }, - "volume": 0.003076923076923077 + "volume": 0.003076923076923077, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0d97aae619373d9912858fadaa04d0c62f329d379841f5ada0a4a2d23e6b5479" + }, + "usd_path": "batch24/D00988 Wooden Utensils Knife Block/IsaacSim_assets_6a7152e7b22aed4dbad323d4/IsaacSim_asset_6a7152e7b22aed4dbad323d4.usd", + "usd_sha256": "dc5d7450104c8bfc376213cd53ac5cabce4867ed9792e56942db201f50e858dc", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.18107199668884277, 0.16378599405288696, 0.2188659878447652 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dc5d7450104c8bfc376213cd53ac5cabce4867ed9792e56942db201f50e858dc", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.0 + "value_kg": 2.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dc5d7450104c8bfc376213cd53ac5cabce4867ed9792e56942db201f50e858dc", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 14, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dc5d7450104c8bfc376213cd53ac5cabce4867ed9792e56942db201f50e858dc", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 14, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dc5d7450104c8bfc376213cd53ac5cabce4867ed9792e56942db201f50e858dc", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch24/D00994 Zesting_Tool_Wooden_Spoon/IsaacSim_assets_6a714d700035a1dbaf58de59/physics_6a714d700035a1dbaf58de59.json b/batch24/D00994 Zesting_Tool_Wooden_Spoon/IsaacSim_assets_6a714d700035a1dbaf58de59/physics_6a714d700035a1dbaf58de59.json index 89c3afff7a61efaa397773b41529d4fa6482a91e..159598d904141bc83712446fbfd6413e2e6801c7 100644 --- a/batch24/D00994 Zesting_Tool_Wooden_Spoon/IsaacSim_assets_6a714d700035a1dbaf58de59/physics_6a714d700035a1dbaf58de59.json +++ b/batch24/D00994 Zesting_Tool_Wooden_Spoon/IsaacSim_assets_6a714d700035a1dbaf58de59/physics_6a714d700035a1dbaf58de59.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13122980296611786, - 0.032294001430273056, - 0.02651599980890751 - ], "min": [ -0.16490620374679565, -0.03250899910926819, -7.100000220816582e-05 ], + "max": [ + 0.13122980296611786, + 0.032294001430273056, + 0.02651599980890751 + ], "size": [ 0.2961360067129135, 0.06480300053954124, 0.026586999811115675 - ] + ], + "units": "m" }, "description": "D00994 Zesting Tool Wooden Spoon", "name": "D00994 Zesting Tool Wooden Spoon", "object_type": "rigid_bodies", - "total_mass": 0.06 + "total_mass": 0.05999999865889549, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00994", "parts": [ { "bounds": { - "center": [ - -0.016838200390338898, - -0.00010749883949756622, - 0.013222499903349672 + "min": [ + -0.16490620374679565, + -0.03250899910926819, + -7.100000220816582e-05 ], "max": [ 0.13122980296611786, 0.032294001430273056, 0.02651599980890751 ], - "min": [ - -0.16490620374679565, - -0.03250899910926819, - -7.100000220816582e-05 - ] + "size": [ + 0.2961360067129135, + 0.06480300053954124, + 0.026586999811115675 + ], + "units": "m" }, "center_of_mass": [ -0.028925005346536636, @@ -59,7 +65,7 @@ 0.0003539555473253131, 0.0003626618126872927 ], - "mass": 0.06, + "mass": 0.05999999865889549, "material": "wood", "name": "D00994 Zesting Tool Wooden Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00994 Zesting Tool Wooden Spoon", "part_name": "D00994 Zesting Tool Wooden Spoon" }, - "volume": 7.453415982471489e-05 + "volume": 7.453415982471489e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6399fdc8c634f3d81d88578929b6135c7030fad0cb3d10dcc2445d573ccdccdc" + }, + "usd_path": "batch24/D00994 Zesting_Tool_Wooden_Spoon/IsaacSim_assets_6a714d700035a1dbaf58de59/IsaacSim_asset_6a714d700035a1dbaf58de59.usd", + "usd_sha256": "4d9cacfab8f7bc054d31f13333ad7a829738e16cd45b589545bb7e2304a21536", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.2961360067129135, 0.06480300053954124, 0.026586999811115675 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4d9cacfab8f7bc054d31f13333ad7a829738e16cd45b589545bb7e2304a21536", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.06 + "value_kg": 0.05999999865889549, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4d9cacfab8f7bc054d31f13333ad7a829738e16cd45b589545bb7e2304a21536", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05999999865889549, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4d9cacfab8f7bc054d31f13333ad7a829738e16cd45b589545bb7e2304a21536", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4d9cacfab8f7bc054d31f13333ad7a829738e16cd45b589545bb7e2304a21536", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00028_Glass_Cup_Jar/IsaacSim_assets_6a795de7d43e18960531116e/physics_6a795de7d43e18960531116e.json b/batch25/D00028_Glass_Cup_Jar/IsaacSim_assets_6a795de7d43e18960531116e/physics_6a795de7d43e18960531116e.json index 51416caae6d5d72613646aec3530604ab823544c..043266e32acfbd9bdb2729ba632daf0f7c327985 100644 --- a/batch25/D00028_Glass_Cup_Jar/IsaacSim_assets_6a795de7d43e18960531116e/physics_6a795de7d43e18960531116e.json +++ b/batch25/D00028_Glass_Cup_Jar/IsaacSim_assets_6a795de7d43e18960531116e/physics_6a795de7d43e18960531116e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04067400097846985, - 0.04085399955511093, - 0.10825622663833201 - ], "min": [ -0.04102399945259094, -0.04053699970245361, 0.0005722298192267772 ], + "max": [ + 0.04067400097846985, + 0.04085399955511093, + 0.10825622663833201 + ], "size": [ 0.08169800043106079, 0.08139099925756454, 0.10768399681910523 - ] + ], + "units": "m" }, "description": "D00028 Glass Cup Jar", "name": "D00028 Glass Cup Jar", "object_type": "rigid_bodies", - "total_mass": 0.12 + "total_mass": 0.11999999731779099, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00028", "parts": [ { "bounds": { - "center": [ - -0.00017499923706054688, - 0.00015849992632865906, - 0.05441422822877939 + "min": [ + -0.04102399945259094, + -0.04053699970245361, + 0.0005722298192267772 ], "max": [ 0.04067400097846985, 0.04085399955511093, 0.10825622663833201 ], - "min": [ - -0.04102399945259094, - -0.04053699970245361, - 0.0005722298192267772 - ] + "size": [ + 0.08169800043106079, + 0.08139099925756454, + 0.10768399681910523 + ], + "units": "m" }, "center_of_mass": [ -0.00015831888595130295, @@ -59,7 +65,7 @@ 0.00016153158503584564, 0.00016193193732760847 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "ceramic", "name": "D00028 Glass Cup Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00028 Glass Cup Jar", "part_name": "D00028 Glass Cup Jar" }, - "volume": 4.799999892711639e-05 + "volume": 4.799999892711639e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "36e1fc96127f54cf7dab81ba0de09f2863ddebfb3020e001db4ac7286b74aff9" + }, + "usd_path": "batch25/D00028_Glass_Cup_Jar/IsaacSim_assets_6a795de7d43e18960531116e/IsaacSim_asset_6a795de7d43e18960531116e.usd", + "usd_sha256": "b08c8534948fcd4745a6d783ecdbe5a5393a033086e290c1ef0e6f6f31b86f8c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.08169800043106079, 0.08139099925756454, 0.10768399681910523 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b08c8534948fcd4745a6d783ecdbe5a5393a033086e290c1ef0e6f6f31b86f8c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.12 + "value_kg": 0.11999999731779099, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b08c8534948fcd4745a6d783ecdbe5a5393a033086e290c1ef0e6f6f31b86f8c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11999999731779099, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 35, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b08c8534948fcd4745a6d783ecdbe5a5393a033086e290c1ef0e6f6f31b86f8c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 35, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b08c8534948fcd4745a6d783ecdbe5a5393a033086e290c1ef0e6f6f31b86f8c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "b08c8534948fcd4745a6d783ecdbe5a5393a033086e290c1ef0e6f6f31b86f8c", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:11.363961+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "822b1820d1edbe50f535d34fb6c112f5fe75f585037b8b34f0d3e104e4df0e20", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00030_Turner/IsaacSim_assets_6a797a53d43e18960532dc1b/physics_6a797a53d43e18960532dc1b.json b/batch25/D00030_Turner/IsaacSim_assets_6a797a53d43e18960532dc1b/physics_6a797a53d43e18960532dc1b.json index dd454ec7fa196c4c3f5450976667b076974f223f..9e5d83199401dec220140c8bc908db76ca553e0d 100644 --- a/batch25/D00030_Turner/IsaacSim_assets_6a797a53d43e18960532dc1b/physics_6a797a53d43e18960532dc1b.json +++ b/batch25/D00030_Turner/IsaacSim_assets_6a797a53d43e18960532dc1b/physics_6a797a53d43e18960532dc1b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1720159947872162, - 0.03911999985575676, - 0.021503319963812828 - ], "min": [ -0.12795700132846832, -0.038325998932123184, 0.0006863203016109765 ], + "max": [ + 0.1720159947872162, + 0.03911999985575676, + 0.021503319963812828 + ], "size": [ 0.2999729961156845, 0.07744599878787994, 0.02081699966220185 - ] + ], + "units": "m" }, "description": "D00030 Turner", "name": "D00030 Turner", "object_type": "rigid_bodies", - "total_mass": 0.056 + "total_mass": 0.0560000017285347, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00030", "parts": [ { "bounds": { - "center": [ - 0.022029496729373932, - 0.0003970004618167877, - 0.011094820132711902 + "min": [ + -0.12795700132846832, + -0.038325998932123184, + 0.0006863203016109765 ], "max": [ 0.1720159947872162, 0.03911999985575676, 0.021503319963812828 ], - "min": [ - -0.12795700132846832, - -0.038325998932123184, - 0.0006863203016109765 - ] + "size": [ + 0.2999729961156845, + 0.07744599878787994, + 0.02081699966220185 + ], + "units": "m" }, "center_of_mass": [ -0.00016111359582282603, @@ -59,7 +65,7 @@ 0.0004548293072730303, 0.0004694059898611158 ], - "mass": 0.056, + "mass": 0.0560000017285347, "material": "wood", "name": "D00030 Turner", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00030 Turner", "part_name": "D00030 Turner" }, - "volume": 7.000000216066837e-05 + "volume": 7.000000216066837e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "53811ab181a86404032a61b6bd723012de9d62a34d9e22ace3603a0a14baa3a3" + }, + "usd_path": "batch25/D00030_Turner/IsaacSim_assets_6a797a53d43e18960532dc1b/IsaacSim_asset_6a797a53d43e18960532dc1b.usd", + "usd_sha256": "05ad928eb02d12648100392572ab8bf80ee2f7da131f0ee8d28c23b757906094", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.2999729961156845, 0.07744599878787994, 0.02081699966220185 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05ad928eb02d12648100392572ab8bf80ee2f7da131f0ee8d28c23b757906094", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.056 + "value_kg": 0.0560000017285347, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05ad928eb02d12648100392572ab8bf80ee2f7da131f0ee8d28c23b757906094", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0560000017285347, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05ad928eb02d12648100392572ab8bf80ee2f7da131f0ee8d28c23b757906094", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05ad928eb02d12648100392572ab8bf80ee2f7da131f0ee8d28c23b757906094", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "05ad928eb02d12648100392572ab8bf80ee2f7da131f0ee8d28c23b757906094", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:42.664549+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "716d52a1b53b193a9974c3ca6b7b456f447dacc92a70795bd02304b6a3ca232d", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00031_Fry_Pan/IsaacSim_assets_6a797d2cd43e1896053309f9/physics_6a797d2cd43e1896053309f9.json b/batch25/D00031_Fry_Pan/IsaacSim_assets_6a797d2cd43e1896053309f9/physics_6a797d2cd43e1896053309f9.json index 69cf482f969b8199c88b733c85439aa966462216..d8686550331a6ae63cb1a8d4228494f3bac25ce0 100644 --- a/batch25/D00031_Fry_Pan/IsaacSim_assets_6a797d2cd43e1896053309f9/physics_6a797d2cd43e1896053309f9.json +++ b/batch25/D00031_Fry_Pan/IsaacSim_assets_6a797d2cd43e1896053309f9/physics_6a797d2cd43e1896053309f9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.23801599442958832, - 0.10942800343036652, - 0.05143554857932031 - ], "min": [ -0.13801400363445282, -0.10863199830055237, 0.002060549822090252 ], + "max": [ + 0.23801599442958832, + 0.10942800343036652, + 0.05143554857932031 + ], "size": [ 0.37602999806404114, 0.21806000173091888, 0.04937499875723006 - ] + ], + "units": "m" }, "description": "D00031 Fry Pan", "name": "D00031 Fry Pan", "object_type": "rigid_bodies", - "total_mass": 1.0 + "total_mass": 1.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00031", "parts": [ { "bounds": { - "center": [ - 0.05000099539756775, - 0.000398002564907074, - 0.02674804920070528 + "min": [ + -0.13801400363445282, + -0.10863199830055237, + 0.002060549822090252 ], "max": [ 0.23801599442958832, 0.10942800343036652, 0.05143554857932031 ], - "min": [ - -0.13801400363445282, - -0.10863199830055237, - 0.002060549822090252 - ] + "size": [ + 0.37602999806404114, + 0.21806000173091888, + 0.04937499875723006 + ], + "units": "m" }, "center_of_mass": [ 0.012722843326628208, @@ -67,10 +73,27 @@ "object_name": "D00031 Fry Pan", "part_name": "D00031 Fry Pan" }, - "volume": 0.00037037037037037035 + "volume": 0.00037037037037037035, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "101f3976da52c501214a15a79c5b57c55c83c09cba3528f384caf69d1baed9f0" + }, + "usd_path": "batch25/D00031_Fry_Pan/IsaacSim_assets_6a797d2cd43e1896053309f9/IsaacSim_asset_6a797d2cd43e1896053309f9.usd", + "usd_sha256": "ddcff3f1580aa1edf7f1a2689ab6ed4af14d70b09f3b4f9faf01f0f57a57ef9f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.37602999806404114, 0.21806000173091888, 0.04937499875723006 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ddcff3f1580aa1edf7f1a2689ab6ed4af14d70b09f3b4f9faf01f0f57a57ef9f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0 + "value_kg": 1.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ddcff3f1580aa1edf7f1a2689ab6ed4af14d70b09f3b4f9faf01f0f57a57ef9f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 15, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ddcff3f1580aa1edf7f1a2689ab6ed4af14d70b09f3b4f9faf01f0f57a57ef9f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 15, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ddcff3f1580aa1edf7f1a2689ab6ed4af14d70b09f3b4f9faf01f0f57a57ef9f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "ddcff3f1580aa1edf7f1a2689ab6ed4af14d70b09f3b4f9faf01f0f57a57ef9f", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:41.675702+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "887c53a24766d0bf21b36a76e92cc72e92de3f2815d1cdcecf25cd101b93180b", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00032_Lemon_Pot/IsaacSim_assets_6a797ee6d43e189605333a23/physics_6a797ee6d43e189605333a23.json b/batch25/D00032_Lemon_Pot/IsaacSim_assets_6a797ee6d43e189605333a23/physics_6a797ee6d43e189605333a23.json index 842e5e7bc79ccdb4e11534e778fc2e4ccbbd1b28..4c5c5b731f9442a7d047ad0a3dfeb9858e915ff5 100644 --- a/batch25/D00032_Lemon_Pot/IsaacSim_assets_6a797ee6d43e189605333a23/physics_6a797ee6d43e189605333a23.json +++ b/batch25/D00032_Lemon_Pot/IsaacSim_assets_6a797ee6d43e189605333a23/physics_6a797ee6d43e189605333a23.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10156100243330002, - 0.10164599865674973, - 0.07122671697288752 - ], "min": [ -0.10169599950313568, -0.10137099772691727, 0.0009887197193165775 ], + "max": [ + 0.10156100243330002, + 0.10164599865674973, + 0.07122671697288752 + ], "size": [ 0.2032570019364357, 0.203016996383667, 0.07023799725357094 - ] + ], + "units": "m" }, "description": "D00032 Lemon Pot", "name": "D00032 Lemon Pot", "object_type": "rigid_bodies", - "total_mass": 0.43 + "total_mass": 0.4300000071525574, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00032", "parts": [ { "bounds": { - "center": [ - -6.749853491783142e-05, - 0.00013750046491622925, - 0.03610771834610205 + "min": [ + -0.10169599950313568, + -0.10137099772691727, + 0.0009887197193165775 ], "max": [ 0.10156100243330002, 0.10164599865674973, 0.07122671697288752 ], - "min": [ - -0.10169599950313568, - -0.10137099772691727, - 0.0009887197193165775 - ] + "size": [ + 0.2032570019364357, + 0.203016996383667, + 0.07023799725357094 + ], + "units": "m" }, "center_of_mass": [ -0.00015058449935168028, @@ -59,7 +65,7 @@ 0.0014854281907901168, 0.002563985763117671 ], - "mass": 0.43, + "mass": 0.4300000071525574, "material": "ceramic", "name": "D00032 Lemon Pot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00032 Lemon Pot", "part_name": "D00032 Lemon Pot" }, - "volume": 0.0001791666696468989 + "volume": 0.0001791666696468989, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "89b4e78e8f028b5c78ed2996a6a68f9c38b0298cbebdba2cc5f126a277d58cf1" + }, + "usd_path": "batch25/D00032_Lemon_Pot/IsaacSim_assets_6a797ee6d43e189605333a23/IsaacSim_asset_6a797ee6d43e189605333a23.usd", + "usd_sha256": "9d88a8cb2fb3544484a895fefd8e755b571bd82fed3b82f681555fdae1d23630", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.2032570019364357, 0.203016996383667, 0.07023799725357094 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9d88a8cb2fb3544484a895fefd8e755b571bd82fed3b82f681555fdae1d23630", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.43 + "value_kg": 0.4300000071525574, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9d88a8cb2fb3544484a895fefd8e755b571bd82fed3b82f681555fdae1d23630", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4300000071525574, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 26, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9d88a8cb2fb3544484a895fefd8e755b571bd82fed3b82f681555fdae1d23630", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 26, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9d88a8cb2fb3544484a895fefd8e755b571bd82fed3b82f681555fdae1d23630", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "9d88a8cb2fb3544484a895fefd8e755b571bd82fed3b82f681555fdae1d23630", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:11.587528+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "8b8b623d91a1a6040be344105a21e8001aedc111aea45b25601e3f0008c5fdec", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00140_Clay_Pot/IsaacSim_assets_6a7981a8d43e1896053395d3/physics_6a7981a8d43e1896053395d3.json b/batch25/D00140_Clay_Pot/IsaacSim_assets_6a7981a8d43e1896053395d3/physics_6a7981a8d43e1896053395d3.json index 0a5320eee1881014fee1a907816847de51a35172..ed67ffc51731efe3eca7c336eca8091b77e85d55 100644 --- a/batch25/D00140_Clay_Pot/IsaacSim_assets_6a7981a8d43e1896053395d3/physics_6a7981a8d43e1896053395d3.json +++ b/batch25/D00140_Clay_Pot/IsaacSim_assets_6a7981a8d43e1896053395d3/physics_6a7981a8d43e1896053395d3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07920099794864655, - 0.07891400158405304, - 0.14413545280694962 - ], "min": [ -0.07896500080823898, -0.07902000099420547, 0.0007774596160743386 ], + "max": [ + 0.07920099794864655, + 0.07891400158405304, + 0.14413545280694962 + ], "size": [ 0.15816599875688553, 0.15793400257825851, 0.14335799319087528 - ] + ], + "units": "m" }, "description": "D00140 Clay Pot", "name": "D00140 Clay Pot", "object_type": "rigid_bodies", - "total_mass": 0.32 + "total_mass": 0.3199999928474426, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00140", "parts": [ { "bounds": { - "center": [ - 0.00011799857020378113, - -5.299970507621765e-05, - 0.07245645621151198 + "min": [ + -0.07896500080823898, + -0.07902000099420547, + 0.0007774596160743386 ], "max": [ 0.07920099794864655, 0.07891400158405304, 0.14413545280694962 ], - "min": [ - -0.07896500080823898, - -0.07902000099420547, - 0.0007774596160743386 - ] + "size": [ + 0.15816599875688553, + 0.15793400257825851, + 0.14335799319087528 + ], + "units": "m" }, "center_of_mass": [ 0.00025051573175005615, @@ -59,7 +65,7 @@ 0.0008800224750302732, 0.0008813005406409502 ], - "mass": 0.32, + "mass": 0.3199999928474426, "material": "ceramic", "name": "D00140 Clay Pot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00140 Clay Pot", "part_name": "D00140 Clay Pot" }, - "volume": 0.0001599999964237213 + "volume": 0.0001599999964237213, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6f68295379342d8bb4b666e92be643f4ccb8ecd00eac25fa4f8eb8d900d21458" + }, + "usd_path": "batch25/D00140_Clay_Pot/IsaacSim_assets_6a7981a8d43e1896053395d3/IsaacSim_asset_6a7981a8d43e1896053395d3.usd", + "usd_sha256": "e227fe9777f4da27fdc518d65e359883de2206a68b7762565747eabd964b3315", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.15816599875688553, 0.15793400257825851, 0.14335799319087528 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e227fe9777f4da27fdc518d65e359883de2206a68b7762565747eabd964b3315", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.32 + "value_kg": 0.3199999928474426, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e227fe9777f4da27fdc518d65e359883de2206a68b7762565747eabd964b3315", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3199999928474426, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 30, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e227fe9777f4da27fdc518d65e359883de2206a68b7762565747eabd964b3315", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 30, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e227fe9777f4da27fdc518d65e359883de2206a68b7762565747eabd964b3315", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "e227fe9777f4da27fdc518d65e359883de2206a68b7762565747eabd964b3315", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:45.468273+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "5a781abb34d11d280accab256c7bcbc3d1e119278132d659b13ed61483c00ed7", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00217_Cream_Pitcher/IsaacSim_assets_6a75721a92349ccf31241056/physics_6a75721a92349ccf31241056.json b/batch25/D00217_Cream_Pitcher/IsaacSim_assets_6a75721a92349ccf31241056/physics_6a75721a92349ccf31241056.json index 99925356163e2847d6722febfcb2810b8a7dd514..cd54e853a6175b61a5eea5bc92edfbff0c781326 100644 --- a/batch25/D00217_Cream_Pitcher/IsaacSim_assets_6a75721a92349ccf31241056/physics_6a75721a92349ccf31241056.json +++ b/batch25/D00217_Cream_Pitcher/IsaacSim_assets_6a75721a92349ccf31241056/physics_6a75721a92349ccf31241056.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05208899825811386, - 0.032625000923871994, - 0.08311054110527039 - ], "min": [ -0.0416099987924099, -0.03286200016736984, 0.00046254009612312075 ], + "max": [ + 0.05208899825811386, + 0.032625000923871994, + 0.08311054110527039 + ], "size": [ 0.09369899705052376, 0.06548700109124184, 0.08264800100914726 - ] + ], + "units": "m" }, "description": "D00217 Cream Pitcher", "name": "D00217 Cream Pitcher", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00217", "parts": [ { "bounds": { - "center": [ - 0.005239499732851982, - -0.00011849962174892426, - 0.04178654060069675 + "min": [ + -0.0416099987924099, + -0.03286200016736984, + 0.00046254009612312075 ], "max": [ 0.05208899825811386, 0.032625000923871994, 0.08311054110527039 ], - "min": [ - -0.0416099987924099, - -0.03286200016736984, - 0.00046254009612312075 - ] + "size": [ + 0.09369899705052376, + 0.06548700109124184, + 0.08264800100914726 + ], + "units": "m" }, "center_of_mass": [ 0.00021520315203815699, @@ -59,7 +65,7 @@ 0.00010991630551870912, 0.00013552134623751044 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "ceramic", "name": "D00217 Cream Pitcher", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00217 Cream Pitcher", "part_name": "D00217 Cream Pitcher" }, - "volume": 6.250000248352687e-05 + "volume": 6.250000248352687e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f3776f56de8bae73f0b4a8e05f97d6d7a8d014b7d154c78adc659d8b64eb30a0" + }, + "usd_path": "batch25/D00217_Cream_Pitcher/IsaacSim_assets_6a75721a92349ccf31241056/IsaacSim_asset_6a75721a92349ccf31241056.usd", + "usd_sha256": "1a3584f028e6374e7ecad0f72f28930ea7b042e1b0e0d1e5071b433cb3b7da72", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.09369899705052376, 0.06548700109124184, 0.08264800100914726 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1a3584f028e6374e7ecad0f72f28930ea7b042e1b0e0d1e5071b433cb3b7da72", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1a3584f028e6374e7ecad0f72f28930ea7b042e1b0e0d1e5071b433cb3b7da72", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 26, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1a3584f028e6374e7ecad0f72f28930ea7b042e1b0e0d1e5071b433cb3b7da72", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 26, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1a3584f028e6374e7ecad0f72f28930ea7b042e1b0e0d1e5071b433cb3b7da72", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00232_Cup_Milk_Jug/IsaacSim_assets_6a756a6792349ccf31221595/physics_6a756a6792349ccf31221595.json b/batch25/D00232_Cup_Milk_Jug/IsaacSim_assets_6a756a6792349ccf31221595/physics_6a756a6792349ccf31221595.json index 6dc1204b2339e0e3fe1d9a5995235e2c4ab078cc..c7d4b7b8b10cb3b15c1eacc1b662a022a2ec2cab 100644 --- a/batch25/D00232_Cup_Milk_Jug/IsaacSim_assets_6a756a6792349ccf31221595/physics_6a756a6792349ccf31221595.json +++ b/batch25/D00232_Cup_Milk_Jug/IsaacSim_assets_6a756a6792349ccf31221595/physics_6a756a6792349ccf31221595.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.054492998868227005, - 0.03809700161218643, - 0.08365474711172283 - ], "min": [ -0.04473499953746796, -0.0378430001437664, 0.0005427498988410662 ], + "max": [ + 0.054492998868227005, + 0.03809700161218643, + 0.08365474711172283 + ], "size": [ 0.09922799840569496, 0.07594000175595284, 0.08311199721288176 - ] + ], + "units": "m" }, "description": "D00232 Cup Milk Jug", "name": "D00232 Cup Milk Jug", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00232", "parts": [ { "bounds": { - "center": [ - 0.004878999665379524, - 0.00012700073421001434, - 0.04209874850528195 + "min": [ + -0.04473499953746796, + -0.0378430001437664, + 0.0005427498988410662 ], "max": [ 0.054492998868227005, 0.03809700161218643, 0.08365474711172283 ], - "min": [ - -0.04473499953746796, - -0.0378430001437664, - 0.0005427498988410662 - ] + "size": [ + 0.09922799840569496, + 0.07594000175595284, + 0.08311199721288176 + ], + "units": "m" }, "center_of_mass": [ -0.0003569865657482296, @@ -67,10 +73,27 @@ "object_name": "D00232 Cup Milk Jug", "part_name": "D00232 Cup Milk Jug" }, - "volume": 0.00010416666666666667 + "volume": 0.00010416666666666667, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8d727315a46c71eeac373795354272f24b7ba8aa5b48b75c016b79f8b98415c1" + }, + "usd_path": "batch25/D00232_Cup_Milk_Jug/IsaacSim_assets_6a756a6792349ccf31221595/IsaacSim_asset_6a756a6792349ccf31221595.usd", + "usd_sha256": "48c65a71aa87cb06a7f4acd43f80ab36ffd6539a542f1dc85bf7fd28087cb199", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.09922799840569496, 0.07594000175595284, 0.08311199721288176 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "48c65a71aa87cb06a7f4acd43f80ab36ffd6539a542f1dc85bf7fd28087cb199", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "48c65a71aa87cb06a7f4acd43f80ab36ffd6539a542f1dc85bf7fd28087cb199", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 29, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "48c65a71aa87cb06a7f4acd43f80ab36ffd6539a542f1dc85bf7fd28087cb199", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 29, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "48c65a71aa87cb06a7f4acd43f80ab36ffd6539a542f1dc85bf7fd28087cb199", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "48c65a71aa87cb06a7f4acd43f80ab36ffd6539a542f1dc85bf7fd28087cb199", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:09.331643+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "ddf6a8effbdc29a2a3545b851297cb2ce8040b0dd4c9eb8f59e2f60ffc8bd829", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00234_Cup_Mug_Bowl/IsaacSim_assets_6a7944a3d43e1896052e5cef/physics_6a7944a3d43e1896052e5cef.json b/batch25/D00234_Cup_Mug_Bowl/IsaacSim_assets_6a7944a3d43e1896052e5cef/physics_6a7944a3d43e1896052e5cef.json index 487fc7133f40a665a483b6294c35719d00dc1b52..61e82679d6ed6fc1a84e82b4c5b327436b372700 100644 --- a/batch25/D00234_Cup_Mug_Bowl/IsaacSim_assets_6a7944a3d43e1896052e5cef/physics_6a7944a3d43e1896052e5cef.json +++ b/batch25/D00234_Cup_Mug_Bowl/IsaacSim_assets_6a7944a3d43e1896052e5cef/physics_6a7944a3d43e1896052e5cef.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.055052999407052994, - 0.03557199984788895, - 0.07267666165716946 - ], "min": [ -0.04001300036907196, -0.03537600114941597, 0.0004686600495915627 ], + "max": [ + 0.055052999407052994, + 0.03557199984788895, + 0.07267666165716946 + ], "size": [ 0.09506599977612495, 0.07094800099730492, 0.0722080016075779 - ] + ], + "units": "m" }, "description": "D00234 Cup Mug Bowl", "name": "D00234 Cup Mug Bowl", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.3499999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00234", "parts": [ { "bounds": { - "center": [ - 0.007519999518990517, - 9.799934923648834e-05, - 0.03657266085338051 + "min": [ + -0.04001300036907196, + -0.03537600114941597, + 0.0004686600495915627 ], "max": [ 0.055052999407052994, 0.03557199984788895, 0.07267666165716946 ], - "min": [ - -0.04001300036907196, - -0.03537600114941597, - 0.0004686600495915627 - ] + "size": [ + 0.09506599977612495, + 0.07094800099730492, + 0.0722080016075779 + ], + "units": "m" }, "center_of_mass": [ -0.001959527377039194, @@ -59,7 +65,7 @@ 0.00035296418354846537, 0.000354832416633144 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "ceramic", "name": "D00234 Cup Mug Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00234 Cup Mug Bowl", "part_name": "D00234 Cup Mug Bowl" }, - "volume": 0.00014583333084980648 + "volume": 0.00014583333084980648, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "38b309ed4fb8b78e635d5ac31b68c9ea9cb36b3b3ffeeb3c837492446dff9a55" + }, + "usd_path": "batch25/D00234_Cup_Mug_Bowl/IsaacSim_assets_6a7944a3d43e1896052e5cef/IsaacSim_asset_6a7944a3d43e1896052e5cef.usd", + "usd_sha256": "22db53d278331dea42cbc552c8ac148625805a0a72b25d602554b215ab288e26", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.09506599977612495, 0.07094800099730492, 0.0722080016075779 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22db53d278331dea42cbc552c8ac148625805a0a72b25d602554b215ab288e26", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.3499999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22db53d278331dea42cbc552c8ac148625805a0a72b25d602554b215ab288e26", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3499999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 29, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22db53d278331dea42cbc552c8ac148625805a0a72b25d602554b215ab288e26", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 29, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22db53d278331dea42cbc552c8ac148625805a0a72b25d602554b215ab288e26", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00247_Cutlery/IsaacSim_assets_6a74215f5d45b936d6481e69/physics_6a74215f5d45b936d6481e69.json b/batch25/D00247_Cutlery/IsaacSim_assets_6a74215f5d45b936d6481e69/physics_6a74215f5d45b936d6481e69.json index 62edfd67b57ee639c8fd89f38b061cf348af5730..9a4e453124465247930615af1821a95d74a0d850 100644 --- a/batch25/D00247_Cutlery/IsaacSim_assets_6a74215f5d45b936d6481e69/physics_6a74215f5d45b936d6481e69.json +++ b/batch25/D00247_Cutlery/IsaacSim_assets_6a74215f5d45b936d6481e69/physics_6a74215f5d45b936d6481e69.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.014700000174343586, - 0.07916899770498276, - 0.028808789793401957 - ], "min": [ -0.014777000062167645, -0.1136770024895668, 0.0006797901187383104 ], + "max": [ + 0.014700000174343586, + 0.07916899770498276, + 0.028808789793401957 + ], "size": [ 0.02947700023651123, 0.19284600019454956, 0.028128999674663646 - ] + ], + "units": "m" }, "description": "D00247 Cutlery", "name": "D00247 Cutlery", "object_type": "rigid_bodies", - "total_mass": 0.106 + "total_mass": 0.10599999874830246, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00247", "parts": [ { "bounds": { - "center": [ - -3.8499943912029266e-05, - -0.017254002392292023, - 0.014744289956070133 + "min": [ + -0.014777000062167645, + -0.1136770024895668, + 0.0006797901187383104 ], "max": [ 0.014700000174343586, 0.07916899770498276, 0.028808789793401957 ], - "min": [ - -0.014777000062167645, - -0.1136770024895668, - 0.0006797901187383104 - ] + "size": [ + 0.02947700023651123, + 0.19284600019454956, + 0.028128999674663646 + ], + "units": "m" }, "center_of_mass": [ -4.136338418447849e-07, @@ -59,7 +65,7 @@ 0.00024613054119981825, 0.00024853245122358203 ], - "mass": 0.106, + "mass": 0.10599999874830246, "material": "metal", "name": "D00247 Cutlery", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00247 Cutlery", "part_name": "D00247 Cutlery" }, - "volume": 1.3249999843537807e-05 + "volume": 1.3249999843537807e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9b1f1906e23430b8d8c937fe9d1b29bb7883f569cf31ff68d30ad9d81cd1a009" + }, + "usd_path": "batch25/D00247_Cutlery/IsaacSim_assets_6a74215f5d45b936d6481e69/IsaacSim_asset_6a74215f5d45b936d6481e69.usd", + "usd_sha256": "2fa3f8b648e8c98862a0365e69de4e8b6b29b2b4e73351215d9dafeda8213323", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.02947700023651123, 0.19284600019454956, 0.028128999674663646 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2fa3f8b648e8c98862a0365e69de4e8b6b29b2b4e73351215d9dafeda8213323", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.106 + "value_kg": 0.10599999874830246, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2fa3f8b648e8c98862a0365e69de4e8b6b29b2b4e73351215d9dafeda8213323", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.10599999874830246, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2fa3f8b648e8c98862a0365e69de4e8b6b29b2b4e73351215d9dafeda8213323", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2fa3f8b648e8c98862a0365e69de4e8b6b29b2b4e73351215d9dafeda8213323", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "2fa3f8b648e8c98862a0365e69de4e8b6b29b2b4e73351215d9dafeda8213323", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:03.788848+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "44c5b78b3fd5c2f4626c54a9235c4dec1932b98b2dfe7e908dd4da9ce32005f3", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00284_Drink/IsaacSim_assets_6a756b4392349ccf31224889/physics_6a756b4392349ccf31224889.json b/batch25/D00284_Drink/IsaacSim_assets_6a756b4392349ccf31224889/physics_6a756b4392349ccf31224889.json index 6831d0b9f7859668ebb0d9f0430b5fae7962b82e..8237e6860e1b0d8ea2823fa0a5beddc3b0ee0899 100644 --- a/batch25/D00284_Drink/IsaacSim_assets_6a756b4392349ccf31224889/physics_6a756b4392349ccf31224889.json +++ b/batch25/D00284_Drink/IsaacSim_assets_6a756b4392349ccf31224889/physics_6a756b4392349ccf31224889.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0290949996560812, - 0.028900999575853348, - 0.10181844234466553 - ], "min": [ -0.029126999899744987, -0.028661999851465225, 0.0004754399947159982 ], + "max": [ + 0.0290949996560812, + 0.028900999575853348, + 0.10181844234466553 + ], "size": [ 0.05822199955582619, 0.05756299942731857, 0.10134300234994953 - ] + ], + "units": "m" }, "description": "D00284 Drink", "name": "D00284 Drink", "object_type": "rigid_bodies", - "total_mass": 0.38 + "total_mass": 0.3799999952316284, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00284", "parts": [ { "bounds": { - "center": [ - -1.600012183189392e-05, - 0.00011949986219406128, - 0.05114694116969076 + "min": [ + -0.029126999899744987, + -0.028661999851465225, + 0.0004754399947159982 ], "max": [ 0.0290949996560812, 0.028900999575853348, 0.10181844234466553 ], - "min": [ - -0.029126999899744987, - -0.028661999851465225, - 0.0004754399947159982 - ] + "size": [ + 0.05822199955582619, + 0.05756299942731857, + 0.10134300234994953 + ], + "units": "m" }, "center_of_mass": [ 6.3195170696417335e-06, @@ -59,7 +65,7 @@ 0.0003765795554500073, 0.00037778171827085316 ], - "mass": 0.38, + "mass": 0.3799999952316284, "material": "plastic", "name": "D00284 Drink", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00284 Drink", "part_name": "D00284 Drink" }, - "volume": 0.0003799999952316284 + "volume": 0.0003799999952316284, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b55f589a36bcfa0b4bfe8e1700455df8d6c6fa08f70bb2f1f6de99cf9aac5bee" + }, + "usd_path": "batch25/D00284_Drink/IsaacSim_assets_6a756b4392349ccf31224889/IsaacSim_asset_6a756b4392349ccf31224889.usd", + "usd_sha256": "fa6015d1a6b8d76acc7af32561ed5ff4c0e4ef3a32191106ada3a2925a88b484", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.05822199955582619, 0.05756299942731857, 0.10134300234994953 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fa6015d1a6b8d76acc7af32561ed5ff4c0e4ef3a32191106ada3a2925a88b484", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.38 + "value_kg": 0.3799999952316284, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fa6015d1a6b8d76acc7af32561ed5ff4c0e4ef3a32191106ada3a2925a88b484", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3799999952316284, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 7, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fa6015d1a6b8d76acc7af32561ed5ff4c0e4ef3a32191106ada3a2925a88b484", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 7, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fa6015d1a6b8d76acc7af32561ed5ff4c0e4ef3a32191106ada3a2925a88b484", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00328_Frying_Pan_Cooking_Pot/IsaacSim_assets_6a75bdd8d43e189605034d9b/physics_6a75bdd8d43e189605034d9b.json b/batch25/D00328_Frying_Pan_Cooking_Pot/IsaacSim_assets_6a75bdd8d43e189605034d9b/physics_6a75bdd8d43e189605034d9b.json index 8795f24c852f912d01324be5b26fe5c68948c405..f5f60272924e67a88bd99b0fb3f612d206cb498c 100644 --- a/batch25/D00328_Frying_Pan_Cooking_Pot/IsaacSim_assets_6a75bdd8d43e189605034d9b/physics_6a75bdd8d43e189605034d9b.json +++ b/batch25/D00328_Frying_Pan_Cooking_Pot/IsaacSim_assets_6a75bdd8d43e189605034d9b/physics_6a75bdd8d43e189605034d9b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2523699998855591, - 0.10202299803495407, - 0.07518972177058458 - ], "min": [ -0.13087500631809235, -0.10220000147819519, 0.001829720047680894 ], + "max": [ + 0.2523699998855591, + 0.10202299803495407, + 0.07518972177058458 + ], "size": [ 0.38324500620365143, 0.20422299951314926, 0.07336000172290369 - ] + ], + "units": "m" }, "description": "D00328 Frying Pan Cooking Pot", "name": "D00328 Frying Pan Cooking Pot", "object_type": "rigid_bodies", - "total_mass": 2.5 + "total_mass": 2.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00328", "parts": [ { "bounds": { - "center": [ - 0.06074749678373337, - -8.850172162055969e-05, - 0.03850972090913274 + "min": [ + -0.13087500631809235, + -0.10220000147819519, + 0.001829720047680894 ], "max": [ 0.2523699998855591, 0.10202299803495407, 0.07518972177058458 ], - "min": [ - -0.13087500631809235, - -0.10220000147819519, - 0.001829720047680894 - ] + "size": [ + 0.38324500620365143, + 0.20422299951314926, + 0.07336000172290369 + ], + "units": "m" }, "center_of_mass": [ 0.01214375626295805, @@ -67,10 +73,27 @@ "object_name": "D00328 Frying Pan Cooking Pot", "part_name": "D00328 Frying Pan Cooking Pot" }, - "volume": 0.0003205128205128205 + "volume": 0.0003205128205128205, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7338486487919629c867281b84b1c35b3ebd67d3dfdadd5195f7078326d55554" + }, + "usd_path": "batch25/D00328_Frying_Pan_Cooking_Pot/IsaacSim_assets_6a75bdd8d43e189605034d9b/IsaacSim_asset_6a75bdd8d43e189605034d9b.usd", + "usd_sha256": "f1ae97bfc9f5dcf5a77ba1e596596821bd75c116d355f49c792d1ddf2c366846", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.38324500620365143, 0.20422299951314926, 0.07336000172290369 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f1ae97bfc9f5dcf5a77ba1e596596821bd75c116d355f49c792d1ddf2c366846", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.5 + "value_kg": 2.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f1ae97bfc9f5dcf5a77ba1e596596821bd75c116d355f49c792d1ddf2c366846", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f1ae97bfc9f5dcf5a77ba1e596596821bd75c116d355f49c792d1ddf2c366846", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f1ae97bfc9f5dcf5a77ba1e596596821bd75c116d355f49c792d1ddf2c366846", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00335_Gas_Jar/IsaacSim_assets_6a75e6dad43e1896050b029a/physics_6a75e6dad43e1896050b029a.json b/batch25/D00335_Gas_Jar/IsaacSim_assets_6a75e6dad43e1896050b029a/physics_6a75e6dad43e1896050b029a.json index bd9c4d5bdd940fbcefd5f7999713f75e5d62f7aa..6ef4ae3c4c7ee50bcf59858eae4c9520272811e5 100644 --- a/batch25/D00335_Gas_Jar/IsaacSim_assets_6a75e6dad43e1896050b029a/physics_6a75e6dad43e1896050b029a.json +++ b/batch25/D00335_Gas_Jar/IsaacSim_assets_6a75e6dad43e1896050b029a/physics_6a75e6dad43e1896050b029a.json @@ -1,50 +1,201 @@ { "articulation": { - "has_joints": false, - "joints": [] + "has_joints": true, + "joints": [ + { + "id": "joint_outer_wall__rim", + "path": "/World/textured_mesh_6a75e6dad43e1896050b029a/Joints/joint_outer_wall__rim", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a75e6dad43e1896050b029a/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_6a75e6dad43e1896050b029a/part_0" + ], + "authored_usd": { + "id": "joint_outer_wall__rim", + "source_prim_path": "/World/textured_mesh_6a75e6dad43e1896050b029a/Joints/joint_outer_wall__rim", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a75e6dad43e1896050b029a/part_2" + ], + "body1": [ + "/World/textured_mesh_6a75e6dad43e1896050b029a/part_0" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_outer_wall__inner_wall", + "path": "/World/textured_mesh_6a75e6dad43e1896050b029a/Joints/joint_outer_wall__inner_wall", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a75e6dad43e1896050b029a/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_6a75e6dad43e1896050b029a/part_1" + ], + "authored_usd": { + "id": "joint_outer_wall__inner_wall", + "source_prim_path": "/World/textured_mesh_6a75e6dad43e1896050b029a/Joints/joint_outer_wall__inner_wall", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a75e6dad43e1896050b029a/part_2" + ], + "body1": [ + "/World/textured_mesh_6a75e6dad43e1896050b029a/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_outer_wall__base", + "path": "/World/textured_mesh_6a75e6dad43e1896050b029a/Joints/joint_outer_wall__base", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a75e6dad43e1896050b029a/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_6a75e6dad43e1896050b029a/part_3" + ], + "authored_usd": { + "id": "joint_outer_wall__base", + "source_prim_path": "/World/textured_mesh_6a75e6dad43e1896050b029a/Joints/joint_outer_wall__base", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a75e6dad43e1896050b029a/part_2" + ], + "body1": [ + "/World/textured_mesh_6a75e6dad43e1896050b029a/part_3" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + } + ], + "moving_joints": 0, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.040102001279592514, - 0.03971799835562706, - 0.16542199964169413 - ], "min": [ -0.04033200070261955, -0.039997000247240067, 0.00036699999054690124 ], + "max": [ + 0.040102001279592514, + 0.03971799835562706, + 0.16542199964169413 + ], "size": [ 0.08043400198221207, 0.07971499860286713, 0.16505499965114723 - ] + ], + "units": "m" }, "description": "D00335 Gas Jar", "name": "D00335 Gas Jar", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.2999999988824129, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00335", "parts": [ { "bounds": { - "center": [ - -0.00011499971151351929, - -0.0001395009458065033, - 0.0867764997528866 + "min": [ + -0.04033200070261955, + -0.039997000247240067, + 0.008130999864079058 ], "max": [ 0.040102001279592514, 0.03971799835562706, 0.16542199964169413 ], - "min": [ - -0.04033200070261955, - -0.039997000247240067, - 0.008130999864079058 - ] + "size": [ + 0.08043400198221207, + 0.07971499860286713, + 0.15729099977761507 + ], + "units": "m" }, "center_of_mass": [ -0.008640125393867493, @@ -59,7 +210,7 @@ 4.2822346586035565e-05, 4.399338649818674e-05 ], - "mass": 0.03, + "mass": 0.029999999329447746, "material": "ceramic", "name": "D00335 Gas Jar", "physics_type": "rigid", @@ -67,25 +218,28 @@ "object_name": "D00335 Gas Jar", "part_name": "D00335 Gas Jar" }, - "volume": 1.1999999731779098e-05 + "volume": 1.1999999731779098e-05, + "source_prim_path": "/World/textured_mesh_6a75e6dad43e1896050b029a/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0014274995774030685, - -0.0003105010837316513, - 0.0798005013493821 + "min": [ + -0.036518000066280365, + -0.0341080017387867, + 0.0029349998803809285 ], "max": [ 0.03366300091147423, 0.033486999571323395, 0.15666600281838328 ], - "min": [ - -0.036518000066280365, - -0.0341080017387867, - 0.0029349998803809285 - ] + "size": [ + 0.07018100097775459, + 0.06759500131011009, + 0.15373100293800235 + ], + "units": "m" }, "center_of_mass": [ -0.0007394702988676727, @@ -100,7 +254,7 @@ 0.00022196884674485773, 0.00022429347154684365 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "ceramic", "name": "D00335 Gas Jar", "physics_type": "rigid", @@ -108,25 +262,28 @@ "object_name": "D00335 Gas Jar", "part_name": "D00335 Gas Jar" }, - "volume": 4.000000059604645e-05 + "volume": 4.000000059604645e-05, + "source_prim_path": "/World/textured_mesh_6a75e6dad43e1896050b029a/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00012299977242946625, - -0.000199001282453537, - 0.07801599700178485 + "min": [ + -0.0363910011947155, + -0.03653800114989281, + 0.0007659999828319997 ], "max": [ 0.03614500164985657, 0.03613999858498573, 0.1552659940207377 ], - "min": [ - -0.0363910011947155, - -0.03653800114989281, - 0.0007659999828319997 - ] + "size": [ + 0.07253600284457207, + 0.07267799973487854, + 0.1544999940379057 + ], + "units": "m" }, "center_of_mass": [ -0.00034373311791568995, @@ -141,7 +298,7 @@ 0.00026380032068118453, 0.0002642951731104404 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "ceramic", "name": "D00335 Gas Jar", "physics_type": "rigid", @@ -149,25 +306,28 @@ "object_name": "D00335 Gas Jar", "part_name": "D00335 Gas Jar" }, - "volume": 4.799999892711639e-05 + "volume": 4.799999892711639e-05, + "source_prim_path": "/World/textured_mesh_6a75e6dad43e1896050b029a/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 7.499940693378448e-05, - -0.00018949992954730988, - 0.004558000184715638 + "min": [ + -0.0359640009701252, + -0.03646000102162361, + 0.00036699999054690124 ], "max": [ 0.03611399978399277, 0.03608100116252899, 0.008749000378884375 ], - "min": [ - -0.0359640009701252, - -0.03646000102162361, - 0.00036699999054690124 - ] + "size": [ + 0.07207800075411797, + 0.0725410021841526, + 0.008382000388337474 + ], + "units": "m" }, "center_of_mass": [ -0.00013505463721230626, @@ -182,7 +342,7 @@ 1.631705708859954e-05, 3.1999516068026423e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "ceramic", "name": "D00335 Gas Jar", "physics_type": "rigid", @@ -190,10 +350,27 @@ "object_name": "D00335 Gas Jar", "part_name": "D00335 Gas Jar" }, - "volume": 2.0000000298023225e-05 + "volume": 2.0000000298023225e-05, + "source_prim_path": "/World/textured_mesh_6a75e6dad43e1896050b029a/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a5c771a4e812a375c63113e3110936afa91faf8da6c4506559c6d1758c6c0ec8" + }, + "usd_path": "batch25/D00335_Gas_Jar/IsaacSim_assets_6a75e6dad43e1896050b029a/IsaacSim_asset_6a75e6dad43e1896050b029a.usd", + "usd_sha256": "bf2ec0ddcef052dfd64e5a11f7d8d6db9648f71422f407cfda956c44f817039d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -214,22 +391,56 @@ 0.08043400198221207, 0.07971499860286713, 0.16505499965114723 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf2ec0ddcef052dfd64e5a11f7d8d6db9648f71422f407cfda956c44f817039d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.2999999988824129, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf2ec0ddcef052dfd64e5a11f7d8d6db9648f71422f407cfda956c44f817039d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2999999988824129, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 70, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf2ec0ddcef052dfd64e5a11f7d8d6db9648f71422f407cfda956c44f817039d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 70, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf2ec0ddcef052dfd64e5a11f7d8d6db9648f71422f407cfda956c44f817039d", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00340_Glass_Bottle/IsaacSim_assets_6a795615d43e1896053026e8/physics_6a795615d43e1896053026e8.json b/batch25/D00340_Glass_Bottle/IsaacSim_assets_6a795615d43e1896053026e8/physics_6a795615d43e1896053026e8.json index 1b045be5deb40ce02d5a64949659917b4ddd76d0..4059d33fc684a1ec6f665ab5369435e054246c25 100644 --- a/batch25/D00340_Glass_Bottle/IsaacSim_assets_6a795615d43e1896053026e8/physics_6a795615d43e1896053026e8.json +++ b/batch25/D00340_Glass_Bottle/IsaacSim_assets_6a795615d43e1896053026e8/physics_6a795615d43e1896053026e8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.041756000369787216, - 0.04156700149178505, - 0.22047527879476547 - ], "min": [ -0.041790999472141266, -0.04143499955534935, 0.0010072854638565332 ], + "max": [ + 0.041756000369787216, + 0.04156700149178505, + 0.22047527879476547 + ], "size": [ 0.08354699984192848, 0.0830020010471344, 0.21946799333090894 - ] + ], + "units": "m" }, "description": "D00340 Glass Bottle", "name": "D00340 Glass Bottle", "object_type": "rigid_bodies", - "total_mass": 0.255 + "total_mass": 0.2549999952316284, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00340", "parts": [ { "bounds": { - "center": [ - -1.749955117702484e-05, - 6.600096821784973e-05, - 0.110741282129311 + "min": [ + -0.041790999472141266, + -0.04143499955534935, + 0.0010072854638565332 ], "max": [ 0.041756000369787216, 0.04156700149178505, 0.22047527879476547 ], - "min": [ - -0.041790999472141266, - -0.04143499955534935, - 0.0010072854638565332 - ] + "size": [ + 0.08354699984192848, + 0.0830020010471344, + 0.21946799333090894 + ], + "units": "m" }, "center_of_mass": [ 1.463404896639986e-05, @@ -59,7 +65,7 @@ 0.0008915388607420027, 0.0008928970200940967 ], - "mass": 0.255, + "mass": 0.2549999952316284, "material": "ceramic", "name": "D00340 Glass Bottle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00340 Glass Bottle", "part_name": "D00340 Glass Bottle" }, - "volume": 0.00010199999809265137 + "volume": 0.00010199999809265137, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6f731c2f10993dd3888376d48edfb02fb6f60897f2a77fd922ebf0eec36b4950" + }, + "usd_path": "batch25/D00340_Glass_Bottle/IsaacSim_assets_6a795615d43e1896053026e8/IsaacSim_asset_6a795615d43e1896053026e8.usd", + "usd_sha256": "919d4d320ff8406bee169b39518eed4098e0aa80fdcf898d65e9567a90dcd44a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08354699984192848, 0.0830020010471344, 0.21946799333090894 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "919d4d320ff8406bee169b39518eed4098e0aa80fdcf898d65e9567a90dcd44a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.255 + "value_kg": 0.2549999952316284, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "919d4d320ff8406bee169b39518eed4098e0aa80fdcf898d65e9567a90dcd44a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2549999952316284, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "919d4d320ff8406bee169b39518eed4098e0aa80fdcf898d65e9567a90dcd44a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "919d4d320ff8406bee169b39518eed4098e0aa80fdcf898d65e9567a90dcd44a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00341_Glass_Bottle_Jar/IsaacSim_assets_6a794ae4d43e1896052f0558/physics_6a794ae4d43e1896052f0558.json b/batch25/D00341_Glass_Bottle_Jar/IsaacSim_assets_6a794ae4d43e1896052f0558/physics_6a794ae4d43e1896052f0558.json index a0d89cf8755d0bf48690eda62d9770a68b7c2025..b9d991b4359886c3df920c497ef6c7d3c157567d 100644 --- a/batch25/D00341_Glass_Bottle_Jar/IsaacSim_assets_6a794ae4d43e1896052f0558/physics_6a794ae4d43e1896052f0558.json +++ b/batch25/D00341_Glass_Bottle_Jar/IsaacSim_assets_6a794ae4d43e1896052f0558/physics_6a794ae4d43e1896052f0558.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04166800156235695, - 0.041568998247385025, - 0.10989831248298287 - ], "min": [ -0.04175100103020668, -0.041283998638391495, 0.00052331008555484 ], + "max": [ + 0.04166800156235695, + 0.041568998247385025, + 0.10989831248298287 + ], "size": [ 0.08341900259256363, 0.08285299688577652, 0.10937500239742803 - ] + ], + "units": "m" }, "description": "D00341 Glass Bottle Jar", "name": "D00341 Glass Bottle Jar", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00341", "parts": [ { "bounds": { - "center": [ - -4.149973392486572e-05, - 0.00014249980449676514, - 0.05521081128426886 + "min": [ + -0.04175100103020668, + -0.041283998638391495, + 0.00052331008555484 ], "max": [ 0.04166800156235695, 0.041568998247385025, 0.10989831248298287 ], - "min": [ - -0.04175100103020668, - -0.041283998638391495, - 0.00052331008555484 - ] + "size": [ + 0.08341900259256363, + 0.08285299688577652, + 0.10937500239742803 + ], + "units": "m" }, "center_of_mass": [ -3.8775207940489054e-05, @@ -67,10 +73,27 @@ "object_name": "D00341 Glass Bottle Jar", "part_name": "D00341 Glass Bottle Jar" }, - "volume": 0.0001 + "volume": 0.0001, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "113cf37c87924f6a6482ac73934c1e2f836b09a77cdf99ab712c865d24d66819" + }, + "usd_path": "batch25/D00341_Glass_Bottle_Jar/IsaacSim_assets_6a794ae4d43e1896052f0558/IsaacSim_asset_6a794ae4d43e1896052f0558.usd", + "usd_sha256": "86a6c27ac53dce740b28f1434614b4e8cf7bdd810885c0f653c3fc6a6ba87fbc", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08341900259256363, 0.08285299688577652, 0.10937500239742803 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "86a6c27ac53dce740b28f1434614b4e8cf7bdd810885c0f653c3fc6a6ba87fbc", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "86a6c27ac53dce740b28f1434614b4e8cf7bdd810885c0f653c3fc6a6ba87fbc", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 41, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "86a6c27ac53dce740b28f1434614b4e8cf7bdd810885c0f653c3fc6a6ba87fbc", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 41, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "86a6c27ac53dce740b28f1434614b4e8cf7bdd810885c0f653c3fc6a6ba87fbc", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00344_Glass_Container/IsaacSim_assets_6a794cccd43e1896052f4f17/physics_6a794cccd43e1896052f4f17.json b/batch25/D00344_Glass_Container/IsaacSim_assets_6a794cccd43e1896052f4f17/physics_6a794cccd43e1896052f4f17.json index 7424e152a5f7e9f8c1e7e78eb2f835cd9372bc52..aeeb45b0a282402ac61a4a3c35aa46099336b391 100644 --- a/batch25/D00344_Glass_Container/IsaacSim_assets_6a794cccd43e1896052f4f17/physics_6a794cccd43e1896052f4f17.json +++ b/batch25/D00344_Glass_Container/IsaacSim_assets_6a794cccd43e1896052f4f17/physics_6a794cccd43e1896052f4f17.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06673099845647812, - 0.06700800359249115, - 0.14349817717447877 - ], "min": [ -0.06692299991846085, -0.0667869970202446, 0.0007831701077520789 ], + "max": [ + 0.06673099845647812, + 0.06700800359249115, + 0.14349817717447877 + ], "size": [ 0.13365399837493896, 0.13379500061273575, 0.14271500706672668 - ] + ], + "units": "m" }, "description": "D00344 Glass Container", "name": "D00344 Glass Container", "object_type": "rigid_bodies", - "total_mass": 0.379 + "total_mass": 0.3790000081062317, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00344", "parts": [ { "bounds": { - "center": [ - -9.600073099136353e-05, - 0.00011050328612327576, - 0.07214067364111543 + "min": [ + -0.06692299991846085, + -0.0667869970202446, + 0.0007831701077520789 ], "max": [ 0.06673099845647812, 0.06700800359249115, 0.14349817717447877 ], - "min": [ - -0.06692299991846085, - -0.0667869970202446, - 0.0007831701077520789 - ] + "size": [ + 0.13365399837493896, + 0.13379500061273575, + 0.14271500706672668 + ], + "units": "m" }, "center_of_mass": [ -8.593359962105751e-05, @@ -59,7 +65,7 @@ 0.0011290712282061577, 0.0011304245563223958 ], - "mass": 0.379, + "mass": 0.3790000081062317, "material": "ceramic", "name": "D00344 Glass Container", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00344 Glass Container", "part_name": "D00344 Glass Container" }, - "volume": 0.00015160000324249267 + "volume": 0.00015160000324249267, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6d91d7fb9082d99f99950b76a91de8027e5b7d813469f06d77bc283b6fe6774b" + }, + "usd_path": "batch25/D00344_Glass_Container/IsaacSim_assets_6a794cccd43e1896052f4f17/IsaacSim_asset_6a794cccd43e1896052f4f17.usd", + "usd_sha256": "d21aeed03d0294e4a6468a52de7b62458fa8e59b43f68eccba6b8a826d8b9c29", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.13365399837493896, 0.13379500061273575, 0.14271500706672668 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d21aeed03d0294e4a6468a52de7b62458fa8e59b43f68eccba6b8a826d8b9c29", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.379 + "value_kg": 0.3790000081062317, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d21aeed03d0294e4a6468a52de7b62458fa8e59b43f68eccba6b8a826d8b9c29", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3790000081062317, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d21aeed03d0294e4a6468a52de7b62458fa8e59b43f68eccba6b8a826d8b9c29", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d21aeed03d0294e4a6468a52de7b62458fa8e59b43f68eccba6b8a826d8b9c29", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00377_Herb_Plant/IsaacSim_assets_6a7952f2d43e1896052fe3e2/physics_6a7952f2d43e1896052fe3e2.json b/batch25/D00377_Herb_Plant/IsaacSim_assets_6a7952f2d43e1896052fe3e2/physics_6a7952f2d43e1896052fe3e2.json index 0b414912a7ae177c9f25acc9f8e7f9f990e3925a..47a201aee61ed27edad4d94c5bb6fc9ff81e8e1c 100644 --- a/batch25/D00377_Herb_Plant/IsaacSim_assets_6a7952f2d43e1896052fe3e2/physics_6a7952f2d43e1896052fe3e2.json +++ b/batch25/D00377_Herb_Plant/IsaacSim_assets_6a7952f2d43e1896052fe3e2/physics_6a7952f2d43e1896052fe3e2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0757559984922409, - 0.07822100073099136, - 0.23312711343169212 - ], "min": [ -0.08014500141143799, -0.07401800155639648, 0.001261109726669929 ], + "max": [ + 0.0757559984922409, + 0.07822100073099136, + 0.23312711343169212 + ], "size": [ 0.1559009999036789, 0.15223900228738785, 0.2318660037050222 - ] + ], + "units": "m" }, "description": "D00377 Herb Plant", "name": "D00377 Herb Plant", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00377", "parts": [ { "bounds": { - "center": [ - -0.0021945014595985413, - 0.0021014995872974396, - 0.11719411157918103 + "min": [ + -0.08014500141143799, + -0.07401800155639648, + 0.001261109726669929 ], "max": [ 0.0757559984922409, 0.07822100073099136, 0.23312711343169212 ], - "min": [ - -0.08014500141143799, - -0.07401800155639648, - 0.001261109726669929 - ] + "size": [ + 0.1559009999036789, + 0.15223900228738785, + 0.2318660037050222 + ], + "units": "m" }, "center_of_mass": [ -0.0005723179783672094, @@ -67,10 +73,27 @@ "object_name": "D00377 Herb Plant", "part_name": "D00377 Herb Plant" }, - "volume": 0.0007894736842105263 + "volume": 0.0007894736842105263, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7dd13c0485b819ce35972a08df29b07c4e31244356684bbfac21ffed0eb1b06a" + }, + "usd_path": "batch25/D00377_Herb_Plant/IsaacSim_assets_6a7952f2d43e1896052fe3e2/IsaacSim_asset_6a7952f2d43e1896052fe3e2.usd", + "usd_sha256": "6aea5104c29e2f0b3ac382cdb46793f5593c5a1371b4d39879833c3ac00c784a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1559009999036789, 0.15223900228738785, 0.2318660037050222 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6aea5104c29e2f0b3ac382cdb46793f5593c5a1371b4d39879833c3ac00c784a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6aea5104c29e2f0b3ac382cdb46793f5593c5a1371b4d39879833c3ac00c784a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 100, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6aea5104c29e2f0b3ac382cdb46793f5593c5a1371b4d39879833c3ac00c784a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 100, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6aea5104c29e2f0b3ac382cdb46793f5593c5a1371b4d39879833c3ac00c784a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00401 Parchment Paper Roll/IsaacSim_assets_6a799f42d43e189605366ec6/physics_6a799f42d43e189605366ec6.json b/batch25/D00401 Parchment Paper Roll/IsaacSim_assets_6a799f42d43e189605366ec6/physics_6a799f42d43e189605366ec6.json index 6bae61ce0b2166f0d4d1a24d4d13dfe5cd12ff2e..5d41682e4fad5ec129c2847417453d485633ba0b 100644 --- a/batch25/D00401 Parchment Paper Roll/IsaacSim_assets_6a799f42d43e189605366ec6/physics_6a799f42d43e189605366ec6.json +++ b/batch25/D00401 Parchment Paper Roll/IsaacSim_assets_6a799f42d43e189605366ec6/physics_6a799f42d43e189605366ec6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.036667000502347946, - 0.14300599694252014, - 0.07825875282287598 - ], "min": [ -0.04120799899101257, -0.1439570039510727, 0.001551748951897025 ], + "max": [ + 0.036667000502347946, + 0.14300599694252014, + 0.07825875282287598 + ], "size": [ 0.07787499949336052, 0.28696300089359283, 0.07670700387097895 - ] + ], + "units": "m" }, "description": "D00401 Parchment Paper Roll", "name": "D00401 Parchment Paper Roll", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00401", "parts": [ { "bounds": { - "center": [ - -0.0022704992443323135, - -0.00047550350427627563, - 0.0399052508873865 + "min": [ + -0.04120799899101257, + -0.1439570039510727, + 0.001551748951897025 ], "max": [ 0.036667000502347946, 0.14300599694252014, 0.07825875282287598 ], - "min": [ - -0.04120799899101257, - -0.1439570039510727, - 0.001551748951897025 - ] + "size": [ + 0.07787499949336052, + 0.28696300089359283, + 0.07670700387097895 + ], + "units": "m" }, "center_of_mass": [ -0.0026192597579210997, @@ -59,7 +65,7 @@ 0.001398396329022944, 0.0014040409587323666 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "foam", "name": "D00401 Parchment Paper Roll", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00401 Parchment Paper Roll", "part_name": "D00401 Parchment Paper Roll" }, - "volume": 0.000588235302883036 + "volume": 0.000588235302883036, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c69eb474008501a25a3f125ef858e18535ee174725ef57b65ff6e55734bc84e2" + }, + "usd_path": "batch25/D00401 Parchment Paper Roll/IsaacSim_assets_6a799f42d43e189605366ec6/IsaacSim_asset_6a799f42d43e189605366ec6.usd", + "usd_sha256": "52c19afa0f8d024a7d79ce9cb6797057881bd7f098e3ce036f7ab6b546acaa32", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.07787499949336052, 0.28696300089359283, 0.07670700387097895 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52c19afa0f8d024a7d79ce9cb6797057881bd7f098e3ce036f7ab6b546acaa32", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52c19afa0f8d024a7d79ce9cb6797057881bd7f098e3ce036f7ab6b546acaa32", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52c19afa0f8d024a7d79ce9cb6797057881bd7f098e3ce036f7ab6b546acaa32", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52c19afa0f8d024a7d79ce9cb6797057881bd7f098e3ce036f7ab6b546acaa32", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00408 Carving Knife/IsaacSim_assets_6a754a7e92349ccf311b9264/physics_6a754a7e92349ccf311b9264.json b/batch25/D00408 Carving Knife/IsaacSim_assets_6a754a7e92349ccf311b9264/physics_6a754a7e92349ccf311b9264.json index cd1abf972647cd08679cc32e0d7769c5deb42bf5..149c61ad11a71a44aa28f7b2c0cea1067cc1ce3d 100644 --- a/batch25/D00408 Carving Knife/IsaacSim_assets_6a754a7e92349ccf311b9264/physics_6a754a7e92349ccf311b9264.json +++ b/batch25/D00408 Carving Knife/IsaacSim_assets_6a754a7e92349ccf311b9264/physics_6a754a7e92349ccf311b9264.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.022708000615239143, - 0.2145330011844635, - 0.01853179931640625 - ], "min": [ -0.020135000348091125, -0.13345199823379517, 0.0012627998366951942 ], + "max": [ + 0.022708000615239143, + 0.2145330011844635, + 0.01853179931640625 + ], "size": [ 0.04284300096333027, 0.34798499941825867, 0.017268999479711056 - ] + ], + "units": "m" }, "description": "D00408 Carving Knife", "name": "D00408 Carving Knife", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00408", "parts": [ { "bounds": { - "center": [ - 0.001286500133574009, - 0.04054050147533417, - 0.009897299576550722 + "min": [ + -0.020135000348091125, + -0.13345199823379517, + 0.0012627998366951942 ], "max": [ 0.022708000615239143, 0.2145330011844635, 0.01853179931640625 ], - "min": [ - -0.020135000348091125, - -0.13345199823379517, - 0.0012627998366951942 - ] + "size": [ + 0.04284300096333027, + 0.34798499941825867, + 0.017268999479711056 + ], + "units": "m" }, "center_of_mass": [ 0.0005759586929343641, @@ -59,7 +65,7 @@ 0.0011819681385532022, 0.0012003008741885424 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "glass", "name": "D00408 Carving Knife", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00408 Carving Knife", "part_name": "D00408 Carving Knife" }, - "volume": 5.3763441661352754e-05 + "volume": 5.3763441661352754e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "88e66ec138b09cebdb7ea8e672c9f4341ac77e8590b4a317a60f59931603003e" + }, + "usd_path": "batch25/D00408 Carving Knife/IsaacSim_assets_6a754a7e92349ccf311b9264/IsaacSim_asset_6a754a7e92349ccf311b9264.usd", + "usd_sha256": "bef48e4e605a59d088fdb4340563610af0f27d3005a9d5daf3e4c7ede0e7a024", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.04284300096333027, 0.34798499941825867, 0.017268999479711056 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bef48e4e605a59d088fdb4340563610af0f27d3005a9d5daf3e4c7ede0e7a024", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bef48e4e605a59d088fdb4340563610af0f27d3005a9d5daf3e4c7ede0e7a024", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bef48e4e605a59d088fdb4340563610af0f27d3005a9d5daf3e4c7ede0e7a024", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bef48e4e605a59d088fdb4340563610af0f27d3005a9d5daf3e4c7ede0e7a024", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00409 Fondue Fork/IsaacSim_assets_6a754b0992349ccf311bb390/physics_6a754b0992349ccf311bb390.json b/batch25/D00409 Fondue Fork/IsaacSim_assets_6a754b0992349ccf311bb390/physics_6a754b0992349ccf311bb390.json index 862ff20b7b56d5dd929abba75fb7850e56d52436..95e8af2b91d59513120fb62542d369c1b9b48452 100644 --- a/batch25/D00409 Fondue Fork/IsaacSim_assets_6a754b0992349ccf311bb390/physics_6a754b0992349ccf311bb390.json +++ b/batch25/D00409 Fondue Fork/IsaacSim_assets_6a754b0992349ccf311bb390/physics_6a754b0992349ccf311bb390.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10051000118255615, - 0.009329999797046185, - 0.019402310252189636 - ], "min": [ -0.14695699512958527, -0.009304000064730644, 0.0004223098512738943 ], + "max": [ + 0.10051000118255615, + 0.009329999797046185, + 0.019402310252189636 + ], "size": [ 0.24746699631214142, 0.01863399986177683, 0.018980000400915742 - ] + ], + "units": "m" }, "description": "D00409 Fondue Fork", "name": "D00409 Fondue Fork", "object_type": "rigid_bodies", - "total_mass": 0.045 + "total_mass": 0.04500000178813934, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00409", "parts": [ { "bounds": { - "center": [ - -0.023223496973514557, - 1.2999866157770157e-05, - 0.009912310051731765 + "min": [ + -0.14695699512958527, + -0.009304000064730644, + 0.0004223098512738943 ], "max": [ 0.10051000118255615, 0.009329999797046185, 0.019402310252189636 ], - "min": [ - -0.14695699512958527, - -0.009304000064730644, - 0.0004223098512738943 - ] + "size": [ + 0.24746699631214142, + 0.01863399986177683, + 0.018980000400915742 + ], + "units": "m" }, "center_of_mass": [ -0.0021455720998346806, @@ -59,7 +65,7 @@ 0.00018904365424532443, 0.00018934080435428768 ], - "mass": 0.045, + "mass": 0.04500000178813934, "material": "ceramic", "name": "D00409 Fondue Fork", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00409 Fondue Fork", "part_name": "D00409 Fondue Fork" }, - "volume": 1.6697588789662093e-05 + "volume": 1.6697588789662093e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "954ec277f9387853c625ea60e2e738b4b5eaafd87644a1d1dfceb71ca012cffe" + }, + "usd_path": "batch25/D00409 Fondue Fork/IsaacSim_assets_6a754b0992349ccf311bb390/IsaacSim_asset_6a754b0992349ccf311bb390.usd", + "usd_sha256": "090ad93566e5e9e55385ba33ebe2338fd2108f6f000a95b271db62d7cc7b0eba", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.24746699631214142, 0.01863399986177683, 0.018980000400915742 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "090ad93566e5e9e55385ba33ebe2338fd2108f6f000a95b271db62d7cc7b0eba", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.045 + "value_kg": 0.04500000178813934, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "090ad93566e5e9e55385ba33ebe2338fd2108f6f000a95b271db62d7cc7b0eba", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04500000178813934, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "090ad93566e5e9e55385ba33ebe2338fd2108f6f000a95b271db62d7cc7b0eba", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "090ad93566e5e9e55385ba33ebe2338fd2108f6f000a95b271db62d7cc7b0eba", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00410 Dip Bowl/IsaacSim_assets_6a754b0b92349ccf311bb59d/physics_6a754b0b92349ccf311bb59d.json b/batch25/D00410 Dip Bowl/IsaacSim_assets_6a754b0b92349ccf311bb59d/physics_6a754b0b92349ccf311bb59d.json index b2adcfe571e3af925626326a40309b839585ac2a..baa9e56e3a280772d58eac5146238d3ae31e2263 100644 --- a/batch25/D00410 Dip Bowl/IsaacSim_assets_6a754b0b92349ccf311bb59d/physics_6a754b0b92349ccf311bb59d.json +++ b/batch25/D00410 Dip Bowl/IsaacSim_assets_6a754b0b92349ccf311bb59d/physics_6a754b0b92349ccf311bb59d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.050283998250961304, - 0.05040600150823593, - 0.03185348957777023 - ], "min": [ -0.0502920001745224, -0.049973998218774796, 0.0005564900930039585 ], + "max": [ + 0.050283998250961304, + 0.05040600150823593, + 0.03185348957777023 + ], "size": [ 0.1005759984254837, 0.10037999972701073, 0.031296999484766275 - ] + ], + "units": "m" }, "description": "D00410 Dip Bowl", "name": "D00410 Dip Bowl", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00410", "parts": [ { "bounds": { - "center": [ - -4.000961780548096e-06, - 0.00021600164473056793, - 0.016204989835387096 + "min": [ + -0.0502920001745224, + -0.049973998218774796, + 0.0005564900930039585 ], "max": [ 0.050283998250961304, 0.05040600150823593, 0.03185348957777023 ], - "min": [ - -0.0502920001745224, - -0.049973998218774796, - 0.0005564900930039585 - ] + "size": [ + 0.1005759984254837, + 0.10037999972701073, + 0.031296999484766275 + ], + "units": "m" }, "center_of_mass": [ 0.00047123729018494487, @@ -59,7 +65,7 @@ 3.5184872103855014e-05, 6.305686838459224e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "ceramic", "name": "D00410 Dip Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00410 Dip Bowl", "part_name": "D00410 Dip Bowl" }, - "volume": 1.9500780321785516e-05 + "volume": 1.9500780321785516e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "dabfde4d8cee8e0ef2cd7785ebded0f0c1a40ed17b867b109e1407eb332ace4a" + }, + "usd_path": "batch25/D00410 Dip Bowl/IsaacSim_assets_6a754b0b92349ccf311bb59d/IsaacSim_asset_6a754b0b92349ccf311bb59d.usd", + "usd_sha256": "c97dbeef87a1a681876a581bb5e885732257026b44226106ef37fab4b7defbfe", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1005759984254837, 0.10037999972701073, 0.031296999484766275 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c97dbeef87a1a681876a581bb5e885732257026b44226106ef37fab4b7defbfe", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c97dbeef87a1a681876a581bb5e885732257026b44226106ef37fab4b7defbfe", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c97dbeef87a1a681876a581bb5e885732257026b44226106ef37fab4b7defbfe", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c97dbeef87a1a681876a581bb5e885732257026b44226106ef37fab4b7defbfe", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00411 Sauce Dish/IsaacSim_assets_6a799a7ed43e18960535dd88/physics_6a799a7ed43e18960535dd88.json b/batch25/D00411 Sauce Dish/IsaacSim_assets_6a799a7ed43e18960535dd88/physics_6a799a7ed43e18960535dd88.json index 647e584826a976d211b4bb8e6a41b0935d0ffe37..aae61c9d6c7992218472243eb941edc9236c4d82 100644 --- a/batch25/D00411 Sauce Dish/IsaacSim_assets_6a799a7ed43e18960535dd88/physics_6a799a7ed43e18960535dd88.json +++ b/batch25/D00411 Sauce Dish/IsaacSim_assets_6a799a7ed43e18960535dd88/physics_6a799a7ed43e18960535dd88.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.031000999733805656, - 0.030918000265955925, - 0.016937829554080963 - ], "min": [ -0.03111499920487404, -0.031076999381184578, 0.0003278299991507083 ], + "max": [ + 0.031000999733805656, + 0.030918000265955925, + 0.016937829554080963 + ], "size": [ 0.062115998938679695, 0.0619949996471405, 0.016609999554930255 - ] + ], + "units": "m" }, "description": "D00411 Sauce Dish", "name": "D00411 Sauce Dish", "object_type": "rigid_bodies", - "total_mass": 0.0392 + "total_mass": 0.03920000046491623, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00411", "parts": [ { "bounds": { - "center": [ - -5.699973553419113e-05, - -7.949955761432648e-05, - 0.008632829776615836 + "min": [ + -0.03111499920487404, + -0.031076999381184578, + 0.0003278299991507083 ], "max": [ 0.031000999733805656, 0.030918000265955925, 0.016937829554080963 ], - "min": [ - -0.03111499920487404, - -0.031076999381184578, - 0.0003278299991507083 - ] + "size": [ + 0.062115998938679695, + 0.0619949996471405, + 0.016609999554930255 + ], + "units": "m" }, "center_of_mass": [ -5.299909389577806e-05, @@ -59,7 +65,7 @@ 8.850453014019877e-06, 1.587147926329635e-05 ], - "mass": 0.0392, + "mass": 0.03920000046491623, "material": "metal", "name": "D00411 Sauce Dish", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00411 Sauce Dish", "part_name": "D00411 Sauce Dish" }, - "volume": 4.962025375305852e-06 + "volume": 4.962025375305852e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bc876c4bf2620d94f0eaa07e96d3da16d1d38831230db8f4d907ea72e59f0429" + }, + "usd_path": "batch25/D00411 Sauce Dish/IsaacSim_assets_6a799a7ed43e18960535dd88/IsaacSim_asset_6a799a7ed43e18960535dd88.usd", + "usd_sha256": "9069323f4042ade338c213403b5b18cfa5a4909015010a54202c5df7a9990144", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.062115998938679695, 0.0619949996471405, 0.016609999554930255 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9069323f4042ade338c213403b5b18cfa5a4909015010a54202c5df7a9990144", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0392 + "value_kg": 0.03920000046491623, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9069323f4042ade338c213403b5b18cfa5a4909015010a54202c5df7a9990144", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.03920000046491623, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 21, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9069323f4042ade338c213403b5b18cfa5a4909015010a54202c5df7a9990144", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 21, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9069323f4042ade338c213403b5b18cfa5a4909015010a54202c5df7a9990144", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00412 Condiment Caddy/IsaacSim_assets_6a754c3692349ccf311bfb92/physics_6a754c3692349ccf311bfb92.json b/batch25/D00412 Condiment Caddy/IsaacSim_assets_6a754c3692349ccf311bfb92/physics_6a754c3692349ccf311bfb92.json index 05f41fc79a0fea211e49f5315ba05bcc67f41826..631237dd6cc9da4db934f855303d863b01fcbda1 100644 --- a/batch25/D00412 Condiment Caddy/IsaacSim_assets_6a754c3692349ccf311bfb92/physics_6a754c3692349ccf311bfb92.json +++ b/batch25/D00412 Condiment Caddy/IsaacSim_assets_6a754c3692349ccf311bfb92/physics_6a754c3692349ccf311bfb92.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0910400003194809, - 0.08114399760961533, - 0.16195276379585266 - ], "min": [ -0.09062399715185165, -0.08035299926996231, 0.0009777701925486326 ], + "max": [ + 0.0910400003194809, + 0.08114399760961533, + 0.16195276379585266 + ], "size": [ 0.18166399747133255, 0.16149699687957764, 0.16097499360330403 - ] + ], + "units": "m" }, "description": "D00412 Condiment Caddy", "name": "D00412 Condiment Caddy", "object_type": "rigid_bodies", - "total_mass": 0.31 + "total_mass": 0.3100000023841858, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00412", "parts": [ { "bounds": { - "center": [ - 0.00020800158381462097, - 0.00039549916982650757, - 0.08146526699420065 + "min": [ + -0.09062399715185165, + -0.08035299926996231, + 0.0009777701925486326 ], "max": [ 0.0910400003194809, 0.08114399760961533, 0.16195276379585266 ], - "min": [ - -0.09062399715185165, - -0.08035299926996231, - 0.0009777701925486326 - ] + "size": [ + 0.18166399747133255, + 0.16149699687957764, + 0.16097499360330403 + ], + "units": "m" }, "center_of_mass": [ 0.00020614264940377325, @@ -59,7 +65,7 @@ 0.0013433449203148484, 0.0014572161016985774 ], - "mass": 0.31, + "mass": 0.3100000023841858, "material": "plastic", "name": "D00412 Condiment Caddy", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00412 Condiment Caddy", "part_name": "D00412 Condiment Caddy" }, - "volume": 0.0003100000023841858 + "volume": 0.0003100000023841858, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6fc0fc2bc58440e4ecc09645cc82eb1843a3a6ff2d08e0213c32b62f78b4a67a" + }, + "usd_path": "batch25/D00412 Condiment Caddy/IsaacSim_assets_6a754c3692349ccf311bfb92/IsaacSim_asset_6a754c3692349ccf311bfb92.usd", + "usd_sha256": "3491d699765b838b6b2977a891c11312d95e3c3b6950ebe89422b278073cad8d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.18166399747133255, 0.16149699687957764, 0.16097499360330403 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3491d699765b838b6b2977a891c11312d95e3c3b6950ebe89422b278073cad8d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.31 + "value_kg": 0.3100000023841858, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3491d699765b838b6b2977a891c11312d95e3c3b6950ebe89422b278073cad8d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3100000023841858, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 66, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3491d699765b838b6b2977a891c11312d95e3c3b6950ebe89422b278073cad8d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 66, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3491d699765b838b6b2977a891c11312d95e3c3b6950ebe89422b278073cad8d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00413 Cutlery Tray/IsaacSim_assets_6a754d1d92349ccf311c2ebb/physics_6a754d1d92349ccf311c2ebb.json b/batch25/D00413 Cutlery Tray/IsaacSim_assets_6a754d1d92349ccf311c2ebb/physics_6a754d1d92349ccf311c2ebb.json index 2c8898cb56fa3080642e5e655005534c1516ac5b..6801721bd01253175a756affae7a9b42ee011c99 100644 --- a/batch25/D00413 Cutlery Tray/IsaacSim_assets_6a754d1d92349ccf311c2ebb/physics_6a754d1d92349ccf311c2ebb.json +++ b/batch25/D00413 Cutlery Tray/IsaacSim_assets_6a754d1d92349ccf311c2ebb/physics_6a754d1d92349ccf311c2ebb.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15721799433231354, - 0.19642899930477142, - 0.05125772953033447 - ], "min": [ -0.15556100010871887, -0.19511200487613678, 0.0021137299481779337 ], + "max": [ + 0.15721799433231354, + 0.19642899930477142, + 0.05125772953033447 + ], "size": [ 0.3127789944410324, 0.3915410041809082, 0.04914399958215654 - ] + ], + "units": "m" }, "description": "D00413 Cutlery Tray", "name": "D00413 Cutlery Tray", "object_type": "rigid_bodies", - "total_mass": 0.73 + "total_mass": 0.7300000190734863, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00413", "parts": [ { "bounds": { - "center": [ - 0.0008284971117973328, - 0.0006584972143173218, - 0.026685729739256203 + "min": [ + -0.15556100010871887, + -0.19511200487613678, + 0.0021137299481779337 ], "max": [ 0.15721799433231354, 0.19642899930477142, 0.05125772953033447 ], - "min": [ - -0.15556100010871887, - -0.19511200487613678, - 0.0021137299481779337 - ] + "size": [ + 0.3127789944410324, + 0.3915410041809082, + 0.04914399958215654 + ], + "units": "m" }, "center_of_mass": [ 0.0008455361821688712, @@ -59,7 +65,7 @@ 0.009423966519534588, 0.015190985053777695 ], - "mass": 0.73, + "mass": 0.7300000190734863, "material": "wood", "name": "D00413 Cutlery Tray", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00413 Cutlery Tray", "part_name": "D00413 Cutlery Tray" }, - "volume": 0.0011230769524207481 + "volume": 0.0011230769524207481, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b86599d299050d0ee2a4e3043b10a4debcbf61efb023eb4a48853e3ccf6807df" + }, + "usd_path": "batch25/D00413 Cutlery Tray/IsaacSim_assets_6a754d1d92349ccf311c2ebb/IsaacSim_asset_6a754d1d92349ccf311c2ebb.usd", + "usd_sha256": "6679263fa8946aca6ef44d8b53aabde2265c0266006edd98b79ec9d5b1197574", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.3127789944410324, 0.3915410041809082, 0.04914399958215654 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6679263fa8946aca6ef44d8b53aabde2265c0266006edd98b79ec9d5b1197574", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.73 + "value_kg": 0.7300000190734863, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6679263fa8946aca6ef44d8b53aabde2265c0266006edd98b79ec9d5b1197574", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.7300000190734863, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 40, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6679263fa8946aca6ef44d8b53aabde2265c0266006edd98b79ec9d5b1197574", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 40, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6679263fa8946aca6ef44d8b53aabde2265c0266006edd98b79ec9d5b1197574", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00414 Drawer Organizer/IsaacSim_assets_6a799bd8d43e18960535ff5c/physics_6a799bd8d43e18960535ff5c.json b/batch25/D00414 Drawer Organizer/IsaacSim_assets_6a799bd8d43e18960535ff5c/physics_6a799bd8d43e18960535ff5c.json index 2b4eb28f674684ba7e2a8bb4ba1fef0ec892bc4f..205888615f7bf1d2ea052e41ad306ed7bf64b3e8 100644 --- a/batch25/D00414 Drawer Organizer/IsaacSim_assets_6a799bd8d43e18960535ff5c/physics_6a799bd8d43e18960535ff5c.json +++ b/batch25/D00414 Drawer Organizer/IsaacSim_assets_6a799bd8d43e18960535ff5c/physics_6a799bd8d43e18960535ff5c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.18868499994277954, - 0.23960499465465546, - 0.07752847671508789 - ], "min": [ -0.1777469962835312, -0.2408140003681183, 0.0025514699518680573 ], + "max": [ + 0.18868499994277954, + 0.23960499465465546, + 0.07752847671508789 + ], "size": [ 0.36643199622631073, 0.48041899502277374, 0.07497700676321983 - ] + ], + "units": "m" }, "description": "D00414 Drawer Organizer", "name": "D00414 Drawer Organizer", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00414", "parts": [ { "bounds": { - "center": [ - 0.005469001829624176, - -0.0006045028567314148, - 0.040039973333477974 + "min": [ + -0.1777469962835312, + -0.2408140003681183, + 0.0025514699518680573 ], "max": [ 0.18868499994277954, 0.23960499465465546, 0.07752847671508789 ], - "min": [ - -0.1777469962835312, - -0.2408140003681183, - 0.0025514699518680573 - ] + "size": [ + 0.36643199622631073, + 0.48041899502277374, + 0.07497700676321983 + ], + "units": "m" }, "center_of_mass": [ 0.005455551203340292, @@ -67,10 +73,27 @@ "object_name": "D00414 Drawer Organizer", "part_name": "D00414 Drawer Organizer" }, - "volume": 0.0001923076923076923 + "volume": 0.0001923076923076923, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d29d01185e9d3adef87ac48c271332a7795c33d4fd3fed227116b90a9152f178" + }, + "usd_path": "batch25/D00414 Drawer Organizer/IsaacSim_assets_6a799bd8d43e18960535ff5c/IsaacSim_asset_6a799bd8d43e18960535ff5c.usd", + "usd_sha256": "b6f5c83cf92687a09a8f7a61c0a402fb8bf4b4612aa43fce8d82e6f5982ce569", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.36643199622631073, 0.48041899502277374, 0.07497700676321983 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b6f5c83cf92687a09a8f7a61c0a402fb8bf4b4612aa43fce8d82e6f5982ce569", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b6f5c83cf92687a09a8f7a61c0a402fb8bf4b4612aa43fce8d82e6f5982ce569", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 23, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b6f5c83cf92687a09a8f7a61c0a402fb8bf4b4612aa43fce8d82e6f5982ce569", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 23, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b6f5c83cf92687a09a8f7a61c0a402fb8bf4b4612aa43fce8d82e6f5982ce569", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch25/D00416 Pot Rack/IsaacSim_assets_6a79b053d43e189605390d37/physics_6a79b053d43e189605390d37.json b/batch25/D00416 Pot Rack/IsaacSim_assets_6a79b053d43e189605390d37/physics_6a79b053d43e189605390d37.json index f12b3b3e7201bd8a9347337b41518bdc423f7622..5d9ee2a92e6d13715850b7908fb5e028032ae344 100644 --- a/batch25/D00416 Pot Rack/IsaacSim_assets_6a79b053d43e189605390d37/physics_6a79b053d43e189605390d37.json +++ b/batch25/D00416 Pot Rack/IsaacSim_assets_6a79b053d43e189605390d37/physics_6a79b053d43e189605390d37.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.4564119875431061, - 0.11384599655866623, - 0.13161136209964752 - ], "min": [ -0.4563390016555786, -0.08673900365829468, 0.0029623694717884064 ], + "max": [ + 0.4564119875431061, + 0.11384599655866623, + 0.13161136209964752 + ], "size": [ 0.9127509891986847, 0.2005850002169609, 0.12864899262785912 - ] + ], + "units": "m" }, "description": "D00416 Pot Rack", "name": "D00416 Pot Rack", "object_type": "rigid_bodies", - "total_mass": 3.5 + "total_mass": 3.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00416", "parts": [ { "bounds": { - "center": [ - 3.649294376373291e-05, - 0.013553496450185776, - 0.06728686578571796 + "min": [ + -0.4563390016555786, + -0.08673900365829468, + 0.0029623694717884064 ], "max": [ 0.4564119875431061, 0.11384599655866623, 0.13161136209964752 ], - "min": [ - -0.4563390016555786, - -0.08673900365829468, - 0.0029623694717884064 - ] + "size": [ + 0.9127509891986847, + 0.2005850002169609, + 0.12864899262785912 + ], + "units": "m" }, "center_of_mass": [ -9.870890789898112e-05, @@ -67,10 +73,27 @@ "object_name": "D00416 Pot Rack", "part_name": "D00416 Pot Rack" }, - "volume": 0.00044585987261146497 + "volume": 0.00044585987261146497, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "336aaad5ab2db99b84e34da2b9dfaf88c7d1e792f50d6b78f15ea5648076811b" + }, + "usd_path": "batch25/D00416 Pot Rack/IsaacSim_assets_6a79b053d43e189605390d37/IsaacSim_asset_6a79b053d43e189605390d37.usd", + "usd_sha256": "f5f1a430f4ec6d422be4bff1e34d210b7f34799b8b9f5e58b3a4caf9968218f6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.9127509891986847, 0.2005850002169609, 0.12864899262785912 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f5f1a430f4ec6d422be4bff1e34d210b7f34799b8b9f5e58b3a4caf9968218f6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.5 + "value_kg": 3.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f5f1a430f4ec6d422be4bff1e34d210b7f34799b8b9f5e58b3a4caf9968218f6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 30, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f5f1a430f4ec6d422be4bff1e34d210b7f34799b8b9f5e58b3a4caf9968218f6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 30, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f5f1a430f4ec6d422be4bff1e34d210b7f34799b8b9f5e58b3a4caf9968218f6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00046 Bottle/IsaacSim_assets_6a7a8996b56a872fd7660d03/physics_6a7a8996b56a872fd7660d03.json b/batch26/D00046 Bottle/IsaacSim_assets_6a7a8996b56a872fd7660d03/physics_6a7a8996b56a872fd7660d03.json index ab05d77844a622aac0f73dbb5288e4a0947ca810..8709ded962fc5b8e924b0e0ce2766a7354b48a2c 100644 --- a/batch26/D00046 Bottle/IsaacSim_assets_6a7a8996b56a872fd7660d03/physics_6a7a8996b56a872fd7660d03.json +++ b/batch26/D00046 Bottle/IsaacSim_assets_6a7a8996b56a872fd7660d03/physics_6a7a8996b56a872fd7660d03.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05968499928712845, - 0.05947599932551384, - 0.23490528017282486 - ], "min": [ -0.05933099985122681, -0.05969199910759926, 0.0011792853474617048 ], + "max": [ + 0.05968499928712845, + 0.05947599932551384, + 0.23490528017282486 + ], "size": [ 0.11901599913835526, 0.1191679984331131, 0.23372599482536316 - ] + ], + "units": "m" }, "description": "D00046 Bottle", "name": "D00046 Bottle", "object_type": "rigid_bodies", - "total_mass": 0.425 + "total_mass": 0.42500001192092896, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00046", "parts": [ { "bounds": { - "center": [ - 0.00017699971795082092, - -0.00010799989104270935, - 0.11804228276014328 + "min": [ + -0.05933099985122681, + -0.05969199910759926, + 0.0011792853474617048 ], "max": [ 0.05968499928712845, 0.05947599932551384, 0.23490528017282486 ], - "min": [ - -0.05933099985122681, - -0.05969199910759926, - 0.0011792853474617048 - ] + "size": [ + 0.11901599913835526, + 0.1191679984331131, + 0.23372599482536316 + ], + "units": "m" }, "center_of_mass": [ 0.00017198109708260745, @@ -59,7 +65,7 @@ 0.0018801966216415167, 0.001880418392829597 ], - "mass": 0.425, + "mass": 0.42500001192092896, "material": "ceramic", "name": "D00046 Bottle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00046 Bottle", "part_name": "D00046 Bottle" }, - "volume": 0.00017000000476837158 + "volume": 0.00017000000476837158, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "37859d2212db451ceaf63bf57df2bfe96e3d96f7d129504b3f37d2fc470c8834" + }, + "usd_path": "batch26/D00046 Bottle/IsaacSim_assets_6a7a8996b56a872fd7660d03/IsaacSim_asset_6a7a8996b56a872fd7660d03.usd", + "usd_sha256": "4664d69c86aa1a88d10e5db05a0012e1381bcd8bbd838f231bbad60832e869ff", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.11901599913835526, 0.1191679984331131, 0.23372599482536316 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4664d69c86aa1a88d10e5db05a0012e1381bcd8bbd838f231bbad60832e869ff", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.425 + "value_kg": 0.42500001192092896, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4664d69c86aa1a88d10e5db05a0012e1381bcd8bbd838f231bbad60832e869ff", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.42500001192092896, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4664d69c86aa1a88d10e5db05a0012e1381bcd8bbd838f231bbad60832e869ff", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4664d69c86aa1a88d10e5db05a0012e1381bcd8bbd838f231bbad60832e869ff", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "4664d69c86aa1a88d10e5db05a0012e1381bcd8bbd838f231bbad60832e869ff", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:22.871517+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "bd42e794432cda87f70864d304eb6a7f1eee3c74f75751ec5e2cfc5f9cade007", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00052_Butter_Knife/IsaacSim_assets_6a7c4c85b7a9c4204a4a6a1e/physics_6a7c4c85b7a9c4204a4a6a1e.json b/batch26/D00052_Butter_Knife/IsaacSim_assets_6a7c4c85b7a9c4204a4a6a1e/physics_6a7c4c85b7a9c4204a4a6a1e.json index 6395b6c16129884d01b1b0a66656d2fcd09adf99..e62cf3b5040c70b5e3610b355e26d4a1a3289730 100644 --- a/batch26/D00052_Butter_Knife/IsaacSim_assets_6a7c4c85b7a9c4204a4a6a1e/physics_6a7c4c85b7a9c4204a4a6a1e.json +++ b/batch26/D00052_Butter_Knife/IsaacSim_assets_6a7c4c85b7a9c4204a4a6a1e/physics_6a7c4c85b7a9c4204a4a6a1e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08848399668931961, - 0.01160299964249134, - 0.011419959366321564 - ], "min": [ -0.12073100358247757, -0.014685000292956829, 0.0006539598689414561 ], + "max": [ + 0.08848399668931961, + 0.01160299964249134, + 0.011419959366321564 + ], "size": [ 0.20921500027179718, 0.02628799993544817, 0.010765999497380108 - ] + ], + "units": "m" }, "description": "D00052 Butter Knife", "name": "D00052 Butter Knife", "object_type": "rigid_bodies", - "total_mass": 0.113 + "total_mass": 0.11299999803304672, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00052", "parts": [ { "bounds": { - "center": [ - -0.01612350344657898, - -0.0015410003252327442, - 0.00603695961763151 + "min": [ + -0.12073100358247757, + -0.014685000292956829, + 0.0006539598689414561 ], "max": [ 0.08848399668931961, 0.01160299964249134, 0.011419959366321564 ], - "min": [ - -0.12073100358247757, - -0.014685000292956829, - 0.0006539598689414561 - ] + "size": [ + 0.20921500027179718, + 0.02628799993544817, + 0.010765999497380108 + ], + "units": "m" }, "center_of_mass": [ 0.0012730543967336416, @@ -59,7 +65,7 @@ 0.0002927693712990731, 0.0002962336875498295 ], - "mass": 0.113, + "mass": 0.11299999803304672, "material": "metal", "name": "D00052 Butter Knife", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00052 Butter Knife", "part_name": "D00052 Butter Knife" }, - "volume": 1.4303797219373002e-05 + "volume": 1.4303797219373002e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8c17deb08f8605257a6c18345ace3937c98fe3ac8509448dfc95251a8bab3535" + }, + "usd_path": "batch26/D00052_Butter_Knife/IsaacSim_assets_6a7c4c85b7a9c4204a4a6a1e/IsaacSim_asset_6a7c4c85b7a9c4204a4a6a1e.usd", + "usd_sha256": "3594b71504465f697457c850d2e55a196a574a6119593068badf13af3cc9560b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.20921500027179718, 0.02628799993544817, 0.010765999497380108 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3594b71504465f697457c850d2e55a196a574a6119593068badf13af3cc9560b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.113 + "value_kg": 0.11299999803304672, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3594b71504465f697457c850d2e55a196a574a6119593068badf13af3cc9560b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11299999803304672, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3594b71504465f697457c850d2e55a196a574a6119593068badf13af3cc9560b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3594b71504465f697457c850d2e55a196a574a6119593068badf13af3cc9560b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "3594b71504465f697457c850d2e55a196a574a6119593068badf13af3cc9560b", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:22.987673+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "2fa15d2ee094323ada5bc51b566a30292595ebb498a5eca9be9d9b2392477a05", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00101_Pie_Server/IsaacSim_assets_6a7c0aeeb56a872fd7851c4d/physics_6a7c0aeeb56a872fd7851c4d.json b/batch26/D00101_Pie_Server/IsaacSim_assets_6a7c0aeeb56a872fd7851c4d/physics_6a7c0aeeb56a872fd7851c4d.json index 61977615cf8e05e35235afe17ea5011c2a10f08c..e0c6a9b59dbdf8e1710cd451a785d59e22b5bfc0 100644 --- a/batch26/D00101_Pie_Server/IsaacSim_assets_6a7c0aeeb56a872fd7851c4d/physics_6a7c0aeeb56a872fd7851c4d.json +++ b/batch26/D00101_Pie_Server/IsaacSim_assets_6a7c0aeeb56a872fd7851c4d/physics_6a7c0aeeb56a872fd7851c4d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12740099430084229, - 0.026839999482035637, - 0.02149178832769394 - ], "min": [ -0.12724600732326508, -0.028307000175118446, 0.0008477898081764579 ], + "max": [ + 0.12740099430084229, + 0.026839999482035637, + 0.02149178832769394 + ], "size": [ 0.25464700162410736, 0.05514699965715408, 0.02064399851951748 - ] + ], + "units": "m" }, "description": "D00101 Pie Server", "name": "D00101 Pie Server", "object_type": "rigid_bodies", - "total_mass": 0.126 + "total_mass": 0.12600000202655792, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00101", "parts": [ { "bounds": { - "center": [ - 7.749348878860474e-05, - -0.0007335003465414047, - 0.011169789067935199 + "min": [ + -0.12724600732326508, + -0.028307000175118446, + 0.0008477898081764579 ], "max": [ 0.12740099430084229, 0.026839999482035637, 0.02149178832769394 ], - "min": [ - -0.12724600732326508, - -0.028307000175118446, - 0.0008477898081764579 - ] + "size": [ + 0.25464700162410736, + 0.05514699965715408, + 0.02064399851951748 + ], + "units": "m" }, "center_of_mass": [ 0.013298861682415009, @@ -59,7 +65,7 @@ 0.00039929753984324634, 0.0004109800502192229 ], - "mass": 0.126, + "mass": 0.12600000202655792, "material": "glass", "name": "D00101 Pie Server", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00101 Pie Server", "part_name": "D00101 Pie Server" }, - "volume": 3.600000057901655e-05 + "volume": 3.600000057901655e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c4ddf03b25d4f9dcb1bd2759cbfaab661214007b1a448dba8b67f6b11dfc0b88" + }, + "usd_path": "batch26/D00101_Pie_Server/IsaacSim_assets_6a7c0aeeb56a872fd7851c4d/IsaacSim_asset_6a7c0aeeb56a872fd7851c4d.usd", + "usd_sha256": "7a19fec3cd788abb774461fbe7eb9026a4614a6dc1c335e34ea80281400d7480", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.25464700162410736, 0.05514699965715408, 0.02064399851951748 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7a19fec3cd788abb774461fbe7eb9026a4614a6dc1c335e34ea80281400d7480", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.126 + "value_kg": 0.12600000202655792, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7a19fec3cd788abb774461fbe7eb9026a4614a6dc1c335e34ea80281400d7480", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.12600000202655792, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7a19fec3cd788abb774461fbe7eb9026a4614a6dc1c335e34ea80281400d7480", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7a19fec3cd788abb774461fbe7eb9026a4614a6dc1c335e34ea80281400d7480", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "7a19fec3cd788abb774461fbe7eb9026a4614a6dc1c335e34ea80281400d7480", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:00.554514+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "ec77e6871d4520789ddafb2f72b88c100e20f44919d9235be8a3c4de58bec43c", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00181 Gravy Separator/IsaacSim_assets_6a79efbdd43e1896053e7013/physics_6a79efbdd43e1896053e7013.json b/batch26/D00181 Gravy Separator/IsaacSim_assets_6a79efbdd43e1896053e7013/physics_6a79efbdd43e1896053e7013.json index 737fc9f783decbe038bf49d77feb80d470242eeb..bd8f02d3920bcb7b798847a3f349daf89023e655 100644 --- a/batch26/D00181 Gravy Separator/IsaacSim_assets_6a79efbdd43e1896053e7013/physics_6a79efbdd43e1896053e7013.json +++ b/batch26/D00181 Gravy Separator/IsaacSim_assets_6a79efbdd43e1896053e7013/physics_6a79efbdd43e1896053e7013.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09788099676370621, - 0.06308899819850922, - 0.11108862888067961 - ], "min": [ -0.08143699914216995, -0.0625, 0.0009116298242588528 ], + "max": [ + 0.09788099676370621, + 0.06308899819850922, + 0.11108862888067961 + ], "size": [ 0.17931799590587616, 0.12558899819850922, 0.11017699905642075 - ] + ], + "units": "m" }, "description": "D00181 Gravy Separator", "name": "D00181 Gravy Separator", "object_type": "rigid_bodies", - "total_mass": 0.33 + "total_mass": 0.33000001311302185, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00181", "parts": [ { "bounds": { - "center": [ - 0.008221998810768127, - 0.00029449909925460815, - 0.05600012935246923 + "min": [ + -0.08143699914216995, + -0.0625, + 0.0009116298242588528 ], "max": [ 0.09788099676370621, 0.06308899819850922, 0.11108862888067961 ], - "min": [ - -0.08143699914216995, - -0.0625, - 0.0009116298242588528 - ] + "size": [ + 0.17931799590587616, + 0.12558899819850922, + 0.11017699905642075 + ], + "units": "m" }, "center_of_mass": [ -0.0005872964975424111, @@ -59,7 +65,7 @@ 0.000985836493782699, 0.001005741418339312 ], - "mass": 0.33, + "mass": 0.33000001311302185, "material": "ceramic", "name": "D00181 Gravy Separator", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00181 Gravy Separator", "part_name": "D00181 Gravy Separator" }, - "volume": 0.00013200000524520874 + "volume": 0.00013200000524520874, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4366cc324d7cfbf0c3a76eef90eb1e8024bcf828350acc7ca906430e59516062" + }, + "usd_path": "batch26/D00181 Gravy Separator/IsaacSim_assets_6a79efbdd43e1896053e7013/IsaacSim_asset_6a79efbdd43e1896053e7013.usd", + "usd_sha256": "f71a216c1463b58a7b87dfce633fc0f0de0181a7337928f40f31af04185d987e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,73 @@ 0.17931799590587616, 0.12558899819850922, 0.11017699905642075 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f71a216c1463b58a7b87dfce633fc0f0de0181a7337928f40f31af04185d987e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.33 + "value_kg": 0.33000001311302185, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f71a216c1463b58a7b87dfce633fc0f0de0181a7337928f40f31af04185d987e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.33000001311302185, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 22, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f71a216c1463b58a7b87dfce633fc0f0de0181a7337928f40f31af04185d987e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 22, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f71a216c1463b58a7b87dfce633fc0f0de0181a7337928f40f31af04185d987e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "f71a216c1463b58a7b87dfce633fc0f0de0181a7337928f40f31af04185d987e", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:00.265967+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "50dfc49df4b338caa87c0849d4af74e6631786bbefa43245e0fddd8145b553d6", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00418 Cookie Cutter/IsaacSim_assets_6a799c89d43e1896053614a1/physics_6a799c89d43e1896053614a1.json b/batch26/D00418 Cookie Cutter/IsaacSim_assets_6a799c89d43e1896053614a1/physics_6a799c89d43e1896053614a1.json index c14c1ee5c88d6e56379d064372db922d2732c16a..35e9bf2caf09a694a0aab609c32a3cb0e2e98be8 100644 --- a/batch26/D00418 Cookie Cutter/IsaacSim_assets_6a799c89d43e1896053614a1/physics_6a799c89d43e1896053614a1.json +++ b/batch26/D00418 Cookie Cutter/IsaacSim_assets_6a799c89d43e1896053614a1/physics_6a799c89d43e1896053614a1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03398900106549263, - 0.03571999818086624, - 0.024171561002731323 - ], "min": [ -0.03378299996256828, -0.029391000047326088, 0.00035556036164052784 ], + "max": [ + 0.03398900106549263, + 0.03571999818086624, + 0.024171561002731323 + ], "size": [ 0.06777200102806091, 0.06511099822819233, 0.023816000641090795 - ] + ], + "units": "m" }, "description": "D00418 Cookie Cutter", "name": "D00418 Cookie Cutter", "object_type": "rigid_bodies", - "total_mass": 0.074 + "total_mass": 0.07400000095367432, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00418", "parts": [ { "bounds": { - "center": [ - 0.00010300055146217346, - 0.0031644990667700768, - 0.012263560682185926 + "min": [ + -0.03378299996256828, + -0.029391000047326088, + 0.00035556036164052784 ], "max": [ 0.03398900106549263, 0.03571999818086624, 0.024171561002731323 ], - "min": [ - -0.03378299996256828, - -0.029391000047326088, - 0.00035556036164052784 - ] + "size": [ + 0.06777200102806091, + 0.06511099822819233, + 0.023816000641090795 + ], + "units": "m" }, "center_of_mass": [ 0.00010869399557122961, @@ -59,7 +65,7 @@ 2.1867423129151575e-05, 3.664779433165677e-05 ], - "mass": 0.074, + "mass": 0.07400000095367432, "material": "metal", "name": "D00418 Cookie Cutter", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00418 Cookie Cutter", "part_name": "D00418 Cookie Cutter" }, - "volume": 9.250000119209289e-06 + "volume": 9.250000119209289e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a14b34fd0c4320d0ff058c17ab9c132e04cc9d5efebc9a798e887f55577913a3" + }, + "usd_path": "batch26/D00418 Cookie Cutter/IsaacSim_assets_6a799c89d43e1896053614a1/IsaacSim_asset_6a799c89d43e1896053614a1.usd", + "usd_sha256": "18fb1bd2f83ffcbf687f4f197db59d7087abbc70cb5862767c1735420e20ea4b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.06777200102806091, 0.06511099822819233, 0.023816000641090795 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18fb1bd2f83ffcbf687f4f197db59d7087abbc70cb5862767c1735420e20ea4b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.074 + "value_kg": 0.07400000095367432, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18fb1bd2f83ffcbf687f4f197db59d7087abbc70cb5862767c1735420e20ea4b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07400000095367432, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 13, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18fb1bd2f83ffcbf687f4f197db59d7087abbc70cb5862767c1735420e20ea4b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 13, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18fb1bd2f83ffcbf687f4f197db59d7087abbc70cb5862767c1735420e20ea4b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00421 Juice/IsaacSim_assets_6a7d37a9b7a9c4204a64bce1/physics_6a7d37a9b7a9c4204a64bce1.json b/batch26/D00421 Juice/IsaacSim_assets_6a7d37a9b7a9c4204a64bce1/physics_6a7d37a9b7a9c4204a64bce1.json index b78969494404a2097907fd957cb4311ebcf03864..5ab7e9a73ac070db88ea5fcc9cf2ac93e10c0b5d 100644 --- a/batch26/D00421 Juice/IsaacSim_assets_6a7d37a9b7a9c4204a64bce1/physics_6a7d37a9b7a9c4204a64bce1.json +++ b/batch26/D00421 Juice/IsaacSim_assets_6a7d37a9b7a9c4204a64bce1/physics_6a7d37a9b7a9c4204a64bce1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03555599972605705, - 0.03423000127077103, - 0.2005404829978943 - ], "min": [ -0.03568299859762192, -0.03564999997615814, 0.001088480232283473 ], + "max": [ + 0.03555599972605705, + 0.03423000127077103, + 0.2005404829978943 + ], "size": [ 0.07123899832367897, 0.06988000124692917, 0.19945200276561081 - ] + ], + "units": "m" }, "description": "D00421 Juice", "name": "D00421 Juice", "object_type": "rigid_bodies", - "total_mass": 1.05 + "total_mass": 1.0499999523162842, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00421", "parts": [ { "bounds": { - "center": [ - -6.349943578243256e-05, - -0.0007099993526935577, - 0.10081448161508888 + "min": [ + -0.03568299859762192, + -0.03564999997615814, + 0.001088480232283473 ], "max": [ 0.03555599972605705, 0.03423000127077103, 0.2005404829978943 ], - "min": [ - -0.03568299859762192, - -0.03564999997615814, - 0.001088480232283473 - ] + "size": [ + 0.07123899832367897, + 0.06988000124692917, + 0.19945200276561081 + ], + "units": "m" }, "center_of_mass": [ -6.986041262280196e-05, @@ -59,7 +65,7 @@ 0.0036623647902160883, 0.003666195087134838 ], - "mass": 1.05, + "mass": 1.0499999523162842, "material": "plastic", "name": "D00421 Juice", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00421 Juice", "part_name": "D00421 Juice" }, - "volume": 0.0009803921123401347 + "volume": 0.0009803921123401347, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8c9640d7aa2c702b88a57d64d4bed68b096da8e988856035421b4f2b670448ec" + }, + "usd_path": "batch26/D00421 Juice/IsaacSim_assets_6a7d37a9b7a9c4204a64bce1/IsaacSim_asset_6a7d37a9b7a9c4204a64bce1.usd", + "usd_sha256": "6e6eb556cc1084980a61e0d1809bf11a9be145da213b24e015e59ade2ad724fe", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.07123899832367897, 0.06988000124692917, 0.19945200276561081 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e6eb556cc1084980a61e0d1809bf11a9be145da213b24e015e59ade2ad724fe", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.05 + "value_kg": 1.0499999523162842, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e6eb556cc1084980a61e0d1809bf11a9be145da213b24e015e59ade2ad724fe", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0499999523162842, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e6eb556cc1084980a61e0d1809bf11a9be145da213b24e015e59ade2ad724fe", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e6eb556cc1084980a61e0d1809bf11a9be145da213b24e015e59ade2ad724fe", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00429 Pudding Mold/IsaacSim_assets_6a799f94d43e189605367dc4/physics_6a799f94d43e189605367dc4.json b/batch26/D00429 Pudding Mold/IsaacSim_assets_6a799f94d43e189605367dc4/physics_6a799f94d43e189605367dc4.json index e0421c2f9b5f89368f771bd8512a6ed82d215d3a..7b4f48e07371a420fe0cfdec13a57bfb384f963c 100644 --- a/batch26/D00429 Pudding Mold/IsaacSim_assets_6a799f94d43e189605367dc4/physics_6a799f94d43e189605367dc4.json +++ b/batch26/D00429 Pudding Mold/IsaacSim_assets_6a799f94d43e189605367dc4/physics_6a799f94d43e189605367dc4.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1136770024895668, - 0.11388999968767166, - 0.08617398142814636 - ], "min": [ -0.11364699900150299, -0.11381799727678299, 0.0011059800162911415 ], + "max": [ + 0.1136770024895668, + 0.11388999968767166, + 0.08617398142814636 + ], "size": [ 0.2273240014910698, 0.22770799696445465, 0.08506800141185522 - ] + ], + "units": "m" }, "description": "D00429 Pudding Mold", "name": "D00429 Pudding Mold", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00429", "parts": [ { "bounds": { - "center": [ - 1.5001744031906128e-05, - 3.600120544433594e-05, - 0.04363998072221875 + "min": [ + -0.11364699900150299, + -0.11381799727678299, + 0.0011059800162911415 ], "max": [ 0.1136770024895668, 0.11388999968767166, 0.08617398142814636 ], - "min": [ - -0.11364699900150299, - -0.11381799727678299, - 0.0011059800162911415 - ] + "size": [ + 0.2273240014910698, + 0.22770799696445465, + 0.08506800141185522 + ], + "units": "m" }, "center_of_mass": [ -2.7484178644954227e-05, @@ -59,7 +65,7 @@ 0.0033249175176024437, 0.0054047987796366215 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "ceramic", "name": "D00429 Pudding Mold", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00429 Pudding Mold", "part_name": "D00429 Pudding Mold" }, - "volume": 0.0002962963007114552 + "volume": 0.0002962963007114552, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2d79b9e99c20ce203fea51846e9085638486d461b7d7075117e6ec7609ec5269" + }, + "usd_path": "batch26/D00429 Pudding Mold/IsaacSim_assets_6a799f94d43e189605367dc4/IsaacSim_asset_6a799f94d43e189605367dc4.usd", + "usd_sha256": "6db90fb500941c99d2bd33b4fbe742610c51e005eb49021709a4759bc6ef6753", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.2273240014910698, 0.22770799696445465, 0.08506800141185522 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6db90fb500941c99d2bd33b4fbe742610c51e005eb49021709a4759bc6ef6753", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6db90fb500941c99d2bd33b4fbe742610c51e005eb49021709a4759bc6ef6753", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 89, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6db90fb500941c99d2bd33b4fbe742610c51e005eb49021709a4759bc6ef6753", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 89, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6db90fb500941c99d2bd33b4fbe742610c51e005eb49021709a4759bc6ef6753", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00431 Jelly Mold/IsaacSim_assets_6a75519092349ccf311d1c1a/physics_6a75519092349ccf311d1c1a.json b/batch26/D00431 Jelly Mold/IsaacSim_assets_6a75519092349ccf311d1c1a/physics_6a75519092349ccf311d1c1a.json index 212c79fd11f966e490e9beb33a2d9f3244658e23..140b30e839e90e767f62365b96ae8f4018a30e01 100644 --- a/batch26/D00431 Jelly Mold/IsaacSim_assets_6a75519092349ccf311d1c1a/physics_6a75519092349ccf311d1c1a.json +++ b/batch26/D00431 Jelly Mold/IsaacSim_assets_6a75519092349ccf311d1c1a/physics_6a75519092349ccf311d1c1a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09917700290679932, - 0.09930200129747391, - 0.08602552115917206 - ], "min": [ -0.09994599968194962, -0.0992560014128685, 0.0009145198855549097 ], + "max": [ + 0.09917700290679932, + 0.09930200129747391, + 0.08602552115917206 + ], "size": [ 0.19912300258874893, 0.1985580027103424, 0.08511100127361715 - ] + ], + "units": "m" }, "description": "D00431 Jelly Mold", "name": "D00431 Jelly Mold", "object_type": "rigid_bodies", - "total_mass": 0.285 + "total_mass": 0.2849999964237213, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00431", "parts": [ { "bounds": { - "center": [ - -0.00038449838757514954, - 2.2999942302703857e-05, - 0.043470020522363484 + "min": [ + -0.09994599968194962, + -0.0992560014128685, + 0.0009145198855549097 ], "max": [ 0.09917700290679932, 0.09930200129747391, 0.08602552115917206 ], - "min": [ - -0.09994599968194962, - -0.0992560014128685, - 0.0009145198855549097 - ] + "size": [ + 0.19912300258874893, + 0.1985580027103424, + 0.08511100127361715 + ], + "units": "m" }, "center_of_mass": [ -0.00033081573201343417, @@ -59,7 +65,7 @@ 0.0007443359936587512, 0.0011491518234834075 ], - "mass": 0.285, + "mass": 0.2849999964237213, "material": "plastic", "name": "D00431 Jelly Mold", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00431 Jelly Mold", "part_name": "D00431 Jelly Mold" }, - "volume": 0.00025909090583974665 + "volume": 0.00025909090583974665, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fb867fd6a959bcb071cb67e5b659d06951d86ed89d8df6def447de26ef21ad1e" + }, + "usd_path": "batch26/D00431 Jelly Mold/IsaacSim_assets_6a75519092349ccf311d1c1a/IsaacSim_asset_6a75519092349ccf311d1c1a.usd", + "usd_sha256": "64a2964db25ffde496ccffea74e85dad55a93fe00ca3b872d653d8b400a436eb", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.19912300258874893, 0.1985580027103424, 0.08511100127361715 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64a2964db25ffde496ccffea74e85dad55a93fe00ca3b872d653d8b400a436eb", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.285 + "value_kg": 0.2849999964237213, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64a2964db25ffde496ccffea74e85dad55a93fe00ca3b872d653d8b400a436eb", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2849999964237213, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 95, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64a2964db25ffde496ccffea74e85dad55a93fe00ca3b872d653d8b400a436eb", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 95, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64a2964db25ffde496ccffea74e85dad55a93fe00ca3b872d653d8b400a436eb", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00460 Martini Glass/IsaacSim_assets_6a799128d43e18960534b7cf/physics_6a799128d43e18960534b7cf.json b/batch26/D00460 Martini Glass/IsaacSim_assets_6a799128d43e18960534b7cf/physics_6a799128d43e18960534b7cf.json index a97b53f1821361f8ae572f5d080447a311c4281d..748bacd76dd51271410b28e6d381bc035264f906 100644 --- a/batch26/D00460 Martini Glass/IsaacSim_assets_6a799128d43e18960534b7cf/physics_6a799128d43e18960534b7cf.json +++ b/batch26/D00460 Martini Glass/IsaacSim_assets_6a799128d43e18960534b7cf/physics_6a799128d43e18960534b7cf.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.062150999903678894, - 0.06271599978208542, - 0.17719778418540955 - ], "min": [ -0.06193099915981293, -0.06257700175046921, 0.0008757901377975941 ], + "max": [ + 0.062150999903678894, + 0.06271599978208542, + 0.17719778418540955 + ], "size": [ 0.12408199906349182, 0.12529300153255463, 0.17632199404761195 - ] + ], + "units": "m" }, "description": "D00460 Martini Glass", "name": "D00460 Martini Glass", "object_type": "rigid_bodies", - "total_mass": 0.89 + "total_mass": 0.8899999856948853, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00460", "parts": [ { "bounds": { - "center": [ - 0.0001100003719329834, - 6.949901580810547e-05, - 0.08903678716160357 + "min": [ + -0.06193099915981293, + -0.06257700175046921, + 0.0008757901377975941 ], "max": [ 0.062150999903678894, 0.06271599978208542, 0.17719778418540955 ], - "min": [ - -0.06193099915981293, - -0.06257700175046921, - 0.0008757901377975941 - ] + "size": [ + 0.12408199906349182, + 0.12529300153255463, + 0.17632199404761195 + ], + "units": "m" }, "center_of_mass": [ 0.00010413075506221503, @@ -59,7 +65,7 @@ 0.00281516439281404, 0.002826022682711482 ], - "mass": 0.89, + "mass": 0.8899999856948853, "material": "metal", "name": "D00460 Martini Glass", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00460 Martini Glass", "part_name": "D00460 Martini Glass" }, - "volume": 0.00011410256226857503 + "volume": 0.00011410256226857503, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "daa4291e762f8774710bafd2fffe78126c6251145053497b0bf179b2337e3915" + }, + "usd_path": "batch26/D00460 Martini Glass/IsaacSim_assets_6a799128d43e18960534b7cf/IsaacSim_asset_6a799128d43e18960534b7cf.usd", + "usd_sha256": "705ac0d77d8211c63f2f089c1af63f8c53ce64e5018449ad1a266c9b713cd5e9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.12408199906349182, 0.12529300153255463, 0.17632199404761195 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "705ac0d77d8211c63f2f089c1af63f8c53ce64e5018449ad1a266c9b713cd5e9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.89 + "value_kg": 0.8899999856948853, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "705ac0d77d8211c63f2f089c1af63f8c53ce64e5018449ad1a266c9b713cd5e9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8899999856948853, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "705ac0d77d8211c63f2f089c1af63f8c53ce64e5018449ad1a266c9b713cd5e9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "705ac0d77d8211c63f2f089c1af63f8c53ce64e5018449ad1a266c9b713cd5e9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00468 Punch Bowl/IsaacSim_assets_6a79a7f1d43e18960537c682/physics_6a79a7f1d43e18960537c682.json b/batch26/D00468 Punch Bowl/IsaacSim_assets_6a79a7f1d43e18960537c682/physics_6a79a7f1d43e18960537c682.json index 4bf76b956a8f0b1e59a2369257b6df24b9605443..c91a8b7be502da3b9b170fe16df937287f6196eb 100644 --- a/batch26/D00468 Punch Bowl/IsaacSim_assets_6a79a7f1d43e18960537c682/physics_6a79a7f1d43e18960537c682.json +++ b/batch26/D00468 Punch Bowl/IsaacSim_assets_6a79a7f1d43e18960537c682/physics_6a79a7f1d43e18960537c682.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17557799816131592, - 0.1762000024318695, - 0.24494656920433044 - ], "min": [ -0.17586100101470947, -0.17556999623775482, 0.001836570561863482 ], + "max": [ + 0.17557799816131592, + 0.1762000024318695, + 0.24494656920433044 + ], "size": [ 0.3514389991760254, 0.35176999866962433, 0.24310999864246696 - ] + ], + "units": "m" }, "description": "D00468 Punch Bowl", "name": "D00468 Punch Bowl", "object_type": "rigid_bodies", - "total_mass": 3.22 + "total_mass": 3.2200000286102295, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00468", "parts": [ { "bounds": { - "center": [ - -0.00014150142669677734, - 0.00031500309705734253, - 0.12339156988309696 + "min": [ + -0.17586100101470947, + -0.17556999623775482, + 0.001836570561863482 ], "max": [ 0.17557799816131592, 0.1762000024318695, 0.24494656920433044 ], - "min": [ - -0.17586100101470947, - -0.17556999623775482, - 0.001836570561863482 - ] + "size": [ + 0.3514389991760254, + 0.35176999866962433, + 0.24310999864246696 + ], + "units": "m" }, "center_of_mass": [ -0.0003319891111459583, @@ -59,7 +65,7 @@ 0.03720829635858536, 0.04104354605078697 ], - "mass": 3.22, + "mass": 3.2200000286102295, "material": "ceramic", "name": "D00468 Punch Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00468 Punch Bowl", "part_name": "D00468 Punch Bowl" }, - "volume": 0.0012880000114440919 + "volume": 0.0012880000114440919, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "55b71ed3b0d5687611db98921835b879d46342494d603115b7e5f23d1abca0df" + }, + "usd_path": "batch26/D00468 Punch Bowl/IsaacSim_assets_6a79a7f1d43e18960537c682/IsaacSim_asset_6a79a7f1d43e18960537c682.usd", + "usd_sha256": "2771d9ccd6899c6fc6957682760d9784b8ab087f4425e87be33394c3725b592e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.3514389991760254, 0.35176999866962433, 0.24310999864246696 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2771d9ccd6899c6fc6957682760d9784b8ab087f4425e87be33394c3725b592e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.22 + "value_kg": 3.2200000286102295, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2771d9ccd6899c6fc6957682760d9784b8ab087f4425e87be33394c3725b592e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.2200000286102295, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 39, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2771d9ccd6899c6fc6957682760d9784b8ab087f4425e87be33394c3725b592e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 39, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2771d9ccd6899c6fc6957682760d9784b8ab087f4425e87be33394c3725b592e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00473 Produce Basket/IsaacSim_assets_6a79c5d7d43e1896053b2cfb/physics_6a79c5d7d43e1896053b2cfb.json b/batch26/D00473 Produce Basket/IsaacSim_assets_6a79c5d7d43e1896053b2cfb/physics_6a79c5d7d43e1896053b2cfb.json index 9a2c69ff1818e5e175612667aafec59f81b2de78..223bc62ef2fcb689eb3c4e08441d590edbbf4562 100644 --- a/batch26/D00473 Produce Basket/IsaacSim_assets_6a79c5d7d43e1896053b2cfb/physics_6a79c5d7d43e1896053b2cfb.json +++ b/batch26/D00473 Produce Basket/IsaacSim_assets_6a79c5d7d43e1896053b2cfb/physics_6a79c5d7d43e1896053b2cfb.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15585200488567352, - 0.19223900139331818, - 0.2274656891822815 - ], "min": [ -0.1552789956331253, -0.19431500136852264, 0.0017016931669786572 ], + "max": [ + 0.15585200488567352, + 0.19223900139331818, + 0.2274656891822815 + ], "size": [ 0.31113100051879883, 0.3865540027618408, 0.22576399601530284 - ] + ], + "units": "m" }, "description": "D00473 Produce Basket", "name": "D00473 Produce Basket", "object_type": "rigid_bodies", - "total_mass": 1.0 + "total_mass": 1.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00473", "parts": [ { "bounds": { - "center": [ - 0.0002865046262741089, - -0.0010379999876022339, - 0.11458369117463008 + "min": [ + -0.1552789956331253, + -0.19431500136852264, + 0.0017016931669786572 ], "max": [ 0.15585200488567352, 0.19223900139331818, 0.2274656891822815 ], - "min": [ - -0.1552789956331253, - -0.19431500136852264, - 0.0017016931669786572 - ] + "size": [ + 0.31113100051879883, + 0.3865540027618408, + 0.22576399601530284 + ], + "units": "m" }, "center_of_mass": [ 0.0002906727895606309, @@ -67,10 +73,27 @@ "object_name": "D00473 Produce Basket", "part_name": "D00473 Produce Basket" }, - "volume": 0.002150537634408602 + "volume": 0.002150537634408602, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "73ebbe428854b8e6ed12bbbdd54c6a6c2a4c2e09cc46ca1285921793ecef7861" + }, + "usd_path": "batch26/D00473 Produce Basket/IsaacSim_assets_6a79c5d7d43e1896053b2cfb/IsaacSim_asset_6a79c5d7d43e1896053b2cfb.usd", + "usd_sha256": "3cb1e88fc9ae7cc6c32b97a46ae272c6bf8ac684bf518dbcd2b8b49252e4ed79", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.31113100051879883, 0.3865540027618408, 0.22576399601530284 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3cb1e88fc9ae7cc6c32b97a46ae272c6bf8ac684bf518dbcd2b8b49252e4ed79", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0 + "value_kg": 1.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3cb1e88fc9ae7cc6c32b97a46ae272c6bf8ac684bf518dbcd2b8b49252e4ed79", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3cb1e88fc9ae7cc6c32b97a46ae272c6bf8ac684bf518dbcd2b8b49252e4ed79", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3cb1e88fc9ae7cc6c32b97a46ae272c6bf8ac684bf518dbcd2b8b49252e4ed79", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00499 Pie Weights/IsaacSim_assets_6a79a8d1d43e18960537e4e7/physics_6a79a8d1d43e18960537e4e7.json b/batch26/D00499 Pie Weights/IsaacSim_assets_6a79a8d1d43e18960537e4e7/physics_6a79a8d1d43e18960537e4e7.json index e78f4fc2c1e025fd9a04b244a090023cd43f585f..cdd5da8e69315dec1f4b75c7b39537c752c741ee 100644 --- a/batch26/D00499 Pie Weights/IsaacSim_assets_6a79a8d1d43e18960537e4e7/physics_6a79a8d1d43e18960537e4e7.json +++ b/batch26/D00499 Pie Weights/IsaacSim_assets_6a79a8d1d43e18960537e4e7/physics_6a79a8d1d43e18960537e4e7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0038129999302327633, - 0.0038129999302327633, - 0.007626259699463844 - ], "min": [ -0.0038189999759197235, -0.0037769998889416456, 2.600299922050908e-07 ], + "max": [ + 0.0038129999302327633, + 0.0038129999302327633, + 0.007626259699463844 + ], "size": [ 0.007631999906152487, 0.007589999819174409, 0.007625999669471639 - ] + ], + "units": "m" }, "description": "D00499 Pie Weights", "name": "D00499 Pie Weights", "object_type": "rigid_bodies", - "total_mass": 0.00217 + "total_mass": 0.0021699999924749136, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00499", "parts": [ { "bounds": { - "center": [ - -3.00002284348011e-06, - 1.8000020645558834e-05, - 0.0038132598647280247 + "min": [ + -0.0038189999759197235, + -0.0037769998889416456, + 2.600299922050908e-07 ], "max": [ 0.0038129999302327633, 0.0038129999302327633, 0.007626259699463844 ], - "min": [ - -0.0038189999759197235, - -0.0037769998889416456, - 2.600299922050908e-07 - ] + "size": [ + 0.007631999906152487, + 0.007589999819174409, + 0.007625999669471639 + ], + "units": "m" }, "center_of_mass": [ -1.900676215882413e-05, @@ -59,7 +65,7 @@ 1.2412222361035674e-08, 1.2453145181723357e-08 ], - "mass": 0.00217, + "mass": 0.0021699999924749136, "material": "ceramic", "name": "D00499 Pie Weights", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00499 Pie Weights", "part_name": "D00499 Pie Weights" }, - "volume": 9.04166663531214e-07 + "volume": 9.04166663531214e-07, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3edcc58c8c4fd2fedce43a053f283c55f3d47dad468b6c641b59006310774c9f" + }, + "usd_path": "batch26/D00499 Pie Weights/IsaacSim_assets_6a79a8d1d43e18960537e4e7/IsaacSim_asset_6a79a8d1d43e18960537e4e7.usd", + "usd_sha256": "fe8fa1e71d02a29c2f638f2cfe9de1e1f6794affa934caaaef3a98ac878fa0b8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.007631999906152487, 0.007589999819174409, 0.007625999669471639 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe8fa1e71d02a29c2f638f2cfe9de1e1f6794affa934caaaef3a98ac878fa0b8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.00217 + "value_kg": 0.0021699999924749136, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe8fa1e71d02a29c2f638f2cfe9de1e1f6794affa934caaaef3a98ac878fa0b8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0021699999924749136, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe8fa1e71d02a29c2f638f2cfe9de1e1f6794affa934caaaef3a98ac878fa0b8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe8fa1e71d02a29c2f638f2cfe9de1e1f6794affa934caaaef3a98ac878fa0b8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00503 Cake Leveler/IsaacSim_assets_6a79913ad43e18960534bad7/physics_6a79913ad43e18960534bad7.json b/batch26/D00503 Cake Leveler/IsaacSim_assets_6a79913ad43e18960534bad7/physics_6a79913ad43e18960534bad7.json index b69bf1098b355e094ec59130b182ba2e4fbdf157..b0e3301645692464c99c15dd7051e086a4f0564e 100644 --- a/batch26/D00503 Cake Leveler/IsaacSim_assets_6a79913ad43e18960534bad7/physics_6a79913ad43e18960534bad7.json +++ b/batch26/D00503 Cake Leveler/IsaacSim_assets_6a79913ad43e18960534bad7/physics_6a79913ad43e18960534bad7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2401680052280426, - 0.024389000609517097, - 0.32695871591567993 - ], "min": [ -0.2313220053911209, -0.024555999785661697, 0.0012597397435456514 ], + "max": [ + 0.2401680052280426, + 0.024389000609517097, + 0.32695871591567993 + ], "size": [ 0.4714900106191635, 0.048945000395178795, 0.3256989761721343 - ] + ], + "units": "m" }, "description": "D00503 Cake Leveler", "name": "D00503 Cake Leveler", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00503", "parts": [ { "bounds": { - "center": [ - 0.004422999918460846, - -8.349958807229996e-05, - 0.1641092278296128 + "min": [ + -0.2313220053911209, + -0.024555999785661697, + 0.0012597397435456514 ], "max": [ 0.2401680052280426, 0.024389000609517097, 0.32695871591567993 ], - "min": [ - -0.2313220053911209, - -0.024555999785661697, - 0.0012597397435456514 - ] + "size": [ + 0.4714900106191635, + 0.048945000395178795, + 0.3256989761721343 + ], + "units": "m" }, "center_of_mass": [ 0.004380760248750448, @@ -67,10 +73,27 @@ "object_name": "D00503 Cake Leveler", "part_name": "D00503 Cake Leveler" }, - "volume": 3.205128205128205e-05 + "volume": 3.205128205128205e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a52785479a21f98e6a0785f7f7db61b8643a478bb259049a57dd25b074b823a0" + }, + "usd_path": "batch26/D00503 Cake Leveler/IsaacSim_assets_6a79913ad43e18960534bad7/IsaacSim_asset_6a79913ad43e18960534bad7.usd", + "usd_sha256": "3af61cd7f7008079a4854a52331ead8b2ff86152a9156a1a5ad226351cd0fe3f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.4714900106191635, 0.048945000395178795, 0.3256989761721343 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3af61cd7f7008079a4854a52331ead8b2ff86152a9156a1a5ad226351cd0fe3f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3af61cd7f7008079a4854a52331ead8b2ff86152a9156a1a5ad226351cd0fe3f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 32, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3af61cd7f7008079a4854a52331ead8b2ff86152a9156a1a5ad226351cd0fe3f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 32, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3af61cd7f7008079a4854a52331ead8b2ff86152a9156a1a5ad226351cd0fe3f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00519 Cake Turntable/IsaacSim_assets_6a79913cd43e18960534bb0f/physics_6a79913cd43e18960534bb0f.json b/batch26/D00519 Cake Turntable/IsaacSim_assets_6a79913cd43e18960534bb0f/physics_6a79913cd43e18960534bb0f.json index 6a4bed7ba95b1e795f7e8648e3bf184ebb0fca19..9c2ef25796d3c0a7c408c9615553594f81d28ceb 100644 --- a/batch26/D00519 Cake Turntable/IsaacSim_assets_6a79913cd43e18960534bb0f/physics_6a79913cd43e18960534bb0f.json +++ b/batch26/D00519 Cake Turntable/IsaacSim_assets_6a79913cd43e18960534bb0f/physics_6a79913cd43e18960534bb0f.json @@ -1,50 +1,108 @@ { "articulation": { - "has_joints": false, - "joints": [] + "has_joints": true, + "joints": [ + { + "id": "joint_part_1__part_0", + "path": "/World/textured_mesh_6a79913cd43e18960534bb0f/Joints/joint_part_1__part_0", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a79913cd43e18960534bb0f/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_6a79913cd43e18960534bb0f/part_0" + ], + "authored_usd": { + "id": "joint_part_1__part_0", + "source_prim_path": "/World/textured_mesh_6a79913cd43e18960534bb0f/Joints/joint_part_1__part_0", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a79913cd43e18960534bb0f/part_1" + ], + "body1": [ + "/World/textured_mesh_6a79913cd43e18960534bb0f/part_0" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -180.0, + "upperLimit": 180.0, + "localPos0": [ + -0.00018750131130218506, + 0.000306498259305954, + 0.05148559808731079 + ], + "localPos1": [ + -0.00018750131130218506, + 0.000306498259305954, + 0.05148559808731079 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsRevoluteJoint" + } + ], + "moving_joints": 1, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11518699675798416, - 0.11565899848937988, - 0.10200110077857971 - ], "min": [ -0.11556199938058853, -0.11504600197076797, 0.0007651000050827861 ], + "max": [ + 0.11518699675798416, + 0.11565899848937988, + 0.10200110077857971 + ], "size": [ 0.2307489961385727, 0.23070500046014786, 0.10123600077349693 - ] + ], + "units": "m" }, "description": "D00519 Cake Turntable", "name": "D00519 Cake Turntable", "object_type": "rigid_bodies", - "total_mass": 2.2 + "total_mass": 2.200000047683716, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00519", "parts": [ { "bounds": { - "center": [ - -0.00018750131130218506, - 0.000306498259305954, - 0.0514856003865134 + "min": [ + -0.11556199938058853, + -0.11504600197076797, + 0.0009700999944470823 ], "max": [ 0.11518699675798416, 0.11565899848937988, 0.10200110077857971 ], - "min": [ - -0.11556199938058853, - -0.11504600197076797, - 0.0009700999944470823 - ] + "size": [ + 0.2307489961385727, + 0.23070500046014786, + 0.10103100078413263 + ], + "units": "m" }, "center_of_mass": [ -0.010171715170145035, @@ -59,7 +117,7 @@ 0.003609134117141366, 0.005827362649142742 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "metal", "name": "D00519 Cake Turntable", "physics_type": "rigid", @@ -67,25 +125,28 @@ "object_name": "D00519 Cake Turntable", "part_name": "D00519 Cake Turntable" }, - "volume": 0.00015384615995945076 + "volume": 0.00015384615995945076, + "source_prim_path": "/World/textured_mesh_6a79913cd43e18960534bb0f/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -8.00006091594696e-05, - 0.0003810003399848938, - 0.012443100044038147 + "min": [ + -0.07167600095272064, + -0.07118099927902222, + 0.0007651000050827861 ], "max": [ 0.0715159997344017, 0.071942999958992, 0.024121100082993507 ], - "min": [ - -0.07167600095272064, - -0.07118099927902222, - 0.0007651000050827861 - ] + "size": [ + 0.14319200068712234, + 0.14312399923801422, + 0.02335600007791072 + ], + "units": "m" }, "center_of_mass": [ -0.0001079875000868924, @@ -108,10 +169,27 @@ "object_name": "D00519 Cake Turntable", "part_name": "D00519 Cake Turntable" }, - "volume": 0.0001282051282051282 + "volume": 0.0001282051282051282, + "source_prim_path": "/World/textured_mesh_6a79913cd43e18960534bb0f/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "84589de466aff142bf6cafb6e4b4d3e51a99065b6157f90b18e869d53a627fbc" + }, + "usd_path": "batch26/D00519 Cake Turntable/IsaacSim_assets_6a79913cd43e18960534bb0f/IsaacSim_asset_6a79913cd43e18960534bb0f.usd", + "usd_sha256": "80967a27aae0aa6a478139367d32b7928370250f602b4eb3e47e14a8e763c061", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -132,22 +210,56 @@ 0.2307489961385727, 0.23070500046014786, 0.10123600077349693 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "80967a27aae0aa6a478139367d32b7928370250f602b4eb3e47e14a8e763c061", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.2 + "value_kg": 2.200000047683716, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "80967a27aae0aa6a478139367d32b7928370250f602b4eb3e47e14a8e763c061", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.200000047683716, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "80967a27aae0aa6a478139367d32b7928370250f602b4eb3e47e14a8e763c061", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "80967a27aae0aa6a478139367d32b7928370250f602b4eb3e47e14a8e763c061", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00520 Icing Spatula/IsaacSim_assets_6a79b3b8d43e189605399592/physics_6a79b3b8d43e189605399592.json b/batch26/D00520 Icing Spatula/IsaacSim_assets_6a79b3b8d43e189605399592/physics_6a79b3b8d43e189605399592.json index c738ebfecf71abf7ab0e52b169aa8961c336f2da..1ff6351ff37b9f106e90177751f7514f6be32936 100644 --- a/batch26/D00520 Icing Spatula/IsaacSim_assets_6a79b3b8d43e189605399592/physics_6a79b3b8d43e189605399592.json +++ b/batch26/D00520 Icing Spatula/IsaacSim_assets_6a79b3b8d43e189605399592/physics_6a79b3b8d43e189605399592.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11341899633407593, - 0.01692499965429306, - 0.019252751022577286 - ], "min": [ -0.1652590036392212, -0.01674799993634224, 0.0009847506880760193 ], + "max": [ + 0.11341899633407593, + 0.01692499965429306, + 0.019252751022577286 + ], "size": [ 0.2786779999732971, 0.0336729995906353, 0.018268000334501266 - ] + ], + "units": "m" }, "description": "D00520 Icing Spatula", "name": "D00520 Icing Spatula", "object_type": "rigid_bodies", - "total_mass": 0.12 + "total_mass": 0.11999999731779099, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00520", "parts": [ { "bounds": { - "center": [ - -0.025920003652572632, - 8.849985897541046e-05, - 0.010118750855326653 + "min": [ + -0.1652590036392212, + -0.01674799993634224, + 0.0009847506880760193 ], "max": [ 0.11341899633407593, 0.01692499965429306, 0.019252751022577286 ], - "min": [ - -0.1652590036392212, - -0.01674799993634224, - 0.0009847506880760193 - ] + "size": [ + 0.2786779999732971, + 0.0336729995906353, + 0.018268000334501266 + ], + "units": "m" }, "center_of_mass": [ 0.03554311767220497, @@ -59,7 +65,7 @@ 0.0004893725854344666, 0.0004953172756358981 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "glass", "name": "D00520 Icing Spatula", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00520 Icing Spatula", "part_name": "D00520 Icing Spatula" }, - "volume": 3.801076886847988e-05 + "volume": 3.801076886847988e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9c452f5c9d589e40fc90d9fc062bdb2e8547af4b4cce220034ec43158c1c0933" + }, + "usd_path": "batch26/D00520 Icing Spatula/IsaacSim_assets_6a79b3b8d43e189605399592/IsaacSim_asset_6a79b3b8d43e189605399592.usd", + "usd_sha256": "348516e54bf1d13d8f146841ab25b8d87e5890c5b8c106b92b5471be9198c193", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.2786779999732971, 0.0336729995906353, 0.018268000334501266 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "348516e54bf1d13d8f146841ab25b8d87e5890c5b8c106b92b5471be9198c193", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.12 + "value_kg": 0.11999999731779099, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "348516e54bf1d13d8f146841ab25b8d87e5890c5b8c106b92b5471be9198c193", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11999999731779099, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "348516e54bf1d13d8f146841ab25b8d87e5890c5b8c106b92b5471be9198c193", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "348516e54bf1d13d8f146841ab25b8d87e5890c5b8c106b92b5471be9198c193", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00569 Lychee/IsaacSim_assets_6a79b030d43e1896053902aa/physics_6a79b030d43e1896053902aa.json b/batch26/D00569 Lychee/IsaacSim_assets_6a79b030d43e1896053902aa/physics_6a79b030d43e1896053902aa.json index 90213cfaf1910dfc0fc5c39fcc19f616466cdd43..3bb43b2691e5bdb43750bb58c005a49f561690f4 100644 --- a/batch26/D00569 Lychee/IsaacSim_assets_6a79b030d43e1896053902aa/physics_6a79b030d43e1896053902aa.json +++ b/batch26/D00569 Lychee/IsaacSim_assets_6a79b030d43e1896053902aa/physics_6a79b030d43e1896053902aa.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.01077600009739399, - 0.010603999719023705, - 0.02194831147789955 - ], "min": [ -0.010545999743044376, -0.010684999637305737, 7.931049913167953e-05 ], + "max": [ + 0.01077600009739399, + 0.010603999719023705, + 0.02194831147789955 + ], "size": [ 0.021321999840438366, 0.02128899935632944, 0.021869000978767872 - ] + ], + "units": "m" }, "description": "D00569 Lychee", "name": "D00569 Lychee", "object_type": "rigid_bodies", - "total_mass": 0.02 + "total_mass": 0.019999999552965164, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00569", "parts": [ { "bounds": { - "center": [ - 0.0001150001771748066, - -4.0499959141016006e-05, - 0.011013810988515615 + "min": [ + -0.010545999743044376, + -0.010684999637305737, + 7.931049913167953e-05 ], "max": [ 0.01077600009739399, 0.010603999719023705, 0.02194831147789955 ], - "min": [ - -0.010545999743044376, - -0.010684999637305737, - 7.931049913167953e-05 - ] + "size": [ + 0.021321999840438366, + 0.02128899935632944, + 0.021869000978767872 + ], + "units": "m" }, "center_of_mass": [ 0.00020402457448653877, @@ -59,7 +65,7 @@ 9.285728879149246e-07, 9.508718221695744e-07 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "plastic", "name": "D00569 Lychee", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00569 Lychee", "part_name": "D00569 Lychee" }, - "volume": 1.9999999552965164e-05 + "volume": 1.9999999552965164e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b1a5a799ab206ff161e1836560576d6a97497baa884225b181f5039544c4df67" + }, + "usd_path": "batch26/D00569 Lychee/IsaacSim_assets_6a79b030d43e1896053902aa/IsaacSim_asset_6a79b030d43e1896053902aa.usd", + "usd_sha256": "c4b3cfe1269919461a1dd874a2c9c8f94e23c4713b7d1b687fa3b8a678693f33", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.021321999840438366, 0.02128899935632944, 0.021869000978767872 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c4b3cfe1269919461a1dd874a2c9c8f94e23c4713b7d1b687fa3b8a678693f33", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.02 + "value_kg": 0.019999999552965164, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c4b3cfe1269919461a1dd874a2c9c8f94e23c4713b7d1b687fa3b8a678693f33", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.019999999552965164, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c4b3cfe1269919461a1dd874a2c9c8f94e23c4713b7d1b687fa3b8a678693f33", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c4b3cfe1269919461a1dd874a2c9c8f94e23c4713b7d1b687fa3b8a678693f33", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00574 Orange/IsaacSim_assets_6a79be3bd43e1896053a85cb/physics_6a79be3bd43e1896053a85cb.json b/batch26/D00574 Orange/IsaacSim_assets_6a79be3bd43e1896053a85cb/physics_6a79be3bd43e1896053a85cb.json index 32f5d6b0e57ca896ad6711e67d413cf89a43fc63..cc3c77c9a8e49471be134c6f8fc12f0ed4098c17 100644 --- a/batch26/D00574 Orange/IsaacSim_assets_6a79be3bd43e1896053a85cb/physics_6a79be3bd43e1896053a85cb.json +++ b/batch26/D00574 Orange/IsaacSim_assets_6a79be3bd43e1896053a85cb/physics_6a79be3bd43e1896053a85cb.json @@ -1,50 +1,105 @@ { "articulation": { - "has_joints": false, - "joints": [] + "has_joints": true, + "joints": [ + { + "id": "joint_orange_body__calyx", + "path": "/World/textured_mesh_6a79be3bd43e1896053a85cb/Joints/joint_orange_body__calyx", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a79be3bd43e1896053a85cb/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a79be3bd43e1896053a85cb/part_1" + ], + "authored_usd": { + "id": "joint_orange_body__calyx", + "source_prim_path": "/World/textured_mesh_6a79be3bd43e1896053a85cb/Joints/joint_orange_body__calyx", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a79be3bd43e1896053a85cb/part_0" + ], + "body1": [ + "/World/textured_mesh_6a79be3bd43e1896053a85cb/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0002519097179174423 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0002519097179174423 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + } + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02455800026655197, - 0.025585999712347984, - 0.05019290745258331 - ], "min": [ -0.025356000289320946, -0.024133000522851944, 0.00020090972247999161 ], + "max": [ + 0.02455800026655197, + 0.025585999712347984, + 0.05019290745258331 + ], "size": [ 0.04991400055587292, 0.04971900023519993, 0.04999199773010332 - ] + ], + "units": "m" }, "description": "D00574 Orange", "name": "D00574 Orange", "object_type": "rigid_bodies", - "total_mass": 0.066 + "total_mass": 0.06599999766331166, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00574", "parts": [ { "bounds": { - "center": [ - -0.00039900001138448715, - 0.0007264995947480202, - 0.025196908587531652 + "min": [ + -0.025356000289320946, + -0.024133000522851944, + 0.00020090972247999161 ], "max": [ 0.02455800026655197, 0.025585999712347984, 0.05019290745258331 ], - "min": [ - -0.025356000289320946, - -0.024133000522851944, - 0.00020090972247999161 - ] + "size": [ + 0.04991400055587292, + 0.04971900023519993, + 0.04999199773010332 + ], + "units": "m" }, "center_of_mass": [ -0.0005875876522623003, @@ -59,7 +114,7 @@ 1.610775143490173e-05, 1.6130279618664645e-05 ], - "mass": 0.065, + "mass": 0.06499999761581421, "material": "plastic", "name": "D00574 Orange", "physics_type": "rigid", @@ -67,25 +122,28 @@ "object_name": "D00574 Orange", "part_name": "D00574 Orange" }, - "volume": 6.499999761581421e-05 + "volume": 6.499999761581421e-05, + "source_prim_path": "/World/textured_mesh_6a79be3bd43e1896053a85cb/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.011359000112861395, - -0.016446999739855528, - 0.03132840897887945 + "min": [ + 0.008065000176429749, + -0.02080399915575981, + 0.02757090888917446 ], "max": [ 0.014653000049293041, -0.012090000323951244, 0.03508590906858444 ], - "min": [ - 0.008065000176429749, - -0.02080399915575981, - 0.02757090888917446 - ] + "size": [ + 0.006587999872863293, + 0.008713998831808567, + 0.007515000179409981 + ], + "units": "m" }, "center_of_mass": [ 0.01072460226714611, @@ -100,7 +158,7 @@ 5.339296560435969e-09, 5.675123926351944e-09 ], - "mass": 0.001, + "mass": 0.0010000000474974513, "material": "foam", "name": "D00574 Orange", "physics_type": "rigid", @@ -108,10 +166,27 @@ "object_name": "D00574 Orange", "part_name": "D00574 Orange" }, - "volume": 2.5000001187436284e-06 + "volume": 2.5000001187436284e-06, + "source_prim_path": "/World/textured_mesh_6a79be3bd43e1896053a85cb/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f7497026fb98548030fdefb0a4e2cfc40097068192352bb5f7d5561757776d68" + }, + "usd_path": "batch26/D00574 Orange/IsaacSim_assets_6a79be3bd43e1896053a85cb/IsaacSim_asset_6a79be3bd43e1896053a85cb.usd", + "usd_sha256": "2efaabdec98e86e8c02531198cfb8f150dfa96dce466d759ac7f333b6cf2af8b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -132,22 +207,56 @@ 0.04991400055587292, 0.04971900023519993, 0.04999199773010332 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2efaabdec98e86e8c02531198cfb8f150dfa96dce466d759ac7f333b6cf2af8b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.066 + "value_kg": 0.06599999766331166, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2efaabdec98e86e8c02531198cfb8f150dfa96dce466d759ac7f333b6cf2af8b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.06599999766331166, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 33, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2efaabdec98e86e8c02531198cfb8f150dfa96dce466d759ac7f333b6cf2af8b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 33, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2efaabdec98e86e8c02531198cfb8f150dfa96dce466d759ac7f333b6cf2af8b", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00688_Salt_Mill/IsaacSim_assets_6a7c19a1b56a872fd787293b/physics_6a7c19a1b56a872fd787293b.json b/batch26/D00688_Salt_Mill/IsaacSim_assets_6a7c19a1b56a872fd787293b/physics_6a7c19a1b56a872fd787293b.json index 07113d848d356bec57062fa40f5b6dfe7e0d505b..3fb52578a6be01bfe8e781921a76d84fa86c12aa 100644 --- a/batch26/D00688_Salt_Mill/IsaacSim_assets_6a7c19a1b56a872fd787293b/physics_6a7c19a1b56a872fd787293b.json +++ b/batch26/D00688_Salt_Mill/IsaacSim_assets_6a7c19a1b56a872fd787293b/physics_6a7c19a1b56a872fd787293b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03192700073122978, - 0.03196299821138382, - 0.1947510689496994 - ], "min": [ -0.0320420004427433, -0.03184700012207031, 0.0007110701408237219 ], + "max": [ + 0.03192700073122978, + 0.03196299821138382, + 0.1947510689496994 + ], "size": [ 0.06396900117397308, 0.06380999833345413, 0.19403999880887568 - ] + ], + "units": "m" }, "description": "D00688 Salt Mill", "name": "D00688 Salt Mill", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.30000001192092896, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00688", "parts": [ { "bounds": { - "center": [ - -5.7499855756759644e-05, - 5.799904465675354e-05, - 0.09773106954526156 + "min": [ + -0.0320420004427433, + -0.03184700012207031, + 0.0007110701408237219 ], "max": [ 0.03192700073122978, 0.03196299821138382, 0.1947510689496994 ], - "min": [ - -0.0320420004427433, - -0.03184700012207031, - 0.0007110701408237219 - ] + "size": [ + 0.06396900117397308, + 0.06380999833345413, + 0.19403999880887568 + ], + "units": "m" }, "center_of_mass": [ -6.0845013649668545e-05, @@ -59,7 +65,7 @@ 0.0009177731699310243, 0.0009181859786622226 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "wood", "name": "D00688 Salt Mill", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00688 Salt Mill", "part_name": "D00688 Salt Mill" }, - "volume": 0.0004285714456013271 + "volume": 0.0004285714456013271, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "37410f15c42354d6f6718134cd0ffb3670dac1be5690de9aec5599326a567d97" + }, + "usd_path": "batch26/D00688_Salt_Mill/IsaacSim_assets_6a7c19a1b56a872fd787293b/IsaacSim_asset_6a7c19a1b56a872fd787293b.usd", + "usd_sha256": "dced02b8ccc3cf3ef492d0d5298391a030b5187aa752da8fd5a757bbfed50a54", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.06396900117397308, 0.06380999833345413, 0.19403999880887568 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dced02b8ccc3cf3ef492d0d5298391a030b5187aa752da8fd5a757bbfed50a54", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.30000001192092896, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dced02b8ccc3cf3ef492d0d5298391a030b5187aa752da8fd5a757bbfed50a54", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.30000001192092896, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dced02b8ccc3cf3ef492d0d5298391a030b5187aa752da8fd5a757bbfed50a54", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dced02b8ccc3cf3ef492d0d5298391a030b5187aa752da8fd5a757bbfed50a54", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00763_Spice_Grinder/IsaacSim_assets_6a7c2f03b56a872fd78d3b8b/physics_6a7c2f03b56a872fd78d3b8b.json b/batch26/D00763_Spice_Grinder/IsaacSim_assets_6a7c2f03b56a872fd78d3b8b/physics_6a7c2f03b56a872fd78d3b8b.json index 966eb25ce6f4e2478f16042fa823e79cf48adbd3..f9ab9141798867136a8147c6758248b110a938a6 100644 --- a/batch26/D00763_Spice_Grinder/IsaacSim_assets_6a7c2f03b56a872fd78d3b8b/physics_6a7c2f03b56a872fd78d3b8b.json +++ b/batch26/D00763_Spice_Grinder/IsaacSim_assets_6a7c2f03b56a872fd78d3b8b/physics_6a7c2f03b56a872fd78d3b8b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.027581999078392982, - 0.027907000854611397, - 0.15325747430324554 - ], "min": [ -0.02777799963951111, -0.02798300050199032, 0.0008174812537617981 ], + "max": [ + 0.027581999078392982, + 0.027907000854611397, + 0.15325747430324554 + ], "size": [ 0.05535999871790409, 0.055890001356601715, 0.15243999304948375 - ] + ], + "units": "m" }, "description": "D00763 Spice Grinder", "name": "D00763 Spice Grinder", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00763", "parts": [ { "bounds": { - "center": [ - -9.800028055906296e-05, - -3.7999823689460754e-05, - 0.07703747777850367 + "min": [ + -0.02777799963951111, + -0.02798300050199032, + 0.0008174812537617981 ], "max": [ 0.027581999078392982, 0.027907000854611397, 0.15325747430324554 ], - "min": [ - -0.02777799963951111, - -0.02798300050199032, - 0.0008174812537617981 - ] + "size": [ + 0.05535999871790409, + 0.055890001356601715, + 0.15243999304948375 + ], + "units": "m" }, "center_of_mass": [ -9.457839769311249e-05, @@ -59,7 +65,7 @@ 0.0003771481569856405, 0.00037772409268654883 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "wood", "name": "D00763 Spice Grinder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00763 Spice Grinder", "part_name": "D00763 Spice Grinder" }, - "volume": 0.0002857142899717603 + "volume": 0.0002857142899717603, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9562b13ff51b74e3ae44cfb98adcbfd2834c11ab58fa466ab58aac26995347be" + }, + "usd_path": "batch26/D00763_Spice_Grinder/IsaacSim_assets_6a7c2f03b56a872fd78d3b8b/IsaacSim_asset_6a7c2f03b56a872fd78d3b8b.usd", + "usd_sha256": "872a9ac73b855ec26872cce9c216e04d7bccc65e1cd76460e879dad9f5920141", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.05535999871790409, 0.055890001356601715, 0.15243999304948375 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "872a9ac73b855ec26872cce9c216e04d7bccc65e1cd76460e879dad9f5920141", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "872a9ac73b855ec26872cce9c216e04d7bccc65e1cd76460e879dad9f5920141", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "872a9ac73b855ec26872cce9c216e04d7bccc65e1cd76460e879dad9f5920141", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "872a9ac73b855ec26872cce9c216e04d7bccc65e1cd76460e879dad9f5920141", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00765_Jicama/IsaacSim_assets_6a7c309db7a9c4204a472984/physics_6a7c309db7a9c4204a472984.json b/batch26/D00765_Jicama/IsaacSim_assets_6a7c309db7a9c4204a472984/physics_6a7c309db7a9c4204a472984.json index 3661c98e1355090de365d4a5d6e6c77b2d9aa0da..cf79f601ef33a240cc6e37df04b2591a55a4f471 100644 --- a/batch26/D00765_Jicama/IsaacSim_assets_6a7c309db7a9c4204a472984/physics_6a7c309db7a9c4204a472984.json +++ b/batch26/D00765_Jicama/IsaacSim_assets_6a7c309db7a9c4204a472984/physics_6a7c309db7a9c4204a472984.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.037671998143196106, - 0.0377810001373291, - 0.06830117106437683 - ], "min": [ -0.03784799948334694, -0.0377580001950264, 0.0003181702923029661 ], + "max": [ + 0.037671998143196106, + 0.0377810001373291, + 0.06830117106437683 + ], "size": [ 0.07551999762654305, 0.0755390003323555, 0.06798300077207386 - ] + ], + "units": "m" }, "description": "D00765 Jicama", "name": "D00765 Jicama", "object_type": "rigid_bodies", - "total_mass": 0.766 + "total_mass": 0.765999972820282, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00765", "parts": [ { "bounds": { - "center": [ - -8.800067007541656e-05, - 1.1499971151351929e-05, - 0.0343096706783399 + "min": [ + -0.03784799948334694, + -0.0377580001950264, + 0.0003181702923029661 ], "max": [ 0.037671998143196106, 0.0377810001373291, 0.06830117106437683 ], - "min": [ - -0.03784799948334694, - -0.0377580001950264, - 0.0003181702923029661 - ] + "size": [ + 0.07551999762654305, + 0.0755390003323555, + 0.06798300077207386 + ], + "units": "m" }, "center_of_mass": [ 0.00016027322271838784, @@ -59,7 +65,7 @@ 0.00037651247112080455, 0.0004367662186268717 ], - "mass": 0.766, + "mass": 0.765999972820282, "material": "plastic", "name": "D00765 Jicama", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00765 Jicama", "part_name": "D00765 Jicama" }, - "volume": 0.000765999972820282 + "volume": 0.000765999972820282, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "84febb4973fd6162547049e11755982cdd3c658cd61c101ec32ca2399c5e02d7" + }, + "usd_path": "batch26/D00765_Jicama/IsaacSim_assets_6a7c309db7a9c4204a472984/IsaacSim_asset_6a7c309db7a9c4204a472984.usd", + "usd_sha256": "53586a76ea5d9b8ff66930fbbc179284a2834231ea15cfe2923edddbb780fa73", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.07551999762654305, 0.0755390003323555, 0.06798300077207386 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53586a76ea5d9b8ff66930fbbc179284a2834231ea15cfe2923edddbb780fa73", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.766 + "value_kg": 0.765999972820282, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53586a76ea5d9b8ff66930fbbc179284a2834231ea15cfe2923edddbb780fa73", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.765999972820282, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53586a76ea5d9b8ff66930fbbc179284a2834231ea15cfe2923edddbb780fa73", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53586a76ea5d9b8ff66930fbbc179284a2834231ea15cfe2923edddbb780fa73", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00797_Hot_Dog/IsaacSim_assets_6a7c33b3b7a9c4204a480eaa/physics_6a7c33b3b7a9c4204a480eaa.json b/batch26/D00797_Hot_Dog/IsaacSim_assets_6a7c33b3b7a9c4204a480eaa/physics_6a7c33b3b7a9c4204a480eaa.json index 25c1f4483b87ab96751f2878712b407e64613fc1..c0c360ca992f97b506249af66921fe3b72b155ac 100644 --- a/batch26/D00797_Hot_Dog/IsaacSim_assets_6a7c33b3b7a9c4204a480eaa/physics_6a7c33b3b7a9c4204a480eaa.json +++ b/batch26/D00797_Hot_Dog/IsaacSim_assets_6a7c33b3b7a9c4204a480eaa/physics_6a7c33b3b7a9c4204a480eaa.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03248700127005577, - 0.07218900322914124, - 0.046626269817352295 - ], "min": [ -0.03300600126385689, -0.07056699693202972, 0.0007572694448754191 ], + "max": [ + 0.03248700127005577, + 0.07218900322914124, + 0.046626269817352295 + ], "size": [ 0.06549300253391266, 0.14275600016117096, 0.045869000372476876 - ] + ], + "units": "m" }, "description": "D00797 Hot Dog", "name": "D00797 Hot Dog", "object_type": "rigid_bodies", - "total_mass": 0.12 + "total_mass": 0.11999999731779099, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00797", "parts": [ { "bounds": { - "center": [ - -0.00025949999690055847, - 0.0008110031485557556, - 0.023691769631113857 + "min": [ + -0.03300600126385689, + -0.07056699693202972, + 0.0007572694448754191 ], "max": [ 0.03248700127005577, 0.07218900322914124, 0.046626269817352295 ], - "min": [ - -0.03300600126385689, - -0.07056699693202972, - 0.0007572694448754191 - ] + "size": [ + 0.06549300253391266, + 0.14275600016117096, + 0.045869000372476876 + ], + "units": "m" }, "center_of_mass": [ -0.00040518122841604054, @@ -59,7 +65,7 @@ 0.0001699456770438701, 0.000184578268090263 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "wood", "name": "D00797 Hot Dog", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00797 Hot Dog", "part_name": "D00797 Hot Dog" }, - "volume": 0.00014999999664723872 + "volume": 0.00014999999664723872, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6149a410b7a41cf430bb3054bcadd61e564a8e987c09f2b966ca528f5a4ed114" + }, + "usd_path": "batch26/D00797_Hot_Dog/IsaacSim_assets_6a7c33b3b7a9c4204a480eaa/IsaacSim_asset_6a7c33b3b7a9c4204a480eaa.usd", + "usd_sha256": "55b99371ed964b75f3cd10e38e726c0e45ddc383d5edc9d34aaa98e858cb4dff", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.06549300253391266, 0.14275600016117096, 0.045869000372476876 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55b99371ed964b75f3cd10e38e726c0e45ddc383d5edc9d34aaa98e858cb4dff", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.12 + "value_kg": 0.11999999731779099, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55b99371ed964b75f3cd10e38e726c0e45ddc383d5edc9d34aaa98e858cb4dff", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11999999731779099, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 7, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55b99371ed964b75f3cd10e38e726c0e45ddc383d5edc9d34aaa98e858cb4dff", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 7, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55b99371ed964b75f3cd10e38e726c0e45ddc383d5edc9d34aaa98e858cb4dff", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00804 Stainless Steel Tumbler/IsaacSim_assets_6a7a9a37b56a872fd768fcf6/physics_6a7a9a37b56a872fd768fcf6.json b/batch26/D00804 Stainless Steel Tumbler/IsaacSim_assets_6a7a9a37b56a872fd768fcf6/physics_6a7a9a37b56a872fd768fcf6.json index fba2c5da0d213a0af87661943383b63e257842a5..c87be81af01cacc975144971bba61dc73a9c67d5 100644 --- a/batch26/D00804 Stainless Steel Tumbler/IsaacSim_assets_6a7a9a37b56a872fd768fcf6/physics_6a7a9a37b56a872fd768fcf6.json +++ b/batch26/D00804 Stainless Steel Tumbler/IsaacSim_assets_6a7a9a37b56a872fd768fcf6/physics_6a7a9a37b56a872fd768fcf6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03821299970149994, - 0.03838299959897995, - 0.1483898162841797 - ], "min": [ -0.038182999938726425, -0.03829599916934967, 0.0007848102832213044 ], + "max": [ + 0.03821299970149994, + 0.03838299959897995, + 0.1483898162841797 + ], "size": [ 0.07639599964022636, 0.07667899876832962, 0.14760500600095838 - ] + ], + "units": "m" }, "description": "D00804 Stainless Steel Tumbler", "name": "D00804 Stainless Steel Tumbler", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.3499999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00804", "parts": [ { "bounds": { - "center": [ - 1.4999881386756897e-05, - 4.350021481513977e-05, - 0.0745873132837005 + "min": [ + -0.038182999938726425, + -0.03829599916934967, + 0.0007848102832213044 ], "max": [ 0.03821299970149994, 0.03838299959897995, 0.1483898162841797 ], - "min": [ - -0.038182999938726425, - -0.03829599916934967, - 0.0007848102832213044 - ] + "size": [ + 0.07639599964022636, + 0.07667899876832962, + 0.14760500600095838 + ], + "units": "m" }, "center_of_mass": [ -9.536510333418846e-06, @@ -59,7 +65,7 @@ 0.0007113656611181796, 0.0007123224786482751 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "metal", "name": "D00804 Stainless Steel Tumbler", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00804 Stainless Steel Tumbler", "part_name": "D00804 Stainless Steel Tumbler" }, - "volume": 4.374999925494194e-05 + "volume": 4.374999925494194e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b7ff1659a4d2e1309a6d73f23b0a2a82c1c446dfecf98e97b43b1cc5de076c90" + }, + "usd_path": "batch26/D00804 Stainless Steel Tumbler/IsaacSim_assets_6a7a9a37b56a872fd768fcf6/IsaacSim_asset_6a7a9a37b56a872fd768fcf6.usd", + "usd_sha256": "47337fc7f9c7d83c87d1cc7fb0e3beebe6b599a528cd061cd2aad86922d125f8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.07639599964022636, 0.07667899876832962, 0.14760500600095838 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47337fc7f9c7d83c87d1cc7fb0e3beebe6b599a528cd061cd2aad86922d125f8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.3499999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47337fc7f9c7d83c87d1cc7fb0e3beebe6b599a528cd061cd2aad86922d125f8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3499999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47337fc7f9c7d83c87d1cc7fb0e3beebe6b599a528cd061cd2aad86922d125f8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47337fc7f9c7d83c87d1cc7fb0e3beebe6b599a528cd061cd2aad86922d125f8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00838 Sugar Jar/IsaacSim_assets_6a75b8cad43e18960501ba2b/physics_6a75b8cad43e18960501ba2b.json b/batch26/D00838 Sugar Jar/IsaacSim_assets_6a75b8cad43e18960501ba2b/physics_6a75b8cad43e18960501ba2b.json index 4a72689e59546a68e47e078255fa0949654dd4fe..4bbf316c2f00102cc0f2256faa44ed49d81eedf7 100644 --- a/batch26/D00838 Sugar Jar/IsaacSim_assets_6a75b8cad43e18960501ba2b/physics_6a75b8cad43e18960501ba2b.json +++ b/batch26/D00838 Sugar Jar/IsaacSim_assets_6a75b8cad43e18960501ba2b/physics_6a75b8cad43e18960501ba2b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.053582001477479935, - 0.053367000073194504, - 0.08250565081834793 - ], "min": [ -0.0535769984126091, -0.05355599895119667, 0.0005236500292085111 ], + "max": [ + 0.053582001477479935, + 0.053367000073194504, + 0.08250565081834793 + ], "size": [ 0.10715899989008904, 0.10692299902439117, 0.08198200078913942 - ] + ], + "units": "m" }, "description": "D00838 Sugar Jar", "name": "D00838 Sugar Jar", "object_type": "rigid_bodies", - "total_mass": 0.13 + "total_mass": 0.12999999523162842, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00838", "parts": [ { "bounds": { - "center": [ - 2.5015324354171753e-06, - -9.449943900108337e-05, - 0.04151465042377822 + "min": [ + -0.0535769984126091, + -0.05355599895119667, + 0.0005236500292085111 ], "max": [ 0.053582001477479935, 0.053367000073194504, 0.08250565081834793 ], - "min": [ - -0.0535769984126091, - -0.05355599895119667, - 0.0005236500292085111 - ] + "size": [ + 0.10715899989008904, + 0.10692299902439117, + 0.08198200078913942 + ], + "units": "m" }, "center_of_mass": [ 9.679555660113692e-05, @@ -59,7 +65,7 @@ 0.00020951115584466606, 0.00024962483439594507 ], - "mass": 0.13, + "mass": 0.12999999523162842, "material": "ceramic", "name": "D00838 Sugar Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00838 Sugar Jar", "part_name": "D00838 Sugar Jar" }, - "volume": 5.284552651692212e-05 + "volume": 5.284552651692212e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4e649d213b68fd92ec6b0acd1095448e3f15654478d41c9e411198166ba2312a" + }, + "usd_path": "batch26/D00838 Sugar Jar/IsaacSim_assets_6a75b8cad43e18960501ba2b/IsaacSim_asset_6a75b8cad43e18960501ba2b.usd", + "usd_sha256": "8527b27cc0a1ad7970d9b5c539342e56bd81e781667413dc4436a931f2c07092", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.10715899989008904, 0.10692299902439117, 0.08198200078913942 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8527b27cc0a1ad7970d9b5c539342e56bd81e781667413dc4436a931f2c07092", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.13 + "value_kg": 0.12999999523162842, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8527b27cc0a1ad7970d9b5c539342e56bd81e781667413dc4436a931f2c07092", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.12999999523162842, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 52, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8527b27cc0a1ad7970d9b5c539342e56bd81e781667413dc4436a931f2c07092", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 52, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8527b27cc0a1ad7970d9b5c539342e56bd81e781667413dc4436a931f2c07092", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00899 Juice Box/IsaacSim_assets_6a7b91c1b56a872fd77be402/physics_6a7b91c1b56a872fd77be402.json b/batch26/D00899 Juice Box/IsaacSim_assets_6a7b91c1b56a872fd77be402/physics_6a7b91c1b56a872fd77be402.json index a10415740611a4b88fb85a45e5e5eaeb72a547e5..2a5e54544f6d4e36bd23e8e6f9fbb0cfcdf03916 100644 --- a/batch26/D00899 Juice Box/IsaacSim_assets_6a7b91c1b56a872fd77be402/physics_6a7b91c1b56a872fd77be402.json +++ b/batch26/D00899 Juice Box/IsaacSim_assets_6a7b91c1b56a872fd77be402/physics_6a7b91c1b56a872fd77be402.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03729800134897232, - 0.03745799884200096, - 0.19677239656448364 - ], "min": [ -0.027094999328255653, -0.041103001683950424, 0.0007124106050468981 ], + "max": [ + 0.03729800134897232, + 0.03745799884200096, + 0.19677239656448364 + ], "size": [ 0.06439300067722797, 0.07856100052595139, 0.19605998595943674 - ] + ], + "units": "m" }, "description": "D00899 Juice Box", "name": "D00899 Juice Box", "object_type": "rigid_bodies", - "total_mass": 1.32 + "total_mass": 1.3200000524520874, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00899", "parts": [ { "bounds": { - "center": [ - 0.005101501010358334, - -0.0018225014209747314, - 0.09874240358476527 + "min": [ + -0.027094999328255653, + -0.041103001683950424, + 0.0007124106050468981 ], "max": [ 0.03729800134897232, 0.03745799884200096, 0.19677239656448364 ], - "min": [ - -0.027094999328255653, - -0.041103001683950424, - 0.0007124106050468981 - ] + "size": [ + 0.06439300067722797, + 0.07856100052595139, + 0.19605998595943674 + ], + "units": "m" }, "center_of_mass": [ 0.002306079724803567, @@ -59,7 +65,7 @@ 0.0031930485274642706, 0.003403961891308427 ], - "mass": 1.32, + "mass": 1.3200000524520874, "material": "plastic", "name": "D00899 Juice Box", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00899 Juice Box", "part_name": "D00899 Juice Box" }, - "volume": 0.0013200000524520874 + "volume": 0.0013200000524520874, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "02f6e3c48f767e7c6560f2f5e36866db8d3849e89b4c3c924ad30c4151aff8d6" + }, + "usd_path": "batch26/D00899 Juice Box/IsaacSim_assets_6a7b91c1b56a872fd77be402/IsaacSim_asset_6a7b91c1b56a872fd77be402.usd", + "usd_sha256": "f9ee867d176fe031b952abfb7c2834fec893040204dcfa556e6887fc239fa523", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.06439300067722797, 0.07856100052595139, 0.19605998595943674 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9ee867d176fe031b952abfb7c2834fec893040204dcfa556e6887fc239fa523", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.32 + "value_kg": 1.3200000524520874, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9ee867d176fe031b952abfb7c2834fec893040204dcfa556e6887fc239fa523", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.3200000524520874, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9ee867d176fe031b952abfb7c2834fec893040204dcfa556e6887fc239fa523", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9ee867d176fe031b952abfb7c2834fec893040204dcfa556e6887fc239fa523", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch26/D00928 Spoon/IsaacSim_assets_6a7d3cebb7a9c4204a67ec8b/physics_6a7d3cebb7a9c4204a67ec8b.json b/batch26/D00928 Spoon/IsaacSim_assets_6a7d3cebb7a9c4204a67ec8b/physics_6a7d3cebb7a9c4204a67ec8b.json index 83d2b37ec96dbc654a1fa69293bcc4ecac6935a1..1ce356b34fe22714f4793989aa2fbda8612b4078 100644 --- a/batch26/D00928 Spoon/IsaacSim_assets_6a7d3cebb7a9c4204a67ec8b/physics_6a7d3cebb7a9c4204a67ec8b.json +++ b/batch26/D00928 Spoon/IsaacSim_assets_6a7d3cebb7a9c4204a67ec8b/physics_6a7d3cebb7a9c4204a67ec8b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10839799791574478, - 0.02404399961233139, - 0.018031610175967216 - ], "min": [ -0.056634001433849335, -0.023861000314354897, 0.0007506099645979702 ], + "max": [ + 0.10839799791574478, + 0.02404399961233139, + 0.018031610175967216 + ], "size": [ 0.16503199934959412, 0.04790499992668629, 0.017281000211369246 - ] + ], + "units": "m" }, "description": "D00928 Spoon", "name": "D00928 Spoon", "object_type": "rigid_bodies", - "total_mass": 0.085 + "total_mass": 0.08500000089406967, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00928", "parts": [ { "bounds": { - "center": [ - 0.025881998240947723, - 9.149964898824692e-05, - 0.009391110070282593 + "min": [ + -0.056634001433849335, + -0.023861000314354897, + 0.0007506099645979702 ], "max": [ 0.10839799791574478, 0.02404399961233139, 0.018031610175967216 ], - "min": [ - -0.056634001433849335, - -0.023861000314354897, - 0.0007506099645979702 - ] + "size": [ + 0.16503199934959412, + 0.04790499992668629, + 0.017281000211369246 + ], + "units": "m" }, "center_of_mass": [ 0.008190982975065708, @@ -59,7 +65,7 @@ 0.00012502475874498487, 0.00013156069326214492 ], - "mass": 0.085, + "mass": 0.08500000089406967, "material": "metal", "name": "D00928 Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00928 Spoon", "part_name": "D00928 Spoon" }, - "volume": 1.0625000111758709e-05 + "volume": 1.0625000111758709e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ecbdf46195ecc518e9c008d3e3c68dd83987a8319be7a4b0d0672b8c63067f39" + }, + "usd_path": "batch26/D00928 Spoon/IsaacSim_assets_6a7d3cebb7a9c4204a67ec8b/IsaacSim_asset_6a7d3cebb7a9c4204a67ec8b.usd", + "usd_sha256": "71fc46d0f41985df09f972e06b3c84bcf8a8c38871953abff81eb34b53ebc72a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.16503199934959412, 0.04790499992668629, 0.017281000211369246 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71fc46d0f41985df09f972e06b3c84bcf8a8c38871953abff81eb34b53ebc72a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.085 + "value_kg": 0.08500000089406967, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71fc46d0f41985df09f972e06b3c84bcf8a8c38871953abff81eb34b53ebc72a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.08500000089406967, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71fc46d0f41985df09f972e06b3c84bcf8a8c38871953abff81eb34b53ebc72a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71fc46d0f41985df09f972e06b3c84bcf8a8c38871953abff81eb34b53ebc72a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00102 Cheese Knife/IsaacSim_assets_6a79e5e2d43e1896053d7d82/physics_6a79e5e2d43e1896053d7d82.json b/batch27/D00102 Cheese Knife/IsaacSim_assets_6a79e5e2d43e1896053d7d82/physics_6a79e5e2d43e1896053d7d82.json index 8b3703eec379c94182a9a670f4ef897d88ac583a..69d6e9315efa29358b7ea09ceef1fcdd81c448f3 100644 --- a/batch27/D00102 Cheese Knife/IsaacSim_assets_6a79e5e2d43e1896053d7d82/physics_6a79e5e2d43e1896053d7d82.json +++ b/batch27/D00102 Cheese Knife/IsaacSim_assets_6a79e5e2d43e1896053d7d82/physics_6a79e5e2d43e1896053d7d82.json @@ -1,50 +1,537 @@ { "articulation": { - "has_joints": false, - "joints": [] + "has_joints": true, + "joints": [ + { + "id": "joint_blade__rear_tang", + "path": "/World/textured_mesh_6a79e5e2d43e1896053d7d82/Joints/joint_blade__rear_tang", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_3" + ], + "body1_targets": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_0" + ], + "authored_usd": { + "id": "joint_blade__rear_tang", + "source_prim_path": "/World/textured_mesh_6a79e5e2d43e1896053d7d82/Joints/joint_blade__rear_tang", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_3" + ], + "body1": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_0" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_blade__handle", + "path": "/World/textured_mesh_6a79e5e2d43e1896053d7d82/Joints/joint_blade__handle", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_3" + ], + "body1_targets": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_1" + ], + "authored_usd": { + "id": "joint_blade__handle", + "source_prim_path": "/World/textured_mesh_6a79e5e2d43e1896053d7d82/Joints/joint_blade__handle", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_3" + ], + "body1": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_handle__front_rivet", + "path": "/World/textured_mesh_6a79e5e2d43e1896053d7d82/Joints/joint_handle__front_rivet", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_2" + ], + "authored_usd": { + "id": "joint_handle__front_rivet", + "source_prim_path": "/World/textured_mesh_6a79e5e2d43e1896053d7d82/Joints/joint_handle__front_rivet", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_1" + ], + "body1": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_blade__bolster", + "path": "/World/textured_mesh_6a79e5e2d43e1896053d7d82/Joints/joint_blade__bolster", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_3" + ], + "body1_targets": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_4" + ], + "authored_usd": { + "id": "joint_blade__bolster", + "source_prim_path": "/World/textured_mesh_6a79e5e2d43e1896053d7d82/Joints/joint_blade__bolster", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_3" + ], + "body1": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_4" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_handle__front_rivet_side", + "path": "/World/textured_mesh_6a79e5e2d43e1896053d7d82/Joints/joint_handle__front_rivet_side", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_5" + ], + "authored_usd": { + "id": "joint_handle__front_rivet_side", + "source_prim_path": "/World/textured_mesh_6a79e5e2d43e1896053d7d82/Joints/joint_handle__front_rivet_side", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_1" + ], + "body1": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_5" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + }, + { + "id": "joint_handle__rear_rivet", + "path": "/World/textured_mesh_6a79e5e2d43e1896053d7d82/Joints/joint_handle__rear_rivet", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_6" + ], + "authored_usd": { + "id": "joint_handle__rear_rivet", + "source_prim_path": "/World/textured_mesh_6a79e5e2d43e1896053d7d82/Joints/joint_handle__rear_rivet", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_1" + ], + "body1": [ + "/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_6" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 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"/World/textured_mesh_6a79e5e2d43e1896053d7d82/part_10", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e0b4e70253726e55e49d2eb85a2f8f8df6c56ec4125ea9acbac828d83a4d0a6f" + }, + "usd_path": "batch27/D00102 Cheese Knife/IsaacSim_assets_6a79e5e2d43e1896053d7d82/IsaacSim_asset_6a79e5e2d43e1896053d7d82.usd", + "usd_sha256": "3d23948992025d627e164016509b83868deab655edc3e9ecd190ca07776d6c2d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -501,22 +1035,74 @@ 0.21138999611139297, 0.03528599999845028, 0.013534000165236648 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3d23948992025d627e164016509b83868deab655edc3e9ecd190ca07776d6c2d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.09 + "value_kg": 0.08999999961815774, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3d23948992025d627e164016509b83868deab655edc3e9ecd190ca07776d6c2d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.08999999961815774, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 11 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3d23948992025d627e164016509b83868deab655edc3e9ecd190ca07776d6c2d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull", + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3d23948992025d627e164016509b83868deab655edc3e9ecd190ca07776d6c2d", + "scope": "authored_usd_joint_schema", + "joint_count": 10, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "3d23948992025d627e164016509b83868deab655edc3e9ecd190ca07776d6c2d", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:44.647797+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "0185572f2492f159e065a10db703aecbc7137f7c3daa37dfa94b7f05f6966729", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00182 Avocado Slicer/IsaacSim_assets_6a79e605d43e1896053d8ad5/physics_6a79e605d43e1896053d8ad5.json b/batch27/D00182 Avocado Slicer/IsaacSim_assets_6a79e605d43e1896053d8ad5/physics_6a79e605d43e1896053d8ad5.json index db2b948f3cc6de040f09b298872092909e980626..50944381cafc337a754c6caa45ab2cf8c87f06eb 100644 --- a/batch27/D00182 Avocado Slicer/IsaacSim_assets_6a79e605d43e1896053d8ad5/physics_6a79e605d43e1896053d8ad5.json +++ b/batch27/D00182 Avocado Slicer/IsaacSim_assets_6a79e605d43e1896053d8ad5/physics_6a79e605d43e1896053d8ad5.json @@ -1,50 +1,105 @@ { "articulation": { - "has_joints": false, - "joints": [] + "has_joints": true, + "joints": [ + { + "id": "joint_slicer_head__handle", + "path": "/World/textured_mesh_6a79e605d43e1896053d8ad5/Joints/joint_slicer_head__handle", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a79e605d43e1896053d8ad5/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a79e605d43e1896053d8ad5/part_1" + ], + "authored_usd": { + "id": "joint_slicer_head__handle", + "source_prim_path": "/World/textured_mesh_6a79e605d43e1896053d8ad5/Joints/joint_slicer_head__handle", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a79e605d43e1896053d8ad5/part_0" + ], + "body1": [ + "/World/textured_mesh_6a79e605d43e1896053d8ad5/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + "type": "PhysicsFixedJoint" + } + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03528299927711487, - 0.09611000120639801, - 0.03494099900126457 - ], "min": [ -0.035280000418424606, -0.11089999973773956, -8.199999865610152e-05 ], + "max": [ + 0.03528299927711487, + 0.09611000120639801, + 0.03494099900126457 + ], "size": [ 0.07056299969553947, 0.20701000094413757, 0.035022998999920674 - ] + ], + "units": "m" }, "description": "D00182 Avocado Slicer", "name": "D00182 Avocado Slicer", "object_type": "rigid_bodies", - "total_mass": 0.12 + "total_mass": 0.12000000104308128, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00182", "parts": [ { "bounds": { - "center": [ - 1.4994293451309204e-06, - 0.01715799979865551, - 0.0165519998408854 + "min": [ + -0.035280000418424606, + -0.06179400160908699, + 0.001259000040590763 ], "max": [ 0.03528299927711487, 0.09611000120639801, 0.03184499964118004 ], - "min": [ - -0.035280000418424606, - -0.06179400160908699, - 0.001259000040590763 - ] + "size": [ + 0.07056299969553947, + 0.157904002815485, + 0.030585999600589275 + ], + "units": "m" }, "center_of_mass": [ -0.00018026065663434565, @@ -59,7 +114,7 @@ 0.0001285868202103302, 0.0001442198408767581 ], - "mass": 0.07, + "mass": 0.07000000029802322, "material": "metal", "name": "D00182 Avocado Slicer", "physics_type": "rigid", @@ -67,25 +122,28 @@ "object_name": "D00182 Avocado Slicer", "part_name": "D00182 Avocado Slicer" }, - "volume": 8.917197490194042e-06 + "volume": 8.917197490194042e-06, + "source_prim_path": "/World/textured_mesh_6a79e605d43e1896053d8ad5/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 4.2499974370002747e-05, - -0.045945500023663044, - 0.017429499501304235 + "min": [ + -0.024824000895023346, + -0.11089999973773956, + -8.199999865610152e-05 ], "max": [ 0.02490900084376335, 0.019008999690413475, 0.03494099900126457 ], - "min": [ - -0.024824000895023346, - -0.11089999973773956, - -8.199999865610152e-05 - ] + "size": [ + 0.0497330017387867, + 0.12990899942815304, + 0.035022998999920674 + ], + "units": "m" }, "center_of_mass": [ 5.65917889616685e-06, @@ -100,7 +158,7 @@ 5.961007991572842e-05, 6.402930011972785e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "plastic", "name": "D00182 Avocado Slicer", "physics_type": "rigid", @@ -108,10 +166,27 @@ "object_name": "D00182 Avocado Slicer", "part_name": "D00182 Avocado Slicer" }, - "volume": 4.166666728754838e-05 + "volume": 4.166666728754838e-05, + "source_prim_path": "/World/textured_mesh_6a79e605d43e1896053d8ad5/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2ad000be5f229e45b089135f14941f81be638e2eb2eee82850d77358bf5cb736" + }, + "usd_path": "batch27/D00182 Avocado Slicer/IsaacSim_assets_6a79e605d43e1896053d8ad5/IsaacSim_asset_6a79e605d43e1896053d8ad5.usd", + "usd_sha256": "3b9ca3540d367e31eb0444bae3a0e440e76a9f2a6f30de61d8462c4c9b366578", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -132,22 +207,56 @@ 0.07056299969553947, 0.20701000094413757, 0.035022998999920674 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b9ca3540d367e31eb0444bae3a0e440e76a9f2a6f30de61d8462c4c9b366578", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.12 + "value_kg": 0.12000000104308128, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b9ca3540d367e31eb0444bae3a0e440e76a9f2a6f30de61d8462c4c9b366578", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.12000000104308128, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b9ca3540d367e31eb0444bae3a0e440e76a9f2a6f30de61d8462c4c9b366578", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b9ca3540d367e31eb0444bae3a0e440e76a9f2a6f30de61d8462c4c9b366578", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00193 Whetstone/IsaacSim_assets_6a79efbed43e1896053e7059/physics_6a79efbed43e1896053e7059.json b/batch27/D00193 Whetstone/IsaacSim_assets_6a79efbed43e1896053e7059/physics_6a79efbed43e1896053e7059.json index 35b3f11491d49dc6649f0f68a22aed5c4c484335..0d3718fb20e28a0d0b746526fb23e99d6873ccc5 100644 --- a/batch27/D00193 Whetstone/IsaacSim_assets_6a79efbed43e1896053e7059/physics_6a79efbed43e1896053e7059.json +++ b/batch27/D00193 Whetstone/IsaacSim_assets_6a79efbed43e1896053e7059/physics_6a79efbed43e1896053e7059.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04853599891066551, - 0.10347200185060501, - 0.061940889805555344 - ], "min": [ -0.0486919991672039, -0.10386999696493149, 0.001135888959879594 ], + "max": [ + 0.04853599891066551, + 0.10347200185060501, + 0.061940889805555344 + ], "size": [ 0.09722799807786942, 0.2073419988155365, 0.06080500084567575 - ] + ], + "units": "m" }, "description": "D00193 Whetstone", "name": "D00193 Whetstone", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00193", "parts": [ { "bounds": { - "center": [ - -7.800012826919556e-05, - -0.00019899755716323853, - 0.03153838938271747 + "min": [ + -0.0486919991672039, + -0.10386999696493149, + 0.001135888959879594 ], "max": [ 0.04853599891066551, 0.10347200185060501, 0.061940889805555344 ], - "min": [ - -0.0486919991672039, - -0.10386999696493149, - 0.001135888959879594 - ] + "size": [ + 0.09722799807786942, + 0.2073419988155365, + 0.06080500084567575 + ], + "units": "m" }, "center_of_mass": [ 3.970959824073361e-06, @@ -59,7 +65,7 @@ 0.004404648672789335, 0.004899113439023495 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "plastic", "name": "D00193 Whetstone", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00193 Whetstone", "part_name": "D00193 Whetstone" }, - "volume": 0.0012000000476837158 + "volume": 0.0012000000476837158, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7a0f9b87d80b6d5a6b884acc3fe99c3afe7f1721294efdc13e389d2e1822fbbf" + }, + "usd_path": "batch27/D00193 Whetstone/IsaacSim_assets_6a79efbed43e1896053e7059/IsaacSim_asset_6a79efbed43e1896053e7059.usd", + "usd_sha256": "ebcf48cd82a53d2bb68b17c5da5bac833ea71827a2fc663b214273ea412e6637", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.09722799807786942, 0.2073419988155365, 0.06080500084567575 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ebcf48cd82a53d2bb68b17c5da5bac833ea71827a2fc663b214273ea412e6637", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ebcf48cd82a53d2bb68b17c5da5bac833ea71827a2fc663b214273ea412e6637", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ebcf48cd82a53d2bb68b17c5da5bac833ea71827a2fc663b214273ea412e6637", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ebcf48cd82a53d2bb68b17c5da5bac833ea71827a2fc663b214273ea412e6637", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00213 Corkscrew/IsaacSim_assets_6a7a89bbb56a872fd7661f24/physics_6a7a89bbb56a872fd7661f24.json b/batch27/D00213 Corkscrew/IsaacSim_assets_6a7a89bbb56a872fd7661f24/physics_6a7a89bbb56a872fd7661f24.json index 897cc95629e677337c77126d9bde3ee81382ee51..b11bf559936699943fb09553deaa1fcba0ad4600 100644 --- a/batch27/D00213 Corkscrew/IsaacSim_assets_6a7a89bbb56a872fd7661f24/physics_6a7a89bbb56a872fd7661f24.json +++ b/batch27/D00213 Corkscrew/IsaacSim_assets_6a7a89bbb56a872fd7661f24/physics_6a7a89bbb56a872fd7661f24.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06879500299692154, - 0.02020999975502491, - 0.17569503653794527 - ], "min": [ -0.068790003657341, -0.02020600065588951, 0.0004070298746228218 ], + "max": [ + 0.06879500299692154, + 0.02020999975502491, + 0.17569503653794527 + ], "size": [ 0.13758500665426254, 0.04041600041091442, 0.17528800666332245 - ] + ], + "units": "m" }, "description": "D00213 Corkscrew", "name": "D00213 Corkscrew", "object_type": "rigid_bodies", - "total_mass": 0.259 + "total_mass": 0.2590000033378601, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00213", "parts": [ { "bounds": { - "center": [ - 2.4996697902679443e-06, - 1.9995495676994324e-06, - 0.08805103320628405 + "min": [ + -0.068790003657341, + -0.02020600065588951, + 0.0004070298746228218 ], "max": [ 0.06879500299692154, 0.02020999975502491, 0.17569503653794527 ], - "min": [ - -0.068790003657341, - -0.02020600065588951, - 0.0004070298746228218 - ] + "size": [ + 0.13758500665426254, + 0.04041600041091442, + 0.17528800666332245 + ], + "units": "m" }, "center_of_mass": [ -1.0334243597753812e-05, @@ -59,7 +65,7 @@ 0.00039665220538154244, 0.0006069497321732342 ], - "mass": 0.259, + "mass": 0.2590000033378601, "material": "metal", "name": "D00213 Corkscrew", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00213 Corkscrew", "part_name": "D00213 Corkscrew" }, - "volume": 3.320512863305899e-05 + "volume": 3.320512863305899e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1cd9b85fb6f7ade2af1f54d3a161f022584ce971ac7bd71af05888140452f28e" + }, + "usd_path": "batch27/D00213 Corkscrew/IsaacSim_assets_6a7a89bbb56a872fd7661f24/IsaacSim_asset_6a7a89bbb56a872fd7661f24.usd", + "usd_sha256": "17ebe8d357a69514b38f1108ca2fc87784c36abb52e1a2703fafa0f1d12565c7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.13758500665426254, 0.04041600041091442, 0.17528800666332245 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "17ebe8d357a69514b38f1108ca2fc87784c36abb52e1a2703fafa0f1d12565c7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.259 + "value_kg": 0.2590000033378601, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "17ebe8d357a69514b38f1108ca2fc87784c36abb52e1a2703fafa0f1d12565c7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2590000033378601, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 14, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "17ebe8d357a69514b38f1108ca2fc87784c36abb52e1a2703fafa0f1d12565c7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 14, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "17ebe8d357a69514b38f1108ca2fc87784c36abb52e1a2703fafa0f1d12565c7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00245_Cups_Salt/IsaacSim_assets_6a7c1111b56a872fd785c16a/physics_6a7c1111b56a872fd785c16a.json b/batch27/D00245_Cups_Salt/IsaacSim_assets_6a7c1111b56a872fd785c16a/physics_6a7c1111b56a872fd785c16a.json index 4aeadcefa39e8ff5ba3860148e91a43dc9c9b3ab..d7e33c9b74cf60517a3f851087c1e2af965de54b 100644 --- a/batch27/D00245_Cups_Salt/IsaacSim_assets_6a7c1111b56a872fd785c16a/physics_6a7c1111b56a872fd785c16a.json +++ b/batch27/D00245_Cups_Salt/IsaacSim_assets_6a7c1111b56a872fd785c16a/physics_6a7c1111b56a872fd785c16a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.044895999133586884, - 0.04500799998641014, - 0.0801599994301796 - ], "min": [ -0.0450580008327961, -0.04489000141620636, 0.0 ], + "max": [ + 0.044895999133586884, + 0.04500799998641014, + 0.0801599994301796 + ], "size": [ 0.08995399996638298, 0.0898980014026165, 0.0801599994301796 - ] + ], + "units": "m" }, "description": "D00245 Cups Salt", "name": "D00245 Cups Salt", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00245", "parts": [ { "bounds": { - "center": [ - -8.100084960460663e-05, - 5.8999285101890564e-05, - 0.0400799997150898 + "min": [ + -0.0450580008327961, + -0.04489000141620636, + 0.0 ], "max": [ 0.044895999133586884, 0.04500799998641014, 0.0801599994301796 ], - "min": [ - -0.0450580008327961, - -0.04489000141620636, - 0.0 - ] + "size": [ + 0.08995399996638298, + 0.0898980014026165, + 0.0801599994301796 + ], + "units": "m" }, "center_of_mass": [ 1.9971432266174816e-05, @@ -67,10 +73,27 @@ "object_name": "D00245 Cups Salt", "part_name": "D00245 Cups Salt" }, - "volume": 0.0002777777777777778 + "volume": 0.0002777777777777778, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "40e47c897483873a13b640e51fb8ad04d1581bad2a0dbe36cc8feb47a028f26a" + }, + "usd_path": "batch27/D00245_Cups_Salt/IsaacSim_assets_6a7c1111b56a872fd785c16a/IsaacSim_asset_6a7c1111b56a872fd785c16a.usd", + "usd_sha256": "e87b699381db8683202891c8e58820635b95b0cd3f05c53c51a04d4747002fca", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08995399996638298, 0.0898980014026165, 0.0801599994301796 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e87b699381db8683202891c8e58820635b95b0cd3f05c53c51a04d4747002fca", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e87b699381db8683202891c8e58820635b95b0cd3f05c53c51a04d4747002fca", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e87b699381db8683202891c8e58820635b95b0cd3f05c53c51a04d4747002fca", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e87b699381db8683202891c8e58820635b95b0cd3f05c53c51a04d4747002fca", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00342 Glass Bottle Spice/IsaacSim_assets_6a7a89c7b56a872fd76624cb/physics_6a7a89c7b56a872fd76624cb.json b/batch27/D00342 Glass Bottle Spice/IsaacSim_assets_6a7a89c7b56a872fd76624cb/physics_6a7a89c7b56a872fd76624cb.json index 5d1111da39740c2572d106a7fc6194a8d03de340..d223fdf9021fc4764239d91f68c548ea68ee4bce 100644 --- a/batch27/D00342 Glass Bottle Spice/IsaacSim_assets_6a7a89c7b56a872fd76624cb/physics_6a7a89c7b56a872fd76624cb.json +++ b/batch27/D00342 Glass Bottle Spice/IsaacSim_assets_6a7a89c7b56a872fd76624cb/physics_6a7a89c7b56a872fd76624cb.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.028555000200867653, - 0.029569000005722046, - 0.126674123108387 - ], "min": [ -0.028660999611020088, -0.027633000165224075, 0.0005911199917818521 ], + "max": [ + 0.028555000200867653, + 0.029569000005722046, + 0.126674123108387 + ], "size": [ 0.05721599981188774, 0.05720200017094612, 0.12608300311660514 - ] + ], + "units": "m" }, "description": "D00342 Glass Bottle Spice", "name": "D00342 Glass Bottle Spice", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00342", "parts": [ { "bounds": { - "center": [ - -5.299970507621765e-05, - 0.0009679999202489853, - 0.06363262155008442 + "min": [ + -0.028660999611020088, + -0.027633000165224075, + 0.0005911199917818521 ], "max": [ 0.028555000200867653, 0.029569000005722046, 0.126674123108387 ], - "min": [ - -0.028660999611020088, - -0.027633000165224075, - 0.0005911199917818521 - ] + "size": [ + 0.05721599981188774, + 0.05720200017094612, + 0.12608300311660514 + ], + "units": "m" }, "center_of_mass": [ -7.071863365126774e-05, @@ -59,7 +65,7 @@ 0.0002255546860396862, 0.00022566506231669337 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "ceramic", "name": "D00342 Glass Bottle Spice", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00342 Glass Bottle Spice", "part_name": "D00342 Glass Bottle Spice" }, - "volume": 6.000000238418579e-05 + "volume": 6.000000238418579e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "87f00da901a4d3a06bbc93ad9e60f2bae6e74232ffaa3018f3653ca8b299c5cc" + }, + "usd_path": "batch27/D00342 Glass Bottle Spice/IsaacSim_assets_6a7a89c7b56a872fd76624cb/IsaacSim_asset_6a7a89c7b56a872fd76624cb.usd", + "usd_sha256": "50fb8b66c23f16383c5e2cea0b08782b518503beeb96ecb809baedc7f3275d38", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.05721599981188774, 0.05720200017094612, 0.12608300311660514 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "50fb8b66c23f16383c5e2cea0b08782b518503beeb96ecb809baedc7f3275d38", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "50fb8b66c23f16383c5e2cea0b08782b518503beeb96ecb809baedc7f3275d38", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "50fb8b66c23f16383c5e2cea0b08782b518503beeb96ecb809baedc7f3275d38", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "50fb8b66c23f16383c5e2cea0b08782b518503beeb96ecb809baedc7f3275d38", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00345 Highball Glass/IsaacSim_assets_6a79efc5d43e1896053e72c1/physics_6a79efc5d43e1896053e72c1.json b/batch27/D00345 Highball Glass/IsaacSim_assets_6a79efc5d43e1896053e72c1/physics_6a79efc5d43e1896053e72c1.json index c3d23b07ceee08865a63d908f021c9a390d17103..5d6ef7c8029b64d2341e3c58cd0a6fabaedbdae9 100644 --- a/batch27/D00345 Highball Glass/IsaacSim_assets_6a79efc5d43e1896053e72c1/physics_6a79efc5d43e1896053e72c1.json +++ b/batch27/D00345 Highball Glass/IsaacSim_assets_6a79efc5d43e1896053e72c1/physics_6a79efc5d43e1896053e72c1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03349500149488449, - 0.033355001360177994, - 0.13324349699541926 - ], "min": [ -0.0333079993724823, -0.033271998167037964, 0.0007114899649423023 ], + "max": [ + 0.03349500149488449, + 0.033355001360177994, + 0.13324349699541926 + ], "size": [ 0.06680300086736679, 0.06662699952721596, 0.13253200703047696 - ] + ], + "units": "m" }, "description": "D00345 Highball Glass", "name": "D00345 Highball Glass", "object_type": "rigid_bodies", - "total_mass": 0.142 + "total_mass": 0.1420000046491623, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00345", "parts": [ { "bounds": { - "center": [ - 9.350106120109558e-05, - 4.1501596570014954e-05, - 0.06697749348018078 + "min": [ + -0.0333079993724823, + -0.033271998167037964, + 0.0007114899649423023 ], "max": [ 0.03349500149488449, 0.033355001360177994, 0.13324349699541926 ], - "min": [ - -0.0333079993724823, - -0.033271998167037964, - 0.0007114899649423023 - ] + "size": [ + 0.06680300086736679, + 0.06662699952721596, + 0.13253200703047696 + ], + "units": "m" }, "center_of_mass": [ 9.37177101150155e-05, @@ -59,7 +65,7 @@ 0.00024267184198834002, 0.00024314135953318328 ], - "mass": 0.142, + "mass": 0.1420000046491623, "material": "ceramic", "name": "D00345 Highball Glass", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00345 Highball Glass", "part_name": "D00345 Highball Glass" }, - "volume": 5.680000185966492e-05 + "volume": 5.680000185966492e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "17adacdd874903a82d533e9c5a5294185f4ab67f5741b98969b017d0aa089e63" + }, + "usd_path": "batch27/D00345 Highball Glass/IsaacSim_assets_6a79efc5d43e1896053e72c1/IsaacSim_asset_6a79efc5d43e1896053e72c1.usd", + "usd_sha256": "1c08778336b0c3a2444d6cac650612bb5310b4674696ce719e6467eba686c541", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.06680300086736679, 0.06662699952721596, 0.13253200703047696 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c08778336b0c3a2444d6cac650612bb5310b4674696ce719e6467eba686c541", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.142 + "value_kg": 0.1420000046491623, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c08778336b0c3a2444d6cac650612bb5310b4674696ce719e6467eba686c541", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.1420000046491623, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c08778336b0c3a2444d6cac650612bb5310b4674696ce719e6467eba686c541", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c08778336b0c3a2444d6cac650612bb5310b4674696ce719e6467eba686c541", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00346_Glass_Honey_Jar/IsaacSim_assets_6a79c04ad43e1896053ab6e6/physics_6a79c04ad43e1896053ab6e6.json b/batch27/D00346_Glass_Honey_Jar/IsaacSim_assets_6a79c04ad43e1896053ab6e6/physics_6a79c04ad43e1896053ab6e6.json index 40cfdad7d217c449ccda107ca198be029c2ba627..926843322748c6776a19b8b218126796c90169d0 100644 --- a/batch27/D00346_Glass_Honey_Jar/IsaacSim_assets_6a79c04ad43e1896053ab6e6/physics_6a79c04ad43e1896053ab6e6.json +++ b/batch27/D00346_Glass_Honey_Jar/IsaacSim_assets_6a79c04ad43e1896053ab6e6/physics_6a79c04ad43e1896053ab6e6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03580699861049652, - 0.037257999181747437, - 0.09235328063368797 - ], "min": [ -0.03578000143170357, -0.037650998681783676, 0.00044528118587550125 ], + "max": [ + 0.03580699861049652, + 0.037257999181747437, + 0.09235328063368797 + ], "size": [ 0.07158700004220009, 0.07490899786353111, 0.09190799944781247 - ] + ], + "units": "m" }, "description": "D00346 Glass Honey Jar", "name": "D00346 Glass Honey Jar", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00346", "parts": [ { "bounds": { - "center": [ - 1.3498589396476746e-05, - -0.0001964997500181198, - 0.04639928090978174 + "min": [ + -0.03578000143170357, + -0.037650998681783676, + 0.00044528118587550125 ], "max": [ 0.03580699861049652, 0.037257999181747437, 0.09235328063368797 ], - "min": [ - -0.03578000143170357, - -0.037650998681783676, - 0.00044528118587550125 - ] + "size": [ + 0.07158700004220009, + 0.07490899786353111, + 0.09190799944781247 + ], + "units": "m" }, "center_of_mass": [ -2.2010455722920597e-05, @@ -59,7 +65,7 @@ 0.0007703847368247807, 0.0007952387095429003 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "composite", "name": "D00346 Glass Honey Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00346 Glass Honey Jar", "part_name": "D00346 Glass Honey Jar" }, - "volume": 0.0005714285799435206 + "volume": 0.0005714285799435206, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9365a07165ea36efa56b11380405a0fcc10f3ab9aaa79466bd68dc07f1dd6b69" + }, + "usd_path": "batch27/D00346_Glass_Honey_Jar/IsaacSim_assets_6a79c04ad43e1896053ab6e6/IsaacSim_asset_6a79c04ad43e1896053ab6e6.usd", + "usd_sha256": "da2f0bc5ac50287c566779dda09cecc56046b63734a9a066a7a7152fd5e01a11", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.07158700004220009, 0.07490899786353111, 0.09190799944781247 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "da2f0bc5ac50287c566779dda09cecc56046b63734a9a066a7a7152fd5e01a11", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "da2f0bc5ac50287c566779dda09cecc56046b63734a9a066a7a7152fd5e01a11", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "da2f0bc5ac50287c566779dda09cecc56046b63734a9a066a7a7152fd5e01a11", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "da2f0bc5ac50287c566779dda09cecc56046b63734a9a066a7a7152fd5e01a11", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00417 Jaril Holder/IsaacSim_assets_6a6c3d24cb2d3efc65b857b7/physics_6a6c3d24cb2d3efc65b857b7.json b/batch27/D00417 Jaril Holder/IsaacSim_assets_6a6c3d24cb2d3efc65b857b7/physics_6a6c3d24cb2d3efc65b857b7.json index 711a358110dc20357d33e7af35f9c2b8233fae9d..9567f358163d0041f4053c57e5505a2c9b36c6c6 100644 --- a/batch27/D00417 Jaril Holder/IsaacSim_assets_6a6c3d24cb2d3efc65b857b7/physics_6a6c3d24cb2d3efc65b857b7.json +++ b/batch27/D00417 Jaril Holder/IsaacSim_assets_6a6c3d24cb2d3efc65b857b7/physics_6a6c3d24cb2d3efc65b857b7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10360900312662125, - 0.06223699823021889, - 0.13034531474113464 - ], "min": [ -0.1028899997472763, -0.0704059973359108, 0.0011263084597885609 ], + "max": [ + 0.10360900312662125, + 0.06223699823021889, + 0.13034531474113464 + ], "size": [ 0.20649900287389755, 0.13264299556612968, 0.12921900628134608 - ] + ], + "units": "m" }, "description": "D00417 Jaril Holder", "name": "D00417 Jaril Holder", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00417", "parts": [ { "bounds": { - "center": [ - 0.0003595016896724701, - -0.004084499552845955, - 0.0657358116004616 + "min": [ + -0.1028899997472763, + -0.0704059973359108, + 0.0011263084597885609 ], "max": [ 0.10360900312662125, 0.06223699823021889, 0.13034531474113464 ], - "min": [ - -0.1028899997472763, - -0.0704059973359108, - 0.0011263084597885609 - ] + "size": [ + 0.20649900287389755, + 0.13264299556612968, + 0.12921900628134608 + ], + "units": "m" }, "center_of_mass": [ 0.0003565749211702496, @@ -59,7 +65,7 @@ 0.0039516170509159565, 0.0040094791911542416 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "wood", "name": "D00417 Jaril Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00417 Jaril Holder", "part_name": "D00417 Jaril Holder" }, - "volume": 0.0011428571598870413 + "volume": 0.0011428571598870413, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "67a9659b15a669c3934b19d077f6c645916d337450da10a3192b62df59f9c738" + }, + "usd_path": "batch27/D00417 Jaril Holder/IsaacSim_assets_6a6c3d24cb2d3efc65b857b7/IsaacSim_asset_6a6c3d24cb2d3efc65b857b7.usd", + "usd_sha256": "0f21d914aa87ea406e497885760ba75336ff8a849694bfa64f2e4bd7437a0a29", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.20649900287389755, 0.13264299556612968, 0.12921900628134608 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f21d914aa87ea406e497885760ba75336ff8a849694bfa64f2e4bd7437a0a29", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f21d914aa87ea406e497885760ba75336ff8a849694bfa64f2e4bd7437a0a29", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f21d914aa87ea406e497885760ba75336ff8a849694bfa64f2e4bd7437a0a29", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f21d914aa87ea406e497885760ba75336ff8a849694bfa64f2e4bd7437a0a29", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00428 Madeleine Pan/IsaacSim_assets_6a799e90d43e189605365204/physics_6a799e90d43e189605365204.json b/batch27/D00428 Madeleine Pan/IsaacSim_assets_6a799e90d43e189605365204/physics_6a799e90d43e189605365204.json index b50b32881ac2d4283de0e2f3f307b6b7dcf306ad..7c17898fc33fe6a4b5b05b2d5027cc3660189e2b 100644 --- a/batch27/D00428 Madeleine Pan/IsaacSim_assets_6a799e90d43e189605365204/physics_6a799e90d43e189605365204.json +++ b/batch27/D00428 Madeleine Pan/IsaacSim_assets_6a799e90d43e189605365204/physics_6a799e90d43e189605365204.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.20840400457382202, - 0.14596900343894958, - 0.02742147073149681 - ], "min": [ -0.20823100209236145, -0.14608600735664368, 0.0020664699841290712 ], + "max": [ + 0.20840400457382202, + 0.14596900343894958, + 0.02742147073149681 + ], "size": [ 0.41663500666618347, 0.29205501079559326, 0.02535500074736774 - ] + ], + "units": "m" }, "description": "D00428 Madeleine Pan", "name": "D00428 Madeleine Pan", "object_type": "rigid_bodies", - "total_mass": 0.9 + "total_mass": 0.8999999761581421, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00428", "parts": [ { "bounds": { - "center": [ - 8.650124073028564e-05, - -5.85019588470459e-05, - 0.014743970357812941 + "min": [ + -0.20823100209236145, + -0.14608600735664368, + 0.0020664699841290712 ], "max": [ 0.20840400457382202, 0.14596900343894958, 0.02742147073149681 ], - "min": [ - -0.20823100209236145, - -0.14608600735664368, - 0.0020664699841290712 - ] + "size": [ + 0.41663500666618347, + 0.29205501079559326, + 0.02535500074736774 + ], + "units": "m" }, "center_of_mass": [ 9.689082071417943e-05, @@ -59,7 +65,7 @@ 0.010765018872916698, 0.01660251058638096 ], - "mass": 0.9, + "mass": 0.8999999761581421, "material": "wood", "name": "D00428 Madeleine Pan", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00428 Madeleine Pan", "part_name": "D00428 Madeleine Pan" }, - "volume": 0.0010960906137110788 + "volume": 0.0010960906137110788, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "895786c2d9abe8b8ca33a513ed3e1e939f50c083cbd7d893c2b77e77e8016577" + }, + "usd_path": "batch27/D00428 Madeleine Pan/IsaacSim_assets_6a799e90d43e189605365204/IsaacSim_asset_6a799e90d43e189605365204.usd", + "usd_sha256": "932429743dc8c46b3f57f5145b03abd156b5f7ec46584ddc0d1cb4849a6871a5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.41663500666618347, 0.29205501079559326, 0.02535500074736774 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "932429743dc8c46b3f57f5145b03abd156b5f7ec46584ddc0d1cb4849a6871a5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.9 + "value_kg": 0.8999999761581421, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "932429743dc8c46b3f57f5145b03abd156b5f7ec46584ddc0d1cb4849a6871a5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8999999761581421, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "932429743dc8c46b3f57f5145b03abd156b5f7ec46584ddc0d1cb4849a6871a5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "932429743dc8c46b3f57f5145b03abd156b5f7ec46584ddc0d1cb4849a6871a5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00442 Kitchen Bowl Saucepan Pot/IsaacSim_assets_6a6c39f4cb2d3efc65b76608/physics_6a6c39f4cb2d3efc65b76608.json b/batch27/D00442 Kitchen Bowl Saucepan Pot/IsaacSim_assets_6a6c39f4cb2d3efc65b76608/physics_6a6c39f4cb2d3efc65b76608.json index c65a0724a2d8f24534b0bd52360a8893f5fd09ae..2c133e1467b0d07c89474538b0ec507a1b77f1b3 100644 --- a/batch27/D00442 Kitchen Bowl Saucepan Pot/IsaacSim_assets_6a6c39f4cb2d3efc65b76608/physics_6a6c39f4cb2d3efc65b76608.json +++ b/batch27/D00442 Kitchen Bowl Saucepan Pot/IsaacSim_assets_6a6c39f4cb2d3efc65b76608/physics_6a6c39f4cb2d3efc65b76608.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.21430499851703644, - 0.07621800154447556, - 0.07416798919439316 - ], "min": [ -0.10800100117921829, -0.07628799974918365, 0.0010089903371408582 ], + "max": [ + 0.21430499851703644, + 0.07621800154447556, + 0.07416798919439316 + ], "size": [ 0.32230599969625473, 0.1525060012936592, 0.0731589988572523 - ] + ], + "units": "m" }, "description": "D00442 Kitchen Bowl Saucepan Pot", "name": "D00442 Kitchen Bowl Saucepan Pot", "object_type": "rigid_bodies", - "total_mass": 2.06 + "total_mass": 2.059999942779541, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00442", "parts": [ { "bounds": { - "center": [ - 0.05315199866890907, - -3.499910235404968e-05, - 0.03758848976576701 + "min": [ + -0.10800100117921829, + -0.07628799974918365, + 0.0010089903371408582 ], "max": [ 0.21430499851703644, 0.07621800154447556, 0.07416798919439316 ], - "min": [ - -0.10800100117921829, - -0.07628799974918365, - 0.0010089903371408582 - ] + "size": [ + 0.32230599969625473, + 0.1525060012936592, + 0.0731589988572523 + ], + "units": "m" }, "center_of_mass": [ 0.006941202096641064, @@ -59,7 +65,7 @@ 0.010160823352634907, 0.011804725974798203 ], - "mass": 2.06, + "mass": 2.059999942779541, "material": "metal", "name": "D00442 Kitchen Bowl Saucepan Pot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00442 Kitchen Bowl Saucepan Pot", "part_name": "D00442 Kitchen Bowl Saucepan Pot" }, - "volume": 0.00026075948642779 + "volume": 0.00026075948642779, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "79f81f8871085b685dfffaf6ee4522a14be588731661e7d49c638ac7c4b6850b" + }, + "usd_path": "batch27/D00442 Kitchen Bowl Saucepan Pot/IsaacSim_assets_6a6c39f4cb2d3efc65b76608/IsaacSim_asset_6a6c39f4cb2d3efc65b76608.usd", + "usd_sha256": "56fd710d21ae1a6c2b83260a9ba1ed958538e3e29a1b10df9369c7e6b801e25a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.32230599969625473, 0.1525060012936592, 0.0731589988572523 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56fd710d21ae1a6c2b83260a9ba1ed958538e3e29a1b10df9369c7e6b801e25a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.06 + "value_kg": 2.059999942779541, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56fd710d21ae1a6c2b83260a9ba1ed958538e3e29a1b10df9369c7e6b801e25a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.059999942779541, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 79, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56fd710d21ae1a6c2b83260a9ba1ed958538e3e29a1b10df9369c7e6b801e25a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 79, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56fd710d21ae1a6c2b83260a9ba1ed958538e3e29a1b10df9369c7e6b801e25a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00446 Kitchen Container/IsaacSim_assets_6a71a8d5cdde3c1658d48a20/physics_6a71a8d5cdde3c1658d48a20.json b/batch27/D00446 Kitchen Container/IsaacSim_assets_6a71a8d5cdde3c1658d48a20/physics_6a71a8d5cdde3c1658d48a20.json index 64b6f75ef847b130265a09a198aa9e72a35f068c..4d1b023d09ad8de3dc1e6026c36e5fc44a82c236 100644 --- a/batch27/D00446 Kitchen Container/IsaacSim_assets_6a71a8d5cdde3c1658d48a20/physics_6a71a8d5cdde3c1658d48a20.json +++ b/batch27/D00446 Kitchen Container/IsaacSim_assets_6a71a8d5cdde3c1658d48a20/physics_6a71a8d5cdde3c1658d48a20.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07725586, - 0.18372671, - 0.07718864 - ], "min": [ - -0.07655782, - 0.0, - -0.0758412 + -0.07654699683189392, + -0.07716800272464752, + 0.0009747995645739138 + ], + "max": [ + 0.07724499702453613, + 0.07581999897956848, + 0.18477079272270203 ], "size": [ - 0.15381368, - 0.18372671, - 0.15302984 - ] + 0.15379199385643005, + 0.152988001704216, + 0.1837959931581281 + ], + "units": "m" }, "description": "A cylindrical white ceramic utensils holder with a flat wooden base and a wooden internal divider.", "name": "specialist-current", "object_type": "rigid_bodies", - "total_mass": 0.763 + "total_mass": 0.7630000114440918, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00446", "parts": [ { "bounds": { - "center": [ - 0.000362940723872758, - 0.08783112472873875, - 0.0007054971788244501 + "min": [ + -0.07654699683189392, + -0.07716800272464752, + 0.0009747995645739138 ], "max": [ - 0.07725586, - 0.18372671, - 0.07718864 + 0.07724499702453613, + 0.07581999897956848, + 0.18477079272270203 ], - "min": [ - -0.07655782, - 0.0, - -0.0758412 - ] + "size": [ + 0.15379199385643005, + 0.152988001704216, + 0.1837959931581281 + ], + "units": "m" }, "center_of_mass": [ 0.0003818259821983757, @@ -59,7 +65,7 @@ 0.003258402539601326, 0.0032638530100617814 ], - "mass": 0.763, + "mass": 0.7630000114440918, "material": "ceramic", "name": "specialist-current", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "specialist-current", "part_name": "specialist-current" }, - "volume": 0.0033875844907777695 + "volume": 0.0033875844907777695, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f6d348454a79dc6e39c96db1d10ad36d2032557080630907a043ab1da4788a48" + }, + "usd_path": "batch27/D00446 Kitchen Container/IsaacSim_assets_6a71a8d5cdde3c1658d48a20/IsaacSim_asset_6a71a8d5cdde3c1658d48a20.usd", + "usd_sha256": "d009c962c8d60bb66bbbf51f51d8136a00ac4a5fa5c7244bce7a483652cee6ee", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.15381368, - 0.18372671, - 0.15302984 - ] + 0.15379199385643005, + 0.152988001704216, + 0.1837959931581281 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d009c962c8d60bb66bbbf51f51d8136a00ac4a5fa5c7244bce7a483652cee6ee", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.763 + "value_kg": 0.7630000114440918, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d009c962c8d60bb66bbbf51f51d8136a00ac4a5fa5c7244bce7a483652cee6ee", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.7630000114440918, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 31, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d009c962c8d60bb66bbbf51f51d8136a00ac4a5fa5c7244bce7a483652cee6ee", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 31, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d009c962c8d60bb66bbbf51f51d8136a00ac4a5fa5c7244bce7a483652cee6ee", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00465 Wine Decanter/IsaacSim_assets_6a79abc6d43e189605385916/physics_6a79abc6d43e189605385916.json b/batch27/D00465 Wine Decanter/IsaacSim_assets_6a79abc6d43e189605385916/physics_6a79abc6d43e189605385916.json index 5f81fb193c5dd669b4791100ece4eb97b3662fe6..675526e895acc57960f25f8e985dc4bbc2f9eecf 100644 --- a/batch27/D00465 Wine Decanter/IsaacSim_assets_6a79abc6d43e189605385916/physics_6a79abc6d43e189605385916.json +++ b/batch27/D00465 Wine Decanter/IsaacSim_assets_6a79abc6d43e189605385916/physics_6a79abc6d43e189605385916.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06923200190067291, - 0.06888899952173233, - 0.144134983420372 - ], "min": [ -0.06916599720716476, -0.06903699785470963, 0.0007309800712391734 ], + "max": [ + 0.06923200190067291, + 0.06888899952173233, + 0.144134983420372 + ], "size": [ 0.13839799910783768, 0.13792599737644196, 0.14340400334913284 - ] + ], + "units": "m" }, "description": "D00465 Wine Decanter", "name": "D00465 Wine Decanter", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00465", "parts": [ { "bounds": { - "center": [ - 3.30023467540741e-05, - -7.399916648864746e-05, - 0.07243298174580559 + "min": [ + -0.06916599720716476, + -0.06903699785470963, + 0.0007309800712391734 ], "max": [ 0.06923200190067291, 0.06888899952173233, 0.144134983420372 ], - "min": [ - -0.06916599720716476, - -0.06903699785470963, - 0.0007309800712391734 - ] + "size": [ + 0.13839799910783768, + 0.13792599737644196, + 0.14340400334913284 + ], + "units": "m" }, "center_of_mass": [ 2.108456646965351e-05, @@ -59,7 +65,7 @@ 0.0018799547106027603, 0.001880534691736102 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "ceramic", "name": "D00465 Wine Decanter", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00465 Wine Decanter", "part_name": "D00465 Wine Decanter" }, - "volume": 0.0003200000047683716 + "volume": 0.0003200000047683716, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1e117dfaeea59344d8978406a9a0c4cc0f0bcece29463d272ea851e81b555a97" + }, + "usd_path": "batch27/D00465 Wine Decanter/IsaacSim_assets_6a79abc6d43e189605385916/IsaacSim_asset_6a79abc6d43e189605385916.usd", + "usd_sha256": "caed6f5339f18326e1069a723391f185aa6e379c55018cbb08312ce044666681", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.13839799910783768, 0.13792599737644196, 0.14340400334913284 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "caed6f5339f18326e1069a723391f185aa6e379c55018cbb08312ce044666681", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "caed6f5339f18326e1069a723391f185aa6e379c55018cbb08312ce044666681", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 44, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "caed6f5339f18326e1069a723391f185aa6e379c55018cbb08312ce044666681", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 44, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "caed6f5339f18326e1069a723391f185aa6e379c55018cbb08312ce044666681", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00479 Steamed Bun/IsaacSim_assets_6a7d3107b7a9c4204a60e6f0/physics_6a7d3107b7a9c4204a60e6f0.json b/batch27/D00479 Steamed Bun/IsaacSim_assets_6a7d3107b7a9c4204a60e6f0/physics_6a7d3107b7a9c4204a60e6f0.json index d420b45ca3549040a335af13c42292c5466494ff..e50d241355a1aa01da5c0b5b3b5373c3d0df8ffe 100644 --- a/batch27/D00479 Steamed Bun/IsaacSim_assets_6a7d3107b7a9c4204a60e6f0/physics_6a7d3107b7a9c4204a60e6f0.json +++ b/batch27/D00479 Steamed Bun/IsaacSim_assets_6a7d3107b7a9c4204a60e6f0/physics_6a7d3107b7a9c4204a60e6f0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04206100106239319, - 0.04193900153040886, - 0.04779548943042755 - ], "min": [ -0.04150199890136719, -0.04143499955534935, 0.0004534900945145637 ], + "max": [ + 0.04206100106239319, + 0.04193900153040886, + 0.04779548943042755 + ], "size": [ 0.08356299996376038, 0.08337400108575821, 0.04734199933591299 - ] + ], + "units": "m" }, "description": "D00479 Steamed Bun", "name": "D00479 Steamed Bun", "object_type": "rigid_bodies", - "total_mass": 0.08 + "total_mass": 0.07999999821186066, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00479", "parts": [ { "bounds": { - "center": [ - 0.0002795010805130005, - 0.00025200098752975464, - 0.024124489762471057 + "min": [ + -0.04150199890136719, + -0.04143499955534935, + 0.0004534900945145637 ], "max": [ 0.04206100106239319, 0.04193900153040886, 0.04779548943042755 ], - "min": [ - -0.04150199890136719, - -0.04143499955534935, - 0.0004534900945145637 - ] + "size": [ + 0.08356299996376038, + 0.08337400108575821, + 0.04734199933591299 + ], + "units": "m" }, "center_of_mass": [ 0.00043896131683140993, @@ -59,7 +65,7 @@ 3.983364149462432e-05, 5.9302426961949095e-05 ], - "mass": 0.08, + "mass": 0.07999999821186066, "material": "foam", "name": "D00479 Steamed Bun", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00479 Steamed Bun", "part_name": "D00479 Steamed Bun" }, - "volume": 0.00019999999552965163 + "volume": 0.00019999999552965163, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f53dc07de5a6b52608ebcb72b2e3439a8d107052a4d6eaf640faecc6fe110ed5" + }, + "usd_path": "batch27/D00479 Steamed Bun/IsaacSim_assets_6a7d3107b7a9c4204a60e6f0/IsaacSim_asset_6a7d3107b7a9c4204a60e6f0.usd", + "usd_sha256": "00bc646a89259297eca0b09aa47d611c3038c98205d4ca8cabc399c1d329fa2c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08356299996376038, 0.08337400108575821, 0.04734199933591299 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "00bc646a89259297eca0b09aa47d611c3038c98205d4ca8cabc399c1d329fa2c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.08 + "value_kg": 0.07999999821186066, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "00bc646a89259297eca0b09aa47d611c3038c98205d4ca8cabc399c1d329fa2c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07999999821186066, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "00bc646a89259297eca0b09aa47d611c3038c98205d4ca8cabc399c1d329fa2c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "00bc646a89259297eca0b09aa47d611c3038c98205d4ca8cabc399c1d329fa2c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00480 Potato Bin/IsaacSim_assets_6a79b2a4d43e1896053963ef/physics_6a79b2a4d43e1896053963ef.json b/batch27/D00480 Potato Bin/IsaacSim_assets_6a79b2a4d43e1896053963ef/physics_6a79b2a4d43e1896053963ef.json index 2ac9d096707153cba561e1c8f8800f276651267b..1ad30d8c9ab40522b73ffdcd86704a0194c9d78d 100644 --- a/batch27/D00480 Potato Bin/IsaacSim_assets_6a79b2a4d43e1896053963ef/physics_6a79b2a4d43e1896053963ef.json +++ b/batch27/D00480 Potato Bin/IsaacSim_assets_6a79b2a4d43e1896053963ef/physics_6a79b2a4d43e1896053963ef.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2066809982061386, - 0.16886499524116516, - 0.3897068202495575 - ], "min": [ -0.20855499804019928, -0.25222301483154297, 0.0022958298213779926 ], + "max": [ + 0.2066809982061386, + 0.16886499524116516, + 0.3897068202495575 + ], "size": [ 0.4152359962463379, 0.42108801007270813, 0.3874109904281795 - ] + ], + "units": "m" }, "description": "D00480 Potato Bin", "name": "D00480 Potato Bin", "object_type": "rigid_bodies", - "total_mass": 2.14 + "total_mass": 2.140000104904175, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00480", "parts": [ { "bounds": { - "center": [ - -0.0009369999170303345, - -0.041679009795188904, - 0.19600132503546774 + "min": [ + -0.20855499804019928, + -0.25222301483154297, + 0.0022958298213779926 ], "max": [ 0.2066809982061386, 0.16886499524116516, 0.3897068202495575 ], - "min": [ - -0.20855499804019928, - -0.25222301483154297, - 0.0022958298213779926 - ] + "size": [ + 0.4152359962463379, + 0.42108801007270813, + 0.3874109904281795 + ], + "units": "m" }, "center_of_mass": [ -0.000920836697332561, @@ -59,7 +65,7 @@ 0.05247966945171356, 0.05723227187991142 ], - "mass": 2.14, + "mass": 2.140000104904175, "material": "wood", "name": "D00480 Potato Bin", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00480 Potato Bin", "part_name": "D00480 Potato Bin" }, - "volume": 0.003566666841506958 + "volume": 0.003566666841506958, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7e993dde8622608b2e140249b1d58f817c6c039de2a1f25f153578330e1b301d" + }, + "usd_path": "batch27/D00480 Potato Bin/IsaacSim_assets_6a79b2a4d43e1896053963ef/IsaacSim_asset_6a79b2a4d43e1896053963ef.usd", + "usd_sha256": "087115cfc70b9ed1a4495446c6e85a62b2686c7a3a7faf53d7e3cec7ffa35607", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.4152359962463379, 0.42108801007270813, 0.3874109904281795 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "087115cfc70b9ed1a4495446c6e85a62b2686c7a3a7faf53d7e3cec7ffa35607", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.14 + "value_kg": 2.140000104904175, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "087115cfc70b9ed1a4495446c6e85a62b2686c7a3a7faf53d7e3cec7ffa35607", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.140000104904175, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "087115cfc70b9ed1a4495446c6e85a62b2686c7a3a7faf53d7e3cec7ffa35607", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "087115cfc70b9ed1a4495446c6e85a62b2686c7a3a7faf53d7e3cec7ffa35607", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00502 Mat/IsaacSim_assets_6a7c3e62df6b107632936e35/physics_6a7c3e62df6b107632936e35.json b/batch27/D00502 Mat/IsaacSim_assets_6a7c3e62df6b107632936e35/physics_6a7c3e62df6b107632936e35.json index b49c94c55fb5a34349c84ccd0d592704d51ea644..77d465a570949e5c132433797f3890f7c446914d 100644 --- a/batch27/D00502 Mat/IsaacSim_assets_6a7c3e62df6b107632936e35/physics_6a7c3e62df6b107632936e35.json +++ b/batch27/D00502 Mat/IsaacSim_assets_6a7c3e62df6b107632936e35/physics_6a7c3e62df6b107632936e35.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.31006794, - 0.02593818, - 0.22161336 - ], "min": [ - -0.31007723, - -0.02538547, - -0.22154342 + -0.3103629946708679, + -0.22195500135421753, + 0.0033805903512984514 + ], + "max": [ + 0.31035399436950684, + 0.22188499569892883, + 0.05475158989429474 ], "size": [ - 0.62014517, - 0.05132365, - 0.44315678000000003 - ] + 0.6207169890403748, + 0.44383999705314636, + 0.05137099954299629 + ], + "units": "m" }, "description": "A rectangular black anti-fatigue mat with a raised diamond tread pattern and gently beveled edges. The surface appears to be made of dense rubber or polyurethane foam.", "name": "D00502 Mat", "object_type": "rigid_bodies", - "total_mass": 2.5 + "total_mass": 2.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00502", "parts": [ { "bounds": { - "center": [ - 1.0302449483777722e-05, - -2.355600470682471e-05, - 1.624091070897785e-05 + "min": [ + -0.3103629946708679, + -0.22195500135421753, + 0.0033805903512984514 ], "max": [ - 0.31006794, - 0.02593818, - 0.22161336 + 0.31035399436950684, + 0.22188499569892883, + 0.05475158989429474 ], - "min": [ - -0.31007723, - -0.02538547, - -0.22154342 - ] + "size": [ + 0.6207169890403748, + 0.44383999705314636, + 0.05137099954299629 + ], + "units": "m" }, "center_of_mass": [ -2.6338639148622856e-05, @@ -67,10 +73,27 @@ "object_name": "D00502 Mat", "part_name": "D00502 Mat" }, - "volume": 0.01287309626232816 + "volume": 0.01287309626232816, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3e4b0265f199b004441336a4710f626d12141353d86689251666f87c71467c16" + }, + "usd_path": "batch27/D00502 Mat/IsaacSim_assets_6a7c3e62df6b107632936e35/IsaacSim_asset_6a7c3e62df6b107632936e35.usd", + "usd_sha256": "6c816743de5f45578b56fe8c766e8280620f16da6e5b3dc8da971470ec8c8fa5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.62014517, - 0.05132365, - 0.44315678000000003 - ] + 0.6207169890403748, + 0.44383999705314636, + 0.05137099954299629 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6c816743de5f45578b56fe8c766e8280620f16da6e5b3dc8da971470ec8c8fa5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.5 + "value_kg": 2.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6c816743de5f45578b56fe8c766e8280620f16da6e5b3dc8da971470ec8c8fa5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6c816743de5f45578b56fe8c766e8280620f16da6e5b3dc8da971470ec8c8fa5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6c816743de5f45578b56fe8c766e8280620f16da6e5b3dc8da971470ec8c8fa5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00522 Milk Frother/IsaacSim_assets_6a7c3aa77af07252a87e9af0/physics_6a7c3aa77af07252a87e9af0.json b/batch27/D00522 Milk Frother/IsaacSim_assets_6a7c3aa77af07252a87e9af0/physics_6a7c3aa77af07252a87e9af0.json index ed6fb2163c31b449ec4414a976b18b2d1d60ac89..fccb2adee18f78c500df77a17c0f4ef529221b56 100644 --- a/batch27/D00522 Milk Frother/IsaacSim_assets_6a7c3aa77af07252a87e9af0/physics_6a7c3aa77af07252a87e9af0.json +++ b/batch27/D00522 Milk Frother/IsaacSim_assets_6a7c3aa77af07252a87e9af0/physics_6a7c3aa77af07252a87e9af0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02501425, - 0.02431141, - 0.13258948 - ], "min": [ - -0.02503173, - -0.02389495, - -0.13251027 + -0.02504199929535389, + -0.1326269954442978, + 0.000750810606405139 + ], + "max": [ + 0.025025000795722008, + 0.1325480043888092, + 0.04895181208848953 ], "size": [ - 0.05004598, - 0.048206360000000004, - 0.26509975 - ] + 0.0500670000910759, + 0.265174999833107, + 0.048201001482084394 + ], + "units": "m" }, "description": "A handheld milk frother featuring a cylindrical brushed metal handle with black plastic end caps and a rubberized power button. A thin metal shaft extends from the handle, terminating in a coiled wire whisk.", "name": "D00522 Milk Frother", "object_type": "rigid_bodies", - "total_mass": 0.12 + "total_mass": 0.11999999731779099, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00522", "parts": [ { "bounds": { - "center": [ - 2.665997074619382e-05, - 0.0027686408450941003, - -0.027073300395717353 + "min": [ + -0.02504199929535389, + -0.1326269954442978, + 0.000750810606405139 ], "max": [ - 0.02501425, - 0.02431141, - 0.13258948 + 0.025025000795722008, + 0.1325480043888092, + 0.04895181208848953 ], - "min": [ - -0.02503173, - -0.02389495, - -0.13251027 - ] + "size": [ + 0.0500670000910759, + 0.265174999833107, + 0.048201001482084394 + ], + "units": "m" }, "center_of_mass": [ -7.545526054288909e-05, @@ -59,7 +65,7 @@ 0.0006707471917363907, 0.0006713875833954645 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "stainless_steel", "name": "D00522 Milk Frother", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00522 Milk Frother", "part_name": "D00522 Milk Frother" }, - "volume": 0.00036962023211904076 + "volume": 0.00036962023211904076, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7082385b081d44056ac989df9feaff30b4415c84ba90fd9af35bbd7c4656253b" + }, + "usd_path": "batch27/D00522 Milk Frother/IsaacSim_assets_6a7c3aa77af07252a87e9af0/IsaacSim_asset_6a7c3aa77af07252a87e9af0.usd", + "usd_sha256": "27142e22ba605ba58c1ea2a00c9ddec766775b5716362c008df5cf0b9bbcc66e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.05004598, - 0.048206360000000004, - 0.26509975 - ] + 0.0500670000910759, + 0.265174999833107, + 0.048201001482084394 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "27142e22ba605ba58c1ea2a00c9ddec766775b5716362c008df5cf0b9bbcc66e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.12 + "value_kg": 0.11999999731779099, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "27142e22ba605ba58c1ea2a00c9ddec766775b5716362c008df5cf0b9bbcc66e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11999999731779099, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 76, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "27142e22ba605ba58c1ea2a00c9ddec766775b5716362c008df5cf0b9bbcc66e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 76, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "27142e22ba605ba58c1ea2a00c9ddec766775b5716362c008df5cf0b9bbcc66e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00540 Pour Over Dripper/IsaacSim_assets_6a7a8e1bb56a872fd766e960/physics_6a7a8e1bb56a872fd766e960.json b/batch27/D00540 Pour Over Dripper/IsaacSim_assets_6a7a8e1bb56a872fd766e960/physics_6a7a8e1bb56a872fd766e960.json index 91360a2b82871e3edb75e28539feb8048fa217c3..12343878f9639bb2bfa455636417830e36159286 100644 --- a/batch27/D00540 Pour Over Dripper/IsaacSim_assets_6a7a8e1bb56a872fd766e960/physics_6a7a8e1bb56a872fd766e960.json +++ b/batch27/D00540 Pour Over Dripper/IsaacSim_assets_6a7a8e1bb56a872fd766e960/physics_6a7a8e1bb56a872fd766e960.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05649099871516228, - 0.06230299919843674, - 0.12553372979164124 - ], "min": [ -0.049594998359680176, -0.062435999512672424, 0.000614720513112843 ], + "max": [ + 0.05649099871516228, + 0.06230299919843674, + 0.12553372979164124 + ], "size": [ 0.10608599707484245, 0.12473899871110916, 0.12491900927852839 - ] + ], + "units": "m" }, "description": "D00540 Pour Over Dripper", "name": "D00540 Pour Over Dripper", "object_type": "rigid_bodies", - "total_mass": 0.151 + "total_mass": 0.1509999930858612, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00540", "parts": [ { "bounds": { - "center": [ - 0.0034480001777410507, - -6.650015711784363e-05, - 0.06307422515237704 + "min": [ + -0.049594998359680176, + -0.062435999512672424, + 0.000614720513112843 ], "max": [ 0.05649099871516228, 0.06230299919843674, 0.12553372979164124 ], - "min": [ - -0.049594998359680176, - -0.062435999512672424, - 0.000614720513112843 - ] + "size": [ + 0.10608599707484245, + 0.12473899871110916, + 0.12491900927852839 + ], + "units": "m" }, "center_of_mass": [ -0.006410492118448019, @@ -59,7 +65,7 @@ 0.00022086090757511556, 0.0002226325450465083 ], - "mass": 0.151, + "mass": 0.1509999930858612, "material": "ceramic", "name": "D00540 Pour Over Dripper", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00540 Pour Over Dripper", "part_name": "D00540 Pour Over Dripper" }, - "volume": 6.039999723434448e-05 + "volume": 6.039999723434448e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9200be4df85091c03b2d77a7925f8d2400fa93e705339ead9b5d49afd28e9272" + }, + "usd_path": "batch27/D00540 Pour Over Dripper/IsaacSim_assets_6a7a8e1bb56a872fd766e960/IsaacSim_asset_6a7a8e1bb56a872fd766e960.usd", + "usd_sha256": "3bdae0a74940e421ddd885412656f1e9a37f93eb8731eb1b571799493106571e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.10608599707484245, 0.12473899871110916, 0.12491900927852839 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3bdae0a74940e421ddd885412656f1e9a37f93eb8731eb1b571799493106571e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.151 + "value_kg": 0.1509999930858612, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3bdae0a74940e421ddd885412656f1e9a37f93eb8731eb1b571799493106571e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.1509999930858612, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 24, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3bdae0a74940e421ddd885412656f1e9a37f93eb8731eb1b571799493106571e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 24, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3bdae0a74940e421ddd885412656f1e9a37f93eb8731eb1b571799493106571e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00570 Bamboo Tongs/IsaacSim_assets_6a7a8a93b56a872fd7665deb/physics_6a7a8a93b56a872fd7665deb.json b/batch27/D00570 Bamboo Tongs/IsaacSim_assets_6a7a8a93b56a872fd7665deb/physics_6a7a8a93b56a872fd7665deb.json index 765e6bc4f081604b329c94364fd0df20962d7b47..d35c50adea5b0c379a0c8e693a07cbf69987198d 100644 --- a/batch27/D00570 Bamboo Tongs/IsaacSim_assets_6a7a8a93b56a872fd7665deb/physics_6a7a8a93b56a872fd7665deb.json +++ b/batch27/D00570 Bamboo Tongs/IsaacSim_assets_6a7a8a93b56a872fd7665deb/physics_6a7a8a93b56a872fd7665deb.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03332199901342392, - 0.1171170026063919, - 0.02402110956609249 - ], "min": [ -0.03332899883389473, -0.129721000790596, 0.0009011097718030214 ], + "max": [ + 0.03332199901342392, + 0.1171170026063919, + 0.02402110956609249 + ], "size": [ 0.06665099784731865, 0.24683800339698792, 0.02311999979428947 - ] + ], + "units": "m" }, "description": "D00570 Bamboo Tongs", "name": "D00570 Bamboo Tongs", "object_type": "rigid_bodies", - "total_mass": 0.035 + "total_mass": 0.03500000014901161, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00570", "parts": [ { "bounds": { - "center": [ - -3.4999102354049683e-06, - -0.006301999092102051, - 0.012461109668947756 + "min": [ + -0.03332899883389473, + -0.129721000790596, + 0.0009011097718030214 ], "max": [ 0.03332199901342392, 0.1171170026063919, 0.02402110956609249 ], - "min": [ - -0.03332899883389473, - -0.129721000790596, - 0.0009011097718030214 - ] + "size": [ + 0.06665099784731865, + 0.24683800339698792, + 0.02311999979428947 + ], + "units": "m" }, "center_of_mass": [ 0.00013816151476930827, @@ -59,7 +65,7 @@ 0.00018490984803065658, 0.0002021490945480764 ], - "mass": 0.035, + "mass": 0.03500000014901161, "material": "wood", "name": "D00570 Bamboo Tongs", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00570 Bamboo Tongs", "part_name": "D00570 Bamboo Tongs" }, - "volume": 7.000000029802322e-05 + "volume": 7.000000029802322e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6182eb8c1dd2107af2984cbcbacfab7181071bab9c23bb05472bf8076b0641c5" + }, + "usd_path": "batch27/D00570 Bamboo Tongs/IsaacSim_assets_6a7a8a93b56a872fd7665deb/IsaacSim_asset_6a7a8a93b56a872fd7665deb.usd", + "usd_sha256": "9a22423cb88fc7179a631d557e88e99b261e65cfee46479227186d66396cad22", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.06665099784731865, 0.24683800339698792, 0.02311999979428947 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9a22423cb88fc7179a631d557e88e99b261e65cfee46479227186d66396cad22", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.035 + "value_kg": 0.03500000014901161, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9a22423cb88fc7179a631d557e88e99b261e65cfee46479227186d66396cad22", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.03500000014901161, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9a22423cb88fc7179a631d557e88e99b261e65cfee46479227186d66396cad22", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9a22423cb88fc7179a631d557e88e99b261e65cfee46479227186d66396cad22", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00659 Pumpkin Orange Mango/IsaacSim_assets_69f62ba4431507ff7c0fce88/physics_69f62ba4431507ff7c0fce88.json b/batch27/D00659 Pumpkin Orange Mango/IsaacSim_assets_69f62ba4431507ff7c0fce88/physics_69f62ba4431507ff7c0fce88.json index b07cc13ef5ad9888c954a389ac70bfa8a854c2d9..38ca60a43bc5cd287d80d0f91827c3b07cabf47e 100644 --- a/batch27/D00659 Pumpkin Orange Mango/IsaacSim_assets_69f62ba4431507ff7c0fce88/physics_69f62ba4431507ff7c0fce88.json +++ b/batch27/D00659 Pumpkin Orange Mango/IsaacSim_assets_69f62ba4431507ff7c0fce88/physics_69f62ba4431507ff7c0fce88.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04606892541050911, - 0.046041496098041534, - 0.08169914782047272 - ], "min": [ - -0.044808220118284225, - -0.045012351125478745, - -5.232995317783207e-05 + -0.044808000326156616, + -0.08169899880886078, + 2.2860243916511536e-05 + ], + "max": [ + 0.04606899991631508, + 5.199999941396527e-05, + 0.09107586182653904 ], "size": [ - 0.09087714552879333, - 0.09105384722352028, - 0.08175147777365055 - ] + 0.0908770002424717, + 0.08175099880827474, + 0.09105300158262253 + ], + "units": "m" }, "description": "A round orange pumpkin-like gourd with a smooth speckled rind and a small dry brown stem scar. The surface appears firm, waxy, and slightly mottled with shallow natural dimples.", "name": "D00659 Pumpkin Orange Mango", "object_type": "rigid_bodies", - "total_mass": 3.0 + "total_mass": 3.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00659", "parts": [ { "bounds": { - "center": [ - 0.0005603077597674211, - 0.0007393650436982835, - 0.03966127444505074 + "min": [ + -0.044808000326156616, + -0.08169899880886078, + 2.2860243916511536e-05 ], "max": [ - 0.04606892541050911, - 0.046041496098041534, - 0.08169914782047272 + 0.04606899991631508, + 5.199999941396527e-05, + 0.09107586182653904 ], - "min": [ - -0.044808220118284225, - -0.045012351125478745, - -5.232995317783207e-05 - ] + "size": [ + 0.0908770002424717, + 0.08175099880827474, + 0.09105300158262253 + ], + "units": "m" }, "center_of_mass": [ 0.0004530084261238606, @@ -67,10 +73,27 @@ "object_name": "D00659 Pumpkin Orange Mango", "part_name": "D00659 Pumpkin Orange Mango" }, - "volume": 0.00034327864325247394 + "volume": 0.00034327864325247394, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "09bab95390b50b3269157906f33f653e4d2bae69b318b618789a5bd4d109e445" + }, + "usd_path": "batch27/D00659 Pumpkin Orange Mango/IsaacSim_assets_69f62ba4431507ff7c0fce88/IsaacSim_asset_69f62ba4431507ff7c0fce88.usd", + "usd_sha256": "1ea1b5e33f64f2cda4cecdf80d1789ca836da581f2bacff240370a209832d369", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.09087714552879333, - 0.09105384722352028, - 0.08175147777365055 - ] + 0.0908770002424717, + 0.08175099880827474, + 0.09105300158262253 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1ea1b5e33f64f2cda4cecdf80d1789ca836da581f2bacff240370a209832d369", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.0 + "value_kg": 3.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1ea1b5e33f64f2cda4cecdf80d1789ca836da581f2bacff240370a209832d369", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1ea1b5e33f64f2cda4cecdf80d1789ca836da581f2bacff240370a209832d369", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1ea1b5e33f64f2cda4cecdf80d1789ca836da581f2bacff240370a209832d369", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00823 Shortbread Biscuit/IsaacSim_assets_6a7b6929b56a872fd779cca7/physics_6a7b6929b56a872fd779cca7.json b/batch27/D00823 Shortbread Biscuit/IsaacSim_assets_6a7b6929b56a872fd779cca7/physics_6a7b6929b56a872fd779cca7.json index d4f24dafd55df90c9826e3820e6992a4601bb647..894efa960caab958fd17ce23f48f87a482f16030 100644 --- a/batch27/D00823 Shortbread Biscuit/IsaacSim_assets_6a7b6929b56a872fd779cca7/physics_6a7b6929b56a872fd779cca7.json +++ b/batch27/D00823 Shortbread Biscuit/IsaacSim_assets_6a7b6929b56a872fd779cca7/physics_6a7b6929b56a872fd779cca7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.055757999420166016, - 0.02271999977529049, - 0.028986439108848572 - ], "min": [ -0.06147899851202965, -0.02043900080025196, 0.000605439767241478 ], + "max": [ + 0.055757999420166016, + 0.02271999977529049, + 0.028986439108848572 + ], "size": [ 0.11723699793219566, 0.04315900057554245, 0.028380999341607094 - ] + ], + "units": "m" }, "description": "D00823 Shortbread Biscuit", "name": "D00823 Shortbread Biscuit", "object_type": "rigid_bodies", - "total_mass": 0.015 + "total_mass": 0.014999999664723873, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00823", "parts": [ { "bounds": { - "center": [ - -0.002860499545931816, - 0.0011404994875192642, - 0.014795939438045025 + "min": [ + -0.06147899851202965, + -0.02043900080025196, + 0.000605439767241478 ], "max": [ 0.055757999420166016, 0.02271999977529049, 0.028986439108848572 ], - "min": [ - -0.06147899851202965, - -0.02043900080025196, - 0.000605439767241478 - ] + "size": [ + 0.11723699793219566, + 0.04315900057554245, + 0.028380999341607094 + ], + "units": "m" }, "center_of_mass": [ -0.0021603768691420555, @@ -59,7 +65,7 @@ 1.690865246928297e-05, 1.8177450328948908e-05 ], - "mass": 0.015, + "mass": 0.014999999664723873, "material": "plastic", "name": "D00823 Shortbread Biscuit", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00823 Shortbread Biscuit", "part_name": "D00823 Shortbread Biscuit" }, - "volume": 1.4354066664807535e-05 + "volume": 1.4354066664807535e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2049d4934c251a26bd1b5de97437d67bcdeeea8ea5747ddc912423b572ce04c7" + }, + "usd_path": "batch27/D00823 Shortbread Biscuit/IsaacSim_assets_6a7b6929b56a872fd779cca7/IsaacSim_asset_6a7b6929b56a872fd779cca7.usd", + "usd_sha256": "1974ee6a2163ce0c97ae2f20726c9d111fe19a74fcb4f3259a2da2d53ef888f3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.11723699793219566, 0.04315900057554245, 0.028380999341607094 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1974ee6a2163ce0c97ae2f20726c9d111fe19a74fcb4f3259a2da2d53ef888f3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.015 + "value_kg": 0.014999999664723873, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1974ee6a2163ce0c97ae2f20726c9d111fe19a74fcb4f3259a2da2d53ef888f3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.014999999664723873, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1974ee6a2163ce0c97ae2f20726c9d111fe19a74fcb4f3259a2da2d53ef888f3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1974ee6a2163ce0c97ae2f20726c9d111fe19a74fcb4f3259a2da2d53ef888f3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00824 Cracker/IsaacSim_assets_6a7b692bb56a872fd779ccef/physics_6a7b692bb56a872fd779ccef.json b/batch27/D00824 Cracker/IsaacSim_assets_6a7b692bb56a872fd779ccef/physics_6a7b692bb56a872fd779ccef.json index aa83627262a5e3a4beb392f8c85cddd7775d238e..72c39bb1c3aaacb5bd26d93997b15068eafcc6fe 100644 --- a/batch27/D00824 Cracker/IsaacSim_assets_6a7b692bb56a872fd779ccef/physics_6a7b692bb56a872fd779ccef.json +++ b/batch27/D00824 Cracker/IsaacSim_assets_6a7b692bb56a872fd779ccef/physics_6a7b692bb56a872fd779ccef.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02400033548474312, - 0.03212015703320503, - 0.014998413622379303 - ], "min": [ -0.01782197691500187, -0.01283192913979292, 0.007958530448377132 ], + "max": [ + 0.02400033548474312, + 0.03212015703320503, + 0.014998413622379303 + ], "size": [ 0.04182231239974499, 0.04495208617299795, 0.0070398831740021706 - ] + ], + "units": "m" }, "description": "D00824 Cracker", "name": "D00824 Cracker", "object_type": "rigid_bodies", - "total_mass": 0.003 + "total_mass": 0.003000000026077032, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00824", "parts": [ { "bounds": { - "center": [ - 0.0030891792848706245, - 0.009644113946706057, - 0.011478472035378218 + "min": [ + -0.01782197691500187, + -0.01283192913979292, + 0.007958530448377132 ], "max": [ 0.02400033548474312, 0.03212015703320503, 0.014998413622379303 ], - "min": [ - -0.01782197691500187, - -0.01283192913979292, - 0.007958530448377132 - ] + "size": [ + 0.04182231239974499, + 0.04495208617299795, + 0.0070398831740021706 + ], + "units": "m" }, "center_of_mass": [ 0.003452384378761053, @@ -59,7 +65,7 @@ 2.578926228125056e-07, 4.697030533407087e-07 ], - "mass": 0.003, + "mass": 0.003000000026077032, "material": "generic", "name": "D00824 Cracker", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00824 Cracker", "part_name": "D00824 Cracker" }, - "volume": 1.25000001086543e-05 + "volume": 1.25000001086543e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7cde12bfa288634acfa289dbeb732ceba898a61ca67b12aeb1ede9d80e27e6a7" + }, + "usd_path": "batch27/D00824 Cracker/IsaacSim_assets_6a7b692bb56a872fd779ccef/IsaacSim_asset_6a7b692bb56a872fd779ccef.usd", + "usd_sha256": "94a4d5da03024ce58d2d42ff4b94099c3cce3cb486a904d2efd8e320269cbc2a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.04182231239974499, 0.04495208617299795, 0.0070398831740021706 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "94a4d5da03024ce58d2d42ff4b94099c3cce3cb486a904d2efd8e320269cbc2a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.003 + "value_kg": 0.003000000026077032, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "94a4d5da03024ce58d2d42ff4b94099c3cce3cb486a904d2efd8e320269cbc2a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.003000000026077032, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "94a4d5da03024ce58d2d42ff4b94099c3cce3cb486a904d2efd8e320269cbc2a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "94a4d5da03024ce58d2d42ff4b94099c3cce3cb486a904d2efd8e320269cbc2a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00837 Lollipop/IsaacSim_assets_6a7b692db56a872fd779cd16/physics_6a7b692db56a872fd779cd16.json b/batch27/D00837 Lollipop/IsaacSim_assets_6a7b692db56a872fd779cd16/physics_6a7b692db56a872fd779cd16.json index 7a6a013c92ef436247c78bc37da40752152b742f..1eac5fe660efa0a7d0d7d1e04f30c343c2b322fe 100644 --- a/batch27/D00837 Lollipop/IsaacSim_assets_6a7b692db56a872fd779cd16/physics_6a7b692db56a872fd779cd16.json +++ b/batch27/D00837 Lollipop/IsaacSim_assets_6a7b692db56a872fd779cd16/physics_6a7b692db56a872fd779cd16.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.025144999846816063, - 0.0365619994699955, - 0.05172748118638992 - ], "min": [ -0.02519500069320202, -0.11768600344657898, 0.000782480463385582 ], + "max": [ + 0.025144999846816063, + 0.0365619994699955, + 0.05172748118638992 + ], "size": [ 0.05034000054001808, 0.15424800291657448, 0.05094500072300434 - ] + ], + "units": "m" }, "description": "D00837 Lollipop", "name": "D00837 Lollipop", "object_type": "rigid_bodies", - "total_mass": 0.021 + "total_mass": 0.020999999716877937, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00837", "parts": [ { "bounds": { - "center": [ - -2.5000423192977905e-05, - -0.04056200198829174, - 0.026254980824887753 + "min": [ + -0.02519500069320202, + -0.11768600344657898, + 0.000782480463385582 ], "max": [ 0.025144999846816063, 0.0365619994699955, 0.05172748118638992 ], - "min": [ - -0.02519500069320202, - -0.11768600344657898, - 0.000782480463385582 - ] + "size": [ + 0.05034000054001808, + 0.15424800291657448, + 0.05094500072300434 + ], + "units": "m" }, "center_of_mass": [ -2.0939722162438557e-05, @@ -59,7 +65,7 @@ 2.421466888335999e-05, 2.4261846192530356e-05 ], - "mass": 0.021, + "mass": 0.020999999716877937, "material": "composite", "name": "D00837 Lollipop", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00837 Lollipop", "part_name": "D00837 Lollipop" }, - "volume": 1.320754699174713e-05 + "volume": 1.320754699174713e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "849fff96213547832e6628095d11614daa8e51e2ecb8ea73da5fcfea9ee56f2c" + }, + "usd_path": "batch27/D00837 Lollipop/IsaacSim_assets_6a7b692db56a872fd779cd16/IsaacSim_asset_6a7b692db56a872fd779cd16.usd", + "usd_sha256": "fc93a5394a138f292314b1c73d4638550b782861eff63f839625430cbe5555b4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.05034000054001808, 0.15424800291657448, 0.05094500072300434 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fc93a5394a138f292314b1c73d4638550b782861eff63f839625430cbe5555b4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.021 + "value_kg": 0.020999999716877937, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fc93a5394a138f292314b1c73d4638550b782861eff63f839625430cbe5555b4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.020999999716877937, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fc93a5394a138f292314b1c73d4638550b782861eff63f839625430cbe5555b4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fc93a5394a138f292314b1c73d4638550b782861eff63f839625430cbe5555b4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00873 Tongs/IsaacSim_assets_6a7be7871ecb54f8cfe7d6ff/physics_6a7be7871ecb54f8cfe7d6ff.json b/batch27/D00873 Tongs/IsaacSim_assets_6a7be7871ecb54f8cfe7d6ff/physics_6a7be7871ecb54f8cfe7d6ff.json index 744bc09cfb7ee2cb3efff353e428cb903f7fcb3f..1055744c8b12ae8e1ea748c2809e4ad175474195 100644 --- a/batch27/D00873 Tongs/IsaacSim_assets_6a7be7871ecb54f8cfe7d6ff/physics_6a7be7871ecb54f8cfe7d6ff.json +++ b/batch27/D00873 Tongs/IsaacSim_assets_6a7be7871ecb54f8cfe7d6ff/physics_6a7be7871ecb54f8cfe7d6ff.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10582044, - 0.02613849, - 0.03332428 - ], "min": [ - -0.1321434, - 0.0, - -0.03348825 + -0.13214200735092163, + -0.0333079993724823, + 0.0008615502156317234 + ], + "max": [ + 0.10581900179386139, + 0.03347200155258179, + 0.02699654921889305 ], "size": [ - 0.23796383999999998, - 0.02613849, - 0.06681253 - ] + 0.23796100914478302, + 0.06678000092506409, + 0.026134999003261328 + ], + "units": "m" }, "description": "A pair of U-shaped tongs made from light-colored bamboo with a smooth finish and visible wood grain.", "name": "Bamboo Tongs", "object_type": "rigid_bodies", - "total_mass": 0.03 + "total_mass": 0.029999999329447746, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00873", "parts": [ { "bounds": { - "center": [ - -0.001050811688191751, - 0.012888533844890387, - -0.0001600881078055801 + "min": [ + -0.13214200735092163, + -0.0333079993724823, + 0.0008615502156317234 ], "max": [ - 0.10582044, - 0.02613849, - 0.03332428 + 0.10581900179386139, + 0.03347200155258179, + 0.02699654921889305 ], - "min": [ - -0.1321434, - 0.0, - -0.03348825 - ] + "size": [ + 0.23796100914478302, + 0.06678000092506409, + 0.026134999003261328 + ], + "units": "m" }, "center_of_mass": [ -0.011578231970780502, @@ -59,7 +65,7 @@ 0.00011892623794017259, 0.00012630058428257442 ], - "mass": 0.03, + "mass": 0.029999999329447746, "material": "bamboo_wood", "name": "Bamboo Tongs", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "Bamboo Tongs", "part_name": "Bamboo Tongs" }, - "volume": 0.0003091767932166374 + "volume": 0.0003091767932166374, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "188736cb871e4f1cb6e8d85723c5b42c16b098bdb15608f622833de648a5f13c" + }, + "usd_path": "batch27/D00873 Tongs/IsaacSim_assets_6a7be7871ecb54f8cfe7d6ff/IsaacSim_asset_6a7be7871ecb54f8cfe7d6ff.usd", + "usd_sha256": "83a0720a38f48b1e5bce23470a8408d4768b58e1d6cb51a9e9a51bac6bb44001", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.23796383999999998, - 0.02613849, - 0.06681253 - ] + 0.23796100914478302, + 0.06678000092506409, + 0.026134999003261328 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "83a0720a38f48b1e5bce23470a8408d4768b58e1d6cb51a9e9a51bac6bb44001", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.03 + "value_kg": 0.029999999329447746, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "83a0720a38f48b1e5bce23470a8408d4768b58e1d6cb51a9e9a51bac6bb44001", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.029999999329447746, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "83a0720a38f48b1e5bce23470a8408d4768b58e1d6cb51a9e9a51bac6bb44001", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "83a0720a38f48b1e5bce23470a8408d4768b58e1d6cb51a9e9a51bac6bb44001", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch27/D00891 Tahini Jar/IsaacSim_assets_6a7b8587b56a872fd77b5a7a/physics_6a7b8587b56a872fd77b5a7a.json b/batch27/D00891 Tahini Jar/IsaacSim_assets_6a7b8587b56a872fd77b5a7a/physics_6a7b8587b56a872fd77b5a7a.json index 6575f94aebdfb237d0cc8d00cdc8a70a9608e4fd..4c51aefc0af5eaa055e5b000ee27893002ae241d 100644 --- a/batch27/D00891 Tahini Jar/IsaacSim_assets_6a7b8587b56a872fd77b5a7a/physics_6a7b8587b56a872fd77b5a7a.json +++ b/batch27/D00891 Tahini Jar/IsaacSim_assets_6a7b8587b56a872fd77b5a7a/physics_6a7b8587b56a872fd77b5a7a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03885100036859512, - 0.041172001510858536, - 0.13566121459007263 - ], "min": [ -0.040174998342990875, -0.03833400085568428, 0.0006782114505767822 ], + "max": [ + 0.03885100036859512, + 0.041172001510858536, + 0.13566121459007263 + ], "size": [ 0.079025998711586, 0.07950600236654282, 0.13498300313949585 - ] + ], + "units": "m" }, "description": "D00891 Tahini Jar", "name": "D00891 Tahini Jar", "object_type": "rigid_bodies", - "total_mass": 0.7 + "total_mass": 0.699999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00891", "parts": [ { "bounds": { - "center": [ - -0.000661998987197876, - 0.0014190003275871277, - 0.06816971302032471 + "min": [ + -0.040174998342990875, + -0.03833400085568428, + 0.0006782114505767822 ], "max": [ 0.03885100036859512, 0.041172001510858536, 0.13566121459007263 ], - "min": [ - -0.040174998342990875, - -0.03833400085568428, - 0.0006782114505767822 - ] + "size": [ + 0.079025998711586, + 0.07950600236654282, + 0.13498300313949585 + ], + "units": "m" }, "center_of_mass": [ -0.0006585377268493176, @@ -59,7 +65,7 @@ 0.0012528769439086318, 0.001256749383173883 ], - "mass": 0.7, + "mass": 0.699999988079071, "material": "plastic", "name": "D00891 Tahini Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00891 Tahini Jar", "part_name": "D00891 Tahini Jar" }, - "volume": 0.0005833333233992259 + "volume": 0.0005833333233992259, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7649c6f04712b383071411ab1a7ccaa995d2197e66a8c3f7730189181673f8e1" + }, + "usd_path": "batch27/D00891 Tahini Jar/IsaacSim_assets_6a7b8587b56a872fd77b5a7a/IsaacSim_asset_6a7b8587b56a872fd77b5a7a.usd", + "usd_sha256": "a35c3ba26abc9cc52d3bd6d804146ce0da7df673071a0c63718111661280f4e9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.079025998711586, 0.07950600236654282, 0.13498300313949585 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a35c3ba26abc9cc52d3bd6d804146ce0da7df673071a0c63718111661280f4e9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.7 + "value_kg": 0.699999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a35c3ba26abc9cc52d3bd6d804146ce0da7df673071a0c63718111661280f4e9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.699999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a35c3ba26abc9cc52d3bd6d804146ce0da7df673071a0c63718111661280f4e9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a35c3ba26abc9cc52d3bd6d804146ce0da7df673071a0c63718111661280f4e9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00562 Salt Pig/IsaacSim_assets_6a79abc9d43e189605385aae/physics_6a79abc9d43e189605385aae.json b/batch28/D00562 Salt Pig/IsaacSim_assets_6a79abc9d43e189605385aae/physics_6a79abc9d43e189605385aae.json index 02672919125fa9ceefb23a6cf9b33286d4cdbe71..672e5c6803fd034ab6d019d9ff7d90c8d84d77fb 100644 --- a/batch28/D00562 Salt Pig/IsaacSim_assets_6a79abc9d43e189605385aae/physics_6a79abc9d43e189605385aae.json +++ b/batch28/D00562 Salt Pig/IsaacSim_assets_6a79abc9d43e189605385aae/physics_6a79abc9d43e189605385aae.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.060869000852108, - 0.052689000964164734, - 0.12705814838409424 - ], "min": [ -0.060683999210596085, -0.06902699917554855, 0.0006031498778611422 ], + "max": [ + 0.060869000852108, + 0.052689000964164734, + 0.12705814838409424 + ], "size": [ 0.12155300006270409, 0.12171600013971329, 0.1264549985062331 - ] + ], + "units": "m" }, "description": "D00562 Salt Pig", "name": "D00562 Salt Pig", "object_type": "rigid_bodies", - "total_mass": 0.821 + "total_mass": 0.8209999799728394, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00562", "parts": [ { "bounds": { - "center": [ - 9.250082075595856e-05, - -0.00816899910569191, - 0.06383064913097769 + "min": [ + -0.060683999210596085, + -0.06902699917554855, + 0.0006031498778611422 ], "max": [ 0.060869000852108, 0.052689000964164734, 0.12705814838409424 ], - "min": [ - -0.060683999210596085, - -0.06902699917554855, - 0.0006031498778611422 - ] + "size": [ + 0.12155300006270409, + 0.12171600013971329, + 0.1264549985062331 + ], + "units": "m" }, "center_of_mass": [ 5.491275078384206e-05, @@ -59,7 +65,7 @@ 0.0016427499940618873, 0.0016446138033643365 ], - "mass": 0.821, + "mass": 0.8209999799728394, "material": "metal", "name": "D00562 Salt Pig", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00562 Salt Pig", "part_name": "D00562 Salt Pig" }, - "volume": 0.00010262499749660491 + "volume": 0.00010262499749660491, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a178c5c7eebbf731d62f981a28b0a47fb9c2c93c442b76dee9dd5beb28f63589" + }, + "usd_path": "batch28/D00562 Salt Pig/IsaacSim_assets_6a79abc9d43e189605385aae/IsaacSim_asset_6a79abc9d43e189605385aae.usd", + "usd_sha256": "5a76c6c937f6e14ea3bb9c100a210a395acb069e6b0cc3dab3347251c644a2dd", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.12155300006270409, 0.12171600013971329, 0.1264549985062331 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5a76c6c937f6e14ea3bb9c100a210a395acb069e6b0cc3dab3347251c644a2dd", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.821 + "value_kg": 0.8209999799728394, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5a76c6c937f6e14ea3bb9c100a210a395acb069e6b0cc3dab3347251c644a2dd", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8209999799728394, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 39, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5a76c6c937f6e14ea3bb9c100a210a395acb069e6b0cc3dab3347251c644a2dd", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 39, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5a76c6c937f6e14ea3bb9c100a210a395acb069e6b0cc3dab3347251c644a2dd", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00564 Steamer Rack/IsaacSim_assets_6a79accdd43e1896053886e9/physics_6a79accdd43e1896053886e9.json b/batch28/D00564 Steamer Rack/IsaacSim_assets_6a79accdd43e1896053886e9/physics_6a79accdd43e1896053886e9.json index baa41f830d58a58c3c1f4c2a92c7057f0c5a7c19..472b34adc8389898faa409f70bb76c54fc6bd76b 100644 --- a/batch28/D00564 Steamer Rack/IsaacSim_assets_6a79accdd43e1896053886e9/physics_6a79accdd43e1896053886e9.json +++ b/batch28/D00564 Steamer Rack/IsaacSim_assets_6a79accdd43e1896053886e9/physics_6a79accdd43e1896053886e9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13968299329280853, - 0.12376400083303452, - 0.08164212107658386 - ], "min": [ -0.13549800217151642, -0.12504899501800537, 0.0013561239466071129 ], + "max": [ + 0.13968299329280853, + 0.12376400083303452, + 0.08164212107658386 + ], "size": [ 0.27518099546432495, 0.2488129958510399, 0.08028599712997675 - ] + ], + "units": "m" }, "description": "D00564 Steamer Rack", "name": "D00564 Steamer Rack", "object_type": "rigid_bodies", - "total_mass": 1.88 + "total_mass": 1.8799999952316284, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00564", "parts": [ { "bounds": { - "center": [ - 0.002092495560646057, - -0.0006424970924854279, - 0.04149912251159549 + "min": [ + -0.13549800217151642, + -0.12504899501800537, + 0.0013561239466071129 ], "max": [ 0.13968299329280853, 0.12376400083303452, 0.08164212107658386 ], - "min": [ - -0.13549800217151642, - -0.12504899501800537, - 0.0013561239466071129 - ] + "size": [ + 0.27518099546432495, + 0.2488129958510399, + 0.08028599712997675 + ], + "units": "m" }, "center_of_mass": [ 0.002434808062389493, @@ -59,7 +65,7 @@ 0.007254675962030888, 0.012168390676379204 ], - "mass": 1.88, + "mass": 1.8799999952316284, "material": "metal", "name": "D00564 Steamer Rack", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00564 Steamer Rack", "part_name": "D00564 Steamer Rack" }, - "volume": 0.00023499999940395356 + "volume": 0.00023499999940395356, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "72af79da6b48ec4792238ae4a0d1a88375dddec67fa4f6fd94617fc04e8a0d37" + }, + "usd_path": "batch28/D00564 Steamer Rack/IsaacSim_assets_6a79accdd43e1896053886e9/IsaacSim_asset_6a79accdd43e1896053886e9.usd", + "usd_sha256": "e624857b6c41c1eada061c68e9e6c62f2ad545bef24dde91956ee1be652707e9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.27518099546432495, 0.2488129958510399, 0.08028599712997675 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e624857b6c41c1eada061c68e9e6c62f2ad545bef24dde91956ee1be652707e9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.88 + "value_kg": 1.8799999952316284, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e624857b6c41c1eada061c68e9e6c62f2ad545bef24dde91956ee1be652707e9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.8799999952316284, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 60, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e624857b6c41c1eada061c68e9e6c62f2ad545bef24dde91956ee1be652707e9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 60, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e624857b6c41c1eada061c68e9e6c62f2ad545bef24dde91956ee1be652707e9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00568 Toast Rack/IsaacSim_assets_6a79b02ed43e18960539023e/physics_6a79b02ed43e18960539023e.json b/batch28/D00568 Toast Rack/IsaacSim_assets_6a79b02ed43e18960539023e/physics_6a79b02ed43e18960539023e.json index 5266afa02661dacdcc5763e34ae39c164277aaac..173065a89a9a573beba0978d6efad40b97aeecea 100644 --- a/batch28/D00568 Toast Rack/IsaacSim_assets_6a79b02ed43e18960539023e/physics_6a79b02ed43e18960539023e.json +++ b/batch28/D00568 Toast Rack/IsaacSim_assets_6a79b02ed43e18960539023e/physics_6a79b02ed43e18960539023e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09641499817371368, - 0.050338998436927795, - 0.11694814264774323 - ], "min": [ -0.09638900309801102, -0.05033000186085701, 0.0007641399861313403 ], + "max": [ + 0.09641499817371368, + 0.050338998436927795, + 0.11694814264774323 + ], "size": [ 0.1928040012717247, 0.1006690002977848, 0.11618400266161188 - ] + ], + "units": "m" }, "description": "D00568 Toast Rack", "name": "D00568 Toast Rack", "object_type": "rigid_bodies", - "total_mass": 0.556 + "total_mass": 0.5559999942779541, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00568", "parts": [ { "bounds": { - "center": [ - 1.2997537851333618e-05, - 4.498288035392761e-06, - 0.05885614131693728 + "min": [ + -0.09638900309801102, + -0.05033000186085701, + 0.0007641399861313403 ], "max": [ 0.09641499817371368, 0.050338998436927795, 0.11694814264774323 ], - "min": [ - -0.09638900309801102, - -0.05033000186085701, - 0.0007641399861313403 - ] + "size": [ + 0.1928040012717247, + 0.1006690002977848, + 0.11618400266161188 + ], + "units": "m" }, "center_of_mass": [ 3.288543302915059e-05, @@ -59,7 +65,7 @@ 0.001829018467105925, 0.0019758339039981365 ], - "mass": 0.556, + "mass": 0.5559999942779541, "material": "metal", "name": "D00568 Toast Rack", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00568 Toast Rack", "part_name": "D00568 Toast Rack" }, - "volume": 7.037974611113343e-05 + "volume": 7.037974611113343e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f28682fbd75c4793f8793bf3bf284b04f2268c0d7267dd08c1798e93cc174c62" + }, + "usd_path": "batch28/D00568 Toast Rack/IsaacSim_assets_6a79b02ed43e18960539023e/IsaacSim_asset_6a79b02ed43e18960539023e.usd", + "usd_sha256": "93943462945e42062af940c01b03fe8e80b16aaa9754081cd1e9610df8257222", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.1928040012717247, 0.1006690002977848, 0.11618400266161188 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "93943462945e42062af940c01b03fe8e80b16aaa9754081cd1e9610df8257222", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.556 + "value_kg": 0.5559999942779541, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "93943462945e42062af940c01b03fe8e80b16aaa9754081cd1e9610df8257222", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5559999942779541, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "93943462945e42062af940c01b03fe8e80b16aaa9754081cd1e9610df8257222", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "93943462945e42062af940c01b03fe8e80b16aaa9754081cd1e9610df8257222", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00580 Guava/IsaacSim_assets_6a7c76e0b7a9c4204a4e927f/physics_6a7c76e0b7a9c4204a4e927f.json b/batch28/D00580 Guava/IsaacSim_assets_6a7c76e0b7a9c4204a4e927f/physics_6a7c76e0b7a9c4204a4e927f.json index 044c7e5445bd76e2fcb0ac041c5da422242a8070..15560669b95d8d927ce0cdf0df9f6cee0debe1be 100644 --- a/batch28/D00580 Guava/IsaacSim_assets_6a7c76e0b7a9c4204a4e927f/physics_6a7c76e0b7a9c4204a4e927f.json +++ b/batch28/D00580 Guava/IsaacSim_assets_6a7c76e0b7a9c4204a4e927f/physics_6a7c76e0b7a9c4204a4e927f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.022766999900341034, - 0.024111999198794365, - 0.058354757726192474 - ], "min": [ -0.024248000234365463, -0.022048000246286392, 0.00026375995366834104 ], + "max": [ + 0.022766999900341034, + 0.024111999198794365, + 0.058354757726192474 + ], "size": [ 0.0470150001347065, 0.04615999944508076, 0.05809099777252413 - ] + ], + "units": "m" }, "description": "D00580 Guava", "name": "D00580 Guava", "object_type": "rigid_bodies", - "total_mass": 0.26 + "total_mass": 0.25999999046325684, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00580", "parts": [ { "bounds": { - "center": [ - -0.0007405001670122147, - 0.0010319994762539864, - 0.029309258839930408 + "min": [ + -0.024248000234365463, + -0.022048000246286392, + 0.00026375995366834104 ], "max": [ 0.022766999900341034, 0.024111999198794365, 0.058354757726192474 ], - "min": [ - -0.024248000234365463, - -0.022048000246286392, - 0.00026375995366834104 - ] + "size": [ + 0.0470150001347065, + 0.04615999944508076, + 0.05809099777252413 + ], + "units": "m" }, "center_of_mass": [ 7.220652378236991e-07, @@ -59,7 +65,7 @@ 6.951474642846733e-05, 7.064549572532997e-05 ], - "mass": 0.26, + "mass": 0.25999999046325684, "material": "plastic", "name": "D00580 Guava", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00580 Guava", "part_name": "D00580 Guava" }, - "volume": 0.00025999999046325684 + "volume": 0.00025999999046325684, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0078a42ba2afdb6e426a37214ec9101b42e4994ece066fc2ea6d533d5f9611da" + }, + "usd_path": "batch28/D00580 Guava/IsaacSim_assets_6a7c76e0b7a9c4204a4e927f/IsaacSim_asset_6a7c76e0b7a9c4204a4e927f.usd", + "usd_sha256": "22ed40f24e4141b984aa2adad130b8840527658b70313f5fd57e42663b8e1b4c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.0470150001347065, 0.04615999944508076, 0.05809099777252413 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22ed40f24e4141b984aa2adad130b8840527658b70313f5fd57e42663b8e1b4c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.26 + "value_kg": 0.25999999046325684, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22ed40f24e4141b984aa2adad130b8840527658b70313f5fd57e42663b8e1b4c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25999999046325684, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22ed40f24e4141b984aa2adad130b8840527658b70313f5fd57e42663b8e1b4c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "22ed40f24e4141b984aa2adad130b8840527658b70313f5fd57e42663b8e1b4c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00581 Passion_Fruit/IsaacSim_assets_6a7d64276f9ad287c09e3d8d/physics_6a7d64276f9ad287c09e3d8d.json b/batch28/D00581 Passion_Fruit/IsaacSim_assets_6a7d64276f9ad287c09e3d8d/physics_6a7d64276f9ad287c09e3d8d.json index adb6da51929bda4208df904c661cae7eca05a59d..bf48bc23a261436f1abe61fd2125eba333f03880 100644 --- a/batch28/D00581 Passion_Fruit/IsaacSim_assets_6a7d64276f9ad287c09e3d8d/physics_6a7d64276f9ad287c09e3d8d.json +++ b/batch28/D00581 Passion_Fruit/IsaacSim_assets_6a7d64276f9ad287c09e3d8d/physics_6a7d64276f9ad287c09e3d8d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03655282, - 0.08354858, - 0.03584777 - ], "min": [ - -0.0365526, - 0.0, - -0.03654702 + -0.03655200079083443, + -0.03584500029683113, + 3.999999989900971e-06 + ], + "max": [ + 0.036552999168634415, + 0.03654399886727333, + 0.08354400098323822 ], "size": [ - 0.07310542, - 0.08354858, - 0.07239479 - ] + 0.07310499995946884, + 0.07238899916410446, + 0.08354000098324832 + ], + "units": "m" }, "description": "A deep purple passion fruit featuring a slightly textured, leathery exterior and a small brown stem node at the top.", "name": "D00581 Passion Fruit", "object_type": "rigid_bodies", - "total_mass": 0.06 + "total_mass": 0.05999999865889549, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00581", "parts": [ { "bounds": { - "center": [ - 0.00035049289307166, - 0.04183710109616337, - -0.0002685236460406028 + "min": [ + -0.03655200079083443, + -0.03584500029683113, + 3.999999989900971e-06 ], "max": [ - 0.03655282, - 0.08354858, - 0.03584777 + 0.036552999168634415, + 0.03654399886727333, + 0.08354400098323822 ], - "min": [ - -0.0365526, - 0.0, - -0.03654702 - ] + "size": [ + 0.07310499995946884, + 0.07238899916410446, + 0.08354000098324832 + ], + "units": "m" }, "center_of_mass": [ 0.0003576367432323458, @@ -59,7 +65,7 @@ 3.820647370155862e-05, 3.8668858911021594e-05 ], - "mass": 0.06, + "mass": 0.05999999865889549, "material": "leathery_fruit_rind", "name": "D00581 Passion Fruit", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00581 Passion Fruit", "part_name": "D00581 Passion Fruit" }, - "volume": 0.00024088237577472925 + "volume": 0.00024088237577472925, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "81eac30887e375b5a44dfd9338e00cce654cd2d5fd97c4e2c68497ac27917b1b" + }, + "usd_path": "batch28/D00581 Passion_Fruit/IsaacSim_assets_6a7d64276f9ad287c09e3d8d/IsaacSim_asset_6a7d64276f9ad287c09e3d8d.usd", + "usd_sha256": "6e4e65eea04e9d00315d45fd44c646d24898a78968ee4dac7ef915137b3116ba", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.07310542, - 0.08354858, - 0.07239479 - ] + 0.07310499995946884, + 0.07238899916410446, + 0.08354000098324832 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e4e65eea04e9d00315d45fd44c646d24898a78968ee4dac7ef915137b3116ba", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.06 + "value_kg": 0.05999999865889549, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e4e65eea04e9d00315d45fd44c646d24898a78968ee4dac7ef915137b3116ba", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05999999865889549, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e4e65eea04e9d00315d45fd44c646d24898a78968ee4dac7ef915137b3116ba", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e4e65eea04e9d00315d45fd44c646d24898a78968ee4dac7ef915137b3116ba", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00582 Knife Sharpener/IsaacSim_assets_6a7a8fc1b56a872fd7673540/physics_6a7a8fc1b56a872fd7673540.json b/batch28/D00582 Knife Sharpener/IsaacSim_assets_6a7a8fc1b56a872fd7673540/physics_6a7a8fc1b56a872fd7673540.json index c8c8276d622b24da3f33ed5bbad2971a23cb231d..2fb25f2378645e6c894bf6cfa6f3de90d97babb7 100644 --- a/batch28/D00582 Knife Sharpener/IsaacSim_assets_6a7a8fc1b56a872fd7673540/physics_6a7a8fc1b56a872fd7673540.json +++ b/batch28/D00582 Knife Sharpener/IsaacSim_assets_6a7a8fc1b56a872fd7673540/physics_6a7a8fc1b56a872fd7673540.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12003199756145477, - 0.023826999589800835, - 0.06601009517908096 - ], "min": [ -0.07892599701881409, -0.023832999169826508, 0.0010750906076282263 ], + "max": [ + 0.12003199756145477, + 0.023826999589800835, + 0.06601009517908096 + ], "size": [ 0.19895799458026886, 0.04765999875962734, 0.06493500457145274 - ] + ], + "units": "m" }, "description": "D00582 Knife Sharpener", "name": "D00582 Knife Sharpener", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00582", "parts": [ { "bounds": { - "center": [ - 0.020553000271320343, - -2.9997900128364563e-06, - 0.033542592893354595 + "min": [ + -0.07892599701881409, + -0.023832999169826508, + 0.0010750906076282263 ], "max": [ 0.12003199756145477, 0.023826999589800835, 0.06601009517908096 ], - "min": [ - -0.07892599701881409, - -0.023832999169826508, - 0.0010750906076282263 - ] + "size": [ + 0.19895799458026886, + 0.04765999875962734, + 0.06493500457145274 + ], + "units": "m" }, "center_of_mass": [ 0.011931601911783218, @@ -59,7 +65,7 @@ 0.0005489127361215651, 0.0005815902259200811 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "glass", "name": "D00582 Knife Sharpener", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00582 Knife Sharpener", "part_name": "D00582 Knife Sharpener" }, - "volume": 5.111167978027913e-05 + "volume": 5.111167978027913e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "698ebdd34984b3c8cfdca1bb90dd46aa4b8f8c4b55a002dc1c60584b90c9b40c" + }, + "usd_path": "batch28/D00582 Knife Sharpener/IsaacSim_assets_6a7a8fc1b56a872fd7673540/IsaacSim_asset_6a7a8fc1b56a872fd7673540.usd", + "usd_sha256": "16bae7ccea3e9a534b24e3a358ca26f99356d08d32c29a9433bad8056457d95c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.19895799458026886, 0.04765999875962734, 0.06493500457145274 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16bae7ccea3e9a534b24e3a358ca26f99356d08d32c29a9433bad8056457d95c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16bae7ccea3e9a534b24e3a358ca26f99356d08d32c29a9433bad8056457d95c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16bae7ccea3e9a534b24e3a358ca26f99356d08d32c29a9433bad8056457d95c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16bae7ccea3e9a534b24e3a358ca26f99356d08d32c29a9433bad8056457d95c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00635 Popcorn/IsaacSim_assets_69f61f32431507ff7c0c2e3e/physics_69f61f32431507ff7c0c2e3e.json b/batch28/D00635 Popcorn/IsaacSim_assets_69f61f32431507ff7c0c2e3e/physics_69f61f32431507ff7c0c2e3e.json index 2caf7cb3fc521c1a6110b4f160741195da21fc83..387f45dcbb4390fb9621ad424de2b53762f966e3 100644 --- a/batch28/D00635 Popcorn/IsaacSim_assets_69f61f32431507ff7c0c2e3e/physics_69f61f32431507ff7c0c2e3e.json +++ b/batch28/D00635 Popcorn/IsaacSim_assets_69f61f32431507ff7c0c2e3e/physics_69f61f32431507ff7c0c2e3e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0221774410456419, - 0.020307118073105812, - 0.03643999993801117 - ], "min": [ - -0.016769954934716225, - -0.014310087077319622, - 1.774452903191559e-05 + -0.016769999638199806, + -0.014310000464320183, + 0.00012850019402321777 + ], + "max": [ + 0.022180000320076942, + 0.020306000486016273, + 0.03657250013202429 ], "size": [ - 0.038947395980358124, - 0.034617205150425434, - 0.036422255408979254 - ] + 0.03894999995827675, + 0.034616000950336456, + 0.03644399993800107 + ], + "units": "m" }, "description": "A single piece of popped popcorn with an irregular, fluffy white shape and slightly browned inner crevices.", "name": "D00635 Popcorn", "object_type": "rigid_bodies", - "total_mass": 0.0003 + "total_mass": 0.0003000000142492354, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00635", "parts": [ { "bounds": { - "center": [ - 0.00029990685862333434, - 0.0008680174037260156, - 0.017092231504571936 + "min": [ + -0.016769999638199806, + -0.014310000464320183, + 0.00012850019402321777 ], "max": [ - 0.0221774410456419, - 0.020307118073105812, - 0.03643999993801117 + 0.022180000320076942, + 0.020306000486016273, + 0.03657250013202429 ], - "min": [ - -0.016769954934716225, - -0.014310087077319622, - 1.774452903191559e-05 - ] + "size": [ + 0.03894999995827675, + 0.034616000950336456, + 0.03644399993800107 + ], + "units": "m" }, "center_of_mass": [ 0.0008012550109075363, @@ -59,7 +65,7 @@ 3.980069066407914e-08, 4.4181970012917095e-08 ], - "mass": 0.0003, + "mass": 0.0003000000142492354, "material": "popped_corn", "name": "D00635 Popcorn", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00635 Popcorn", "part_name": "D00635 Popcorn" }, - "volume": 2.3730940051662673e-05 + "volume": 2.3730940051662673e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fae2ce4fe78f62c12fb275ec5439eb6f7c7fc4eedf4b8a5ea43bea2607a22a6b" + }, + "usd_path": "batch28/D00635 Popcorn/IsaacSim_assets_69f61f32431507ff7c0c2e3e/IsaacSim_asset_69f61f32431507ff7c0c2e3e.usd", + "usd_sha256": "bbe9b64bfc44659195aad5b4a3a25b4718cd92ea4384b553b2f135a3e3538044", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.038947395980358124, - 0.034617205150425434, - 0.036422255408979254 - ] + 0.03894999995827675, + 0.034616000950336456, + 0.03644399993800107 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bbe9b64bfc44659195aad5b4a3a25b4718cd92ea4384b553b2f135a3e3538044", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0003 + "value_kg": 0.0003000000142492354, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bbe9b64bfc44659195aad5b4a3a25b4718cd92ea4384b553b2f135a3e3538044", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0003000000142492354, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bbe9b64bfc44659195aad5b4a3a25b4718cd92ea4384b553b2f135a3e3538044", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bbe9b64bfc44659195aad5b4a3a25b4718cd92ea4384b553b2f135a3e3538044", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00642_Leek/IsaacSim_assets_6a7c41e3b7a9c4204a496728/physics_6a7c41e3b7a9c4204a496728.json b/batch28/D00642_Leek/IsaacSim_assets_6a7c41e3b7a9c4204a496728/physics_6a7c41e3b7a9c4204a496728.json index 37a7120b0ace4b865816ac427c5eda79510ad3f3..03131c0878a457321677ef60851a1d21f5a93c79 100644 --- a/batch28/D00642_Leek/IsaacSim_assets_6a7c41e3b7a9c4204a496728/physics_6a7c41e3b7a9c4204a496728.json +++ b/batch28/D00642_Leek/IsaacSim_assets_6a7c41e3b7a9c4204a496728/physics_6a7c41e3b7a9c4204a496728.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16257500648498535, - 0.057367000728845596, - 0.059907130897045135 - ], "min": [ -0.16339600086212158, -0.05642300099134445, 0.0014841302763670683 ], + "max": [ + 0.16257500648498535, + 0.057367000728845596, + 0.059907130897045135 + ], "size": [ 0.32597100734710693, 0.11379000172019005, 0.05842300062067807 - ] + ], + "units": "m" }, "description": "D00642 Leek", "name": "D00642 Leek", "object_type": "rigid_bodies", - "total_mass": 0.325 + "total_mass": 0.32499998807907104, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00642", "parts": [ { "bounds": { - "center": [ - -0.00041049718856811523, - 0.0004719998687505722, - 0.030695630586706102 + "min": [ + -0.16339600086212158, + -0.05642300099134445, + 0.0014841302763670683 ], "max": [ 0.16257500648498535, 0.057367000728845596, 0.059907130897045135 ], - "min": [ - -0.16339600086212158, - -0.05642300099134445, - 0.0014841302763670683 - ] + "size": [ + 0.32597100734710693, + 0.11379000172019005, + 0.05842300062067807 + ], + "units": "m" }, "center_of_mass": [ 0.022212374955415726, @@ -59,7 +65,7 @@ 0.0026655562687665224, 0.002781239338219166 ], - "mass": 0.325, + "mass": 0.32499998807907104, "material": "plastic", "name": "D00642 Leek", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00642 Leek", "part_name": "D00642 Leek" }, - "volume": 0.00034210525060954846 + "volume": 0.00034210525060954846, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "517d9eb15d4e181f152f405f0c206f76022347708f7d5868b5c546604ba1970f" + }, + "usd_path": "batch28/D00642_Leek/IsaacSim_assets_6a7c41e3b7a9c4204a496728/IsaacSim_asset_6a7c41e3b7a9c4204a496728.usd", + "usd_sha256": "3fb272e209c2a855aaf8f617dd0eb7fbe414c932b2376ab8db15cf42c865377f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.32597100734710693, 0.11379000172019005, 0.05842300062067807 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fb272e209c2a855aaf8f617dd0eb7fbe414c932b2376ab8db15cf42c865377f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.325 + "value_kg": 0.32499998807907104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fb272e209c2a855aaf8f617dd0eb7fbe414c932b2376ab8db15cf42c865377f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.32499998807907104, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fb272e209c2a855aaf8f617dd0eb7fbe414c932b2376ab8db15cf42c865377f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fb272e209c2a855aaf8f617dd0eb7fbe414c932b2376ab8db15cf42c865377f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00643_Pot_Kettle_Pan/IsaacSim_assets_6a7c1789b56a872fd786ca05/physics_6a7c1789b56a872fd786ca05.json b/batch28/D00643_Pot_Kettle_Pan/IsaacSim_assets_6a7c1789b56a872fd786ca05/physics_6a7c1789b56a872fd786ca05.json index 2c510b742c681b10f57c7809f662fae75e71efdb..8db153e793c9c8dd7f62b4c12a243c84825f67b5 100644 --- a/batch28/D00643_Pot_Kettle_Pan/IsaacSim_assets_6a7c1789b56a872fd786ca05/physics_6a7c1789b56a872fd786ca05.json +++ b/batch28/D00643_Pot_Kettle_Pan/IsaacSim_assets_6a7c1789b56a872fd786ca05/physics_6a7c1789b56a872fd786ca05.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1733669936656952, - 0.09577500075101852, - 0.06872866302728653 - ], "min": [ -0.11360300332307816, -0.09543599933385849, 0.0015516598941758275 ], + "max": [ + 0.1733669936656952, + 0.09577500075101852, + 0.06872866302728653 + ], "size": [ 0.28696999698877335, 0.19121100008487701, 0.0671770031331107 - ] + ], + "units": "m" }, "description": "D00643 Pot Kettle Pan", "name": "D00643 Pot Kettle Pan", "object_type": "rigid_bodies", - "total_mass": 0.67 + "total_mass": 0.6700000166893005, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00643", "parts": [ { "bounds": { - "center": [ - 0.029881995171308517, - 0.0001695007085800171, - 0.03514016146073118 + "min": [ + -0.11360300332307816, + -0.09543599933385849, + 0.0015516598941758275 ], "max": [ 0.1733669936656952, 0.09577500075101852, 0.06872866302728653 ], - "min": [ - -0.11360300332307816, - -0.09543599933385849, - 0.0015516598941758275 - ] + "size": [ + 0.28696999698877335, + 0.19121100008487701, + 0.0671770031331107 + ], + "units": "m" }, "center_of_mass": [ 0.0032212180085480213, @@ -59,7 +65,7 @@ 0.0037704266142100096, 0.005310811568051577 ], - "mass": 0.67, + "mass": 0.6700000166893005, "material": "ceramic", "name": "D00643 Pot Kettle Pan", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00643 Pot Kettle Pan", "part_name": "D00643 Pot Kettle Pan" }, - "volume": 0.0002680000066757202 + "volume": 0.0002680000066757202, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ea0c796e2c76d6c0518bda6a3cd0770dec9391ce819165dc47aa27c38d329b26" + }, + "usd_path": "batch28/D00643_Pot_Kettle_Pan/IsaacSim_assets_6a7c1789b56a872fd786ca05/IsaacSim_asset_6a7c1789b56a872fd786ca05.usd", + "usd_sha256": "b408faa403fd539ae260708082553b66347e06b6efb6369fda85a3311d8dbcd2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.28696999698877335, 0.19121100008487701, 0.0671770031331107 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b408faa403fd539ae260708082553b66347e06b6efb6369fda85a3311d8dbcd2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.67 + "value_kg": 0.6700000166893005, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b408faa403fd539ae260708082553b66347e06b6efb6369fda85a3311d8dbcd2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6700000166893005, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 19, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b408faa403fd539ae260708082553b66347e06b6efb6369fda85a3311d8dbcd2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 19, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b408faa403fd539ae260708082553b66347e06b6efb6369fda85a3311d8dbcd2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00656_Burger_Press/IsaacSim_assets_6a7c22d8b56a872fd78a8f16/physics_6a7c22d8b56a872fd78a8f16.json b/batch28/D00656_Burger_Press/IsaacSim_assets_6a7c22d8b56a872fd78a8f16/physics_6a7c22d8b56a872fd78a8f16.json index 11125a111640c44bb9d32e8899b89a8e2e4fdf45..bb6aa6f66921afb68fef0dbd2e708525f041176f 100644 --- a/batch28/D00656_Burger_Press/IsaacSim_assets_6a7c22d8b56a872fd78a8f16/physics_6a7c22d8b56a872fd78a8f16.json +++ b/batch28/D00656_Burger_Press/IsaacSim_assets_6a7c22d8b56a872fd78a8f16/physics_6a7c22d8b56a872fd78a8f16.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.118258997797966, - 0.1180109977722168, - 0.11480146646499634 - ], "min": [ -0.11739999800920486, -0.11784999817609787, 0.0012504697078838944 ], + "max": [ + 0.118258997797966, + 0.1180109977722168, + 0.11480146646499634 + ], "size": [ 0.23565899580717087, 0.23586099594831467, 0.11355099675711244 - ] + ], + "units": "m" }, "description": "D00656 Burger Press", "name": "D00656 Burger Press", "object_type": "rigid_bodies", - "total_mass": 1.68 + "total_mass": 1.6799999475479126, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00656", "parts": [ { "bounds": { - "center": [ - 0.00042949989438056946, - 8.04997980594635e-05, - 0.058025968086440116 + "min": [ + -0.11739999800920486, + -0.11784999817609787, + 0.0012504697078838944 ], "max": [ 0.118258997797966, 0.1180109977722168, 0.11480146646499634 ], - "min": [ - -0.11739999800920486, - -0.11784999817609787, - 0.0012504697078838944 - ] + "size": [ + 0.23565899580717087, + 0.23586099594831467, + 0.11355099675711244 + ], + "units": "m" }, "center_of_mass": [ 0.00042821618262678385, @@ -59,7 +65,7 @@ 0.006816451903432608, 0.00946239847689867 ], - "mass": 1.68, + "mass": 1.6799999475479126, "material": "metal", "name": "D00656 Burger Press", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00656 Burger Press", "part_name": "D00656 Burger Press" }, - "volume": 0.0002333333260483212 + "volume": 0.0002333333260483212, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a35c14be644580b455af74fb4a3e74002efc51428d73ae73e076e4bc1dcb2db3" + }, + "usd_path": "batch28/D00656_Burger_Press/IsaacSim_assets_6a7c22d8b56a872fd78a8f16/IsaacSim_asset_6a7c22d8b56a872fd78a8f16.usd", + "usd_sha256": "1d7b19de243fe2b0236d8d73fb8a57152bda1efc6a99941e954a5077552938ba", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.23565899580717087, 0.23586099594831467, 0.11355099675711244 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d7b19de243fe2b0236d8d73fb8a57152bda1efc6a99941e954a5077552938ba", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.68 + "value_kg": 1.6799999475479126, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d7b19de243fe2b0236d8d73fb8a57152bda1efc6a99941e954a5077552938ba", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.6799999475479126, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 7, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d7b19de243fe2b0236d8d73fb8a57152bda1efc6a99941e954a5077552938ba", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 7, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d7b19de243fe2b0236d8d73fb8a57152bda1efc6a99941e954a5077552938ba", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00685_Salt_Container/IsaacSim_assets_6a7c18aab56a872fd786f664/physics_6a7c18aab56a872fd786f664.json b/batch28/D00685_Salt_Container/IsaacSim_assets_6a7c18aab56a872fd786f664/physics_6a7c18aab56a872fd786f664.json index c05c9d6845863cb5f36405e596c08c9c34815a42..3c1ae0ff9d3e6ce7228fea836dd956abc209fa96 100644 --- a/batch28/D00685_Salt_Container/IsaacSim_assets_6a7c18aab56a872fd786f664/physics_6a7c18aab56a872fd786f664.json +++ b/batch28/D00685_Salt_Container/IsaacSim_assets_6a7c18aab56a872fd786f664/physics_6a7c18aab56a872fd786f664.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.056641001254320145, - 0.05721500143408775, - 0.09236175566911697 - ], "min": [ -0.057211000472307205, -0.05669400095939636, 0.0005097600515000522 ], + "max": [ + 0.056641001254320145, + 0.05721500143408775, + 0.09236175566911697 + ], "size": [ 0.11385200172662735, 0.11390900239348412, 0.09185199561761692 - ] + ], + "units": "m" }, "description": "D00685 Salt Container", "name": "D00685 Salt Container", "object_type": "rigid_bodies", - "total_mass": 0.159 + "total_mass": 0.1589999943971634, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00685", "parts": [ { "bounds": { - "center": [ - -0.0002849996089935303, - 0.0002605002373456955, - 0.04643575786030851 + "min": [ + -0.057211000472307205, + -0.05669400095939636, + 0.0005097600515000522 ], "max": [ 0.056641001254320145, 0.05721500143408775, 0.09236175566911697 ], - "min": [ - -0.057211000472307205, - -0.05669400095939636, - 0.0005097600515000522 - ] + "size": [ + 0.11385200172662735, + 0.11390900239348412, + 0.09185199561761692 + ], + "units": "m" }, "center_of_mass": [ -8.3194172475487e-05, @@ -59,7 +65,7 @@ 0.0003278148069512099, 0.0004017030296381563 ], - "mass": 0.159, + "mass": 0.1589999943971634, "material": "ceramic", "name": "D00685 Salt Container", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00685 Salt Container", "part_name": "D00685 Salt Container" }, - "volume": 6.624999766548474e-05 + "volume": 6.624999766548474e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "abfada0787083c525f2fd8cb87a5282a51e81d77b9f2d4cb3cc47c600f122a80" + }, + "usd_path": "batch28/D00685_Salt_Container/IsaacSim_assets_6a7c18aab56a872fd786f664/IsaacSim_asset_6a7c18aab56a872fd786f664.usd", + "usd_sha256": "78dc87742904ff6516748a68309a1870e65225d1a668a62a33f6764b40652c23", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.11385200172662735, 0.11390900239348412, 0.09185199561761692 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "78dc87742904ff6516748a68309a1870e65225d1a668a62a33f6764b40652c23", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.159 + "value_kg": 0.1589999943971634, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "78dc87742904ff6516748a68309a1870e65225d1a668a62a33f6764b40652c23", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.1589999943971634, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "78dc87742904ff6516748a68309a1870e65225d1a668a62a33f6764b40652c23", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "78dc87742904ff6516748a68309a1870e65225d1a668a62a33f6764b40652c23", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00695 Dipping Bowl/IsaacSim_assets_6a7bc06eb56a872fd77d8be9/physics_6a7bc06eb56a872fd77d8be9.json b/batch28/D00695 Dipping Bowl/IsaacSim_assets_6a7bc06eb56a872fd77d8be9/physics_6a7bc06eb56a872fd77d8be9.json index 298e5ec5a4f599384c8abc5922b4b33023e7d9b6..4af270079c911b93b68f9bc796f597694db219a8 100644 --- a/batch28/D00695 Dipping Bowl/IsaacSim_assets_6a7bc06eb56a872fd77d8be9/physics_6a7bc06eb56a872fd77d8be9.json +++ b/batch28/D00695 Dipping Bowl/IsaacSim_assets_6a7bc06eb56a872fd77d8be9/physics_6a7bc06eb56a872fd77d8be9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04515000060200691, - 0.04514399915933609, - 0.03802509978413582 - ], "min": [ -0.0451200008392334, -0.04513400048017502, 0.00043809995986521244 ], + "max": [ + 0.04515000060200691, + 0.04514399915933609, + 0.03802509978413582 + ], "size": [ 0.09027000144124031, 0.09027799963951111, 0.037586999824270606 - ] + ], + "units": "m" }, "description": "D00695 Dipping Bowl", "name": "D00695 Dipping Bowl", "object_type": "rigid_bodies", - "total_mass": 0.042 + "total_mass": 0.041999999433755875, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00695", "parts": [ { "bounds": { - "center": [ - 1.4999881386756897e-05, - 4.999339580535889e-06, - 0.019231599872000515 + "min": [ + -0.0451200008392334, + -0.04513400048017502, + 0.00043809995986521244 ], "max": [ 0.04515000060200691, 0.04514399915933609, 0.03802509978413582 ], - "min": [ - -0.0451200008392334, - -0.04513400048017502, - 0.00043809995986521244 - ] + "size": [ + 0.09027000144124031, + 0.09027799963951111, + 0.037586999824270606 + ], + "units": "m" }, "center_of_mass": [ 1.7026259229169227e-05, @@ -59,7 +65,7 @@ 2.2219623133423738e-05, 3.582724821171723e-05 ], - "mass": 0.042, + "mass": 0.041999999433755875, "material": "ceramic", "name": "D00695 Dipping Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00695 Dipping Bowl", "part_name": "D00695 Dipping Bowl" }, - "volume": 1.7499999764064948e-05 + "volume": 1.7499999764064948e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f30a4304d1af4ac5c463e379ea45b2d0bdef874020b66d4a83ca138846f23b31" + }, + "usd_path": "batch28/D00695 Dipping Bowl/IsaacSim_assets_6a7bc06eb56a872fd77d8be9/IsaacSim_asset_6a7bc06eb56a872fd77d8be9.usd", + "usd_sha256": "2d46a28e84c105925b50d7dbac8282db711d813a7ac7d5be3d6413a8bd31bbf0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.09027000144124031, 0.09027799963951111, 0.037586999824270606 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2d46a28e84c105925b50d7dbac8282db711d813a7ac7d5be3d6413a8bd31bbf0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.042 + "value_kg": 0.041999999433755875, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2d46a28e84c105925b50d7dbac8282db711d813a7ac7d5be3d6413a8bd31bbf0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.041999999433755875, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 28, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2d46a28e84c105925b50d7dbac8282db711d813a7ac7d5be3d6413a8bd31bbf0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 28, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2d46a28e84c105925b50d7dbac8282db711d813a7ac7d5be3d6413a8bd31bbf0", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00707_Saucepan_Teapot/IsaacSim_assets_6a7c047eb56a872fd78457f7/physics_6a7c047eb56a872fd78457f7.json b/batch28/D00707_Saucepan_Teapot/IsaacSim_assets_6a7c047eb56a872fd78457f7/physics_6a7c047eb56a872fd78457f7.json index d7eb76fe3430b145dd588637b6b70759f020eec6..5c00bed7c6f4ea4c980e56ca0ee3ad02ba57d9b6 100644 --- a/batch28/D00707_Saucepan_Teapot/IsaacSim_assets_6a7c047eb56a872fd78457f7/physics_6a7c047eb56a872fd78457f7.json +++ b/batch28/D00707_Saucepan_Teapot/IsaacSim_assets_6a7c047eb56a872fd78457f7/physics_6a7c047eb56a872fd78457f7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.21155400574207306, - 0.07877600193023682, - 0.08494898676872253 - ], "min": [ -0.10048499703407288, -0.0782729983329773, 0.0015509899239987135 ], + "max": [ + 0.21155400574207306, + 0.07877600193023682, + 0.08494898676872253 + ], "size": [ 0.31203900277614594, 0.1570490002632141, 0.08339799684472382 - ] + ], + "units": "m" }, "description": "D00707 Saucepan Teapot", "name": "D00707 Saucepan Teapot", "object_type": "rigid_bodies", - "total_mass": 2.07 + "total_mass": 2.069999933242798, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00707", "parts": [ { "bounds": { - "center": [ - 0.05553450435400009, - 0.00025150179862976074, - 0.043249988346360624 + "min": [ + -0.10048499703407288, + -0.0782729983329773, + 0.0015509899239987135 ], "max": [ 0.21155400574207306, 0.07877600193023682, 0.08494898676872253 ], - "min": [ - -0.10048499703407288, - -0.0782729983329773, - 0.0015509899239987135 - ] + "size": [ + 0.31203900277614594, + 0.1570490002632141, + 0.08339799684472382 + ], + "units": "m" }, "center_of_mass": [ 0.012428607791662216, @@ -59,7 +65,7 @@ 0.00974302738904953, 0.011203261092305183 ], - "mass": 2.07, + "mass": 2.069999933242798, "material": "metal", "name": "D00707 Saucepan Teapot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00707 Saucepan Teapot", "part_name": "D00707 Saucepan Teapot" }, - "volume": 0.00026538460682599973 + "volume": 0.00026538460682599973, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "949aac82b47dd983ff177cde9ee85ba0eb396192dd381255861498c7a40effd9" + }, + "usd_path": "batch28/D00707_Saucepan_Teapot/IsaacSim_assets_6a7c047eb56a872fd78457f7/IsaacSim_asset_6a7c047eb56a872fd78457f7.usd", + "usd_sha256": "095ed2c4a28d6dc35320381f7e005d5db1bdaaa4b1966a40d39b5beb8122249e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.31203900277614594, 0.1570490002632141, 0.08339799684472382 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "095ed2c4a28d6dc35320381f7e005d5db1bdaaa4b1966a40d39b5beb8122249e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.07 + "value_kg": 2.069999933242798, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "095ed2c4a28d6dc35320381f7e005d5db1bdaaa4b1966a40d39b5beb8122249e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.069999933242798, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 19, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "095ed2c4a28d6dc35320381f7e005d5db1bdaaa4b1966a40d39b5beb8122249e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 19, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "095ed2c4a28d6dc35320381f7e005d5db1bdaaa4b1966a40d39b5beb8122249e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00709_Saucepan_Wooden_Spoon_Knife/IsaacSim_assets_6a7c0595b56a872fd7847aa3/physics_6a7c0595b56a872fd7847aa3.json b/batch28/D00709_Saucepan_Wooden_Spoon_Knife/IsaacSim_assets_6a7c0595b56a872fd7847aa3/physics_6a7c0595b56a872fd7847aa3.json index d530cb622f09e9f45eda3732ea4f5b61e0dfc079..d8edecc617d7aeb1b6f333fd9108c23d4782ee15 100644 --- a/batch28/D00709_Saucepan_Wooden_Spoon_Knife/IsaacSim_assets_6a7c0595b56a872fd7847aa3/physics_6a7c0595b56a872fd7847aa3.json +++ b/batch28/D00709_Saucepan_Wooden_Spoon_Knife/IsaacSim_assets_6a7c0595b56a872fd7847aa3/physics_6a7c0595b56a872fd7847aa3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17978200316429138, - 0.03361399844288826, - 0.019044771790504456 - ], "min": [ -0.11740200221538544, -0.03317800164222717, 0.0008207709179259837 ], + "max": [ + 0.17978200316429138, + 0.03361399844288826, + 0.019044771790504456 + ], "size": [ 0.2971840053796768, 0.06679200008511543, 0.018224000872578472 - ] + ], + "units": "m" }, "description": "D00709 Saucepan Wooden Spoon Knife", "name": "D00709 Saucepan Wooden Spoon Knife", "object_type": "rigid_bodies", - "total_mass": 0.041 + "total_mass": 0.04100000113248825, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00709", "parts": [ { "bounds": { - "center": [ - 0.031190000474452972, - 0.00021799840033054352, - 0.00993277135421522 + "min": [ + -0.11740200221538544, + -0.03317800164222717, + 0.0008207709179259837 ], "max": [ 0.17978200316429138, 0.03361399844288826, 0.019044771790504456 ], - "min": [ - -0.11740200221538544, - -0.03317800164222717, - 0.0008207709179259837 - ] + "size": [ + 0.2971840053796768, + 0.06679200008511543, + 0.018224000872578472 + ], + "units": "m" }, "center_of_mass": [ 0.014181647449731827, @@ -59,7 +65,7 @@ 0.00023900599626358598, 0.00024565038620494306 ], - "mass": 0.041, + "mass": 0.04100000113248825, "material": "wood", "name": "D00709 Saucepan Wooden Spoon Knife", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00709 Saucepan Wooden Spoon Knife", "part_name": "D00709 Saucepan Wooden Spoon Knife" }, - "volume": 5.857143018926893e-05 + "volume": 5.857143018926893e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "86a96489700ccc977429199fa71bbcba9bd94a601307c2f7710b887f7fe004a1" + }, + "usd_path": "batch28/D00709_Saucepan_Wooden_Spoon_Knife/IsaacSim_assets_6a7c0595b56a872fd7847aa3/IsaacSim_asset_6a7c0595b56a872fd7847aa3.usd", + "usd_sha256": "0eda25cfe1fcf6ff5797f7650af1943d6bca3f1a875a7804f2f50065a5b3b8a7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.2971840053796768, 0.06679200008511543, 0.018224000872578472 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0eda25cfe1fcf6ff5797f7650af1943d6bca3f1a875a7804f2f50065a5b3b8a7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.041 + "value_kg": 0.04100000113248825, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0eda25cfe1fcf6ff5797f7650af1943d6bca3f1a875a7804f2f50065a5b3b8a7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04100000113248825, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 16, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0eda25cfe1fcf6ff5797f7650af1943d6bca3f1a875a7804f2f50065a5b3b8a7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 16, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0eda25cfe1fcf6ff5797f7650af1943d6bca3f1a875a7804f2f50065a5b3b8a7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00712_Scale/IsaacSim_assets_6a7c06bcb56a872fd7849ba0/physics_6a7c06bcb56a872fd7849ba0.json b/batch28/D00712_Scale/IsaacSim_assets_6a7c06bcb56a872fd7849ba0/physics_6a7c06bcb56a872fd7849ba0.json index cd46eab8bbbb9edb45dadcf7ff2284543df92fbe..e9cabe0b93c8e70e049f34f11b76b047ff0a0c60 100644 --- a/batch28/D00712_Scale/IsaacSim_assets_6a7c06bcb56a872fd7849ba0/physics_6a7c06bcb56a872fd7849ba0.json +++ b/batch28/D00712_Scale/IsaacSim_assets_6a7c06bcb56a872fd7849ba0/physics_6a7c06bcb56a872fd7849ba0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08083999902009964, - 0.10259900242090225, - 0.057836879044771194 - ], "min": [ -0.08106499910354614, -0.1106249988079071, 0.001117879175581038 ], + "max": [ + 0.08083999902009964, + 0.10259900242090225, + 0.057836879044771194 + ], "size": [ 0.16190499812364578, 0.21322400122880936, 0.056718999869190156 - ] + ], + "units": "m" }, "description": "D00712 Scale", "name": "D00712 Scale", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00712", "parts": [ { "bounds": { - "center": [ - -0.00011250004172325134, - -0.004012998193502426, - 0.029477379110176116 + "min": [ + -0.08106499910354614, + -0.1106249988079071, + 0.001117879175581038 ], "max": [ 0.08083999902009964, 0.10259900242090225, 0.057836879044771194 ], - "min": [ - -0.08106499910354614, - -0.1106249988079071, - 0.001117879175581038 - ] + "size": [ + 0.16190499812364578, + 0.21322400122880936, + 0.056718999869190156 + ], + "units": "m" }, "center_of_mass": [ -0.00014228519285097718, @@ -59,7 +65,7 @@ 0.0013586401473730803, 0.0020468144211918116 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "wood", "name": "D00712 Scale", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00712 Scale", "part_name": "D00712 Scale" }, - "volume": 0.0005000000074505806 + "volume": 0.0005000000074505806, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "079bf76433c4423e58cac5364eb773d6d9cb8ee45a16aede6736478a55930fa5" + }, + "usd_path": "batch28/D00712_Scale/IsaacSim_assets_6a7c06bcb56a872fd7849ba0/IsaacSim_asset_6a7c06bcb56a872fd7849ba0.usd", + "usd_sha256": "621bca10947b89e492a99dbea646ab9004623019b5601f74dac5ca1372802707", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.16190499812364578, 0.21322400122880936, 0.056718999869190156 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "621bca10947b89e492a99dbea646ab9004623019b5601f74dac5ca1372802707", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "621bca10947b89e492a99dbea646ab9004623019b5601f74dac5ca1372802707", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "621bca10947b89e492a99dbea646ab9004623019b5601f74dac5ca1372802707", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "621bca10947b89e492a99dbea646ab9004623019b5601f74dac5ca1372802707", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00761_Plantain/IsaacSim_assets_6a7c2ebcb56a872fd78d303d/physics_6a7c2ebcb56a872fd78d303d.json b/batch28/D00761_Plantain/IsaacSim_assets_6a7c2ebcb56a872fd78d303d/physics_6a7c2ebcb56a872fd78d303d.json index 10440443be7eeea1ab205380a90d60e27cc296af..8c0205217eae92485d75bcbe7d7b2455836cc4e1 100644 --- a/batch28/D00761_Plantain/IsaacSim_assets_6a7c2ebcb56a872fd78d303d/physics_6a7c2ebcb56a872fd78d303d.json +++ b/batch28/D00761_Plantain/IsaacSim_assets_6a7c2ebcb56a872fd78d303d/physics_6a7c2ebcb56a872fd78d303d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10172899812459946, - 0.022390000522136688, - 0.11006796360015869 - ], "min": [ -0.08980800211429596, -0.02285199984908104, 0.0007769602234475315 ], + "max": [ + 0.10172899812459946, + 0.022390000522136688, + 0.11006796360015869 + ], "size": [ 0.19153700023889542, 0.04524200037121773, 0.10929100337671116 - ] + ], + "units": "m" }, "description": "D00761 Plantain", "name": "D00761 Plantain", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00761", "parts": [ { "bounds": { - "center": [ - 0.005960498005151749, - -0.0002309996634721756, - 0.05542246191180311 + "min": [ + -0.08980800211429596, + -0.02285199984908104, + 0.0007769602234475315 ], "max": [ 0.10172899812459946, 0.022390000522136688, 0.11006796360015869 ], - "min": [ - -0.08980800211429596, - -0.02285199984908104, - 0.0007769602234475315 - ] + "size": [ + 0.19153700023889542, + 0.04524200037121773, + 0.10929100337671116 + ], + "units": "m" }, "center_of_mass": [ 0.002476353896781802, @@ -67,10 +73,27 @@ "object_name": "D00761 Plantain", "part_name": "D00761 Plantain" }, - "volume": 0.00025 + "volume": 0.00025, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7120be9f1017ef841cc9d867ba098dd64cdf0061ca52030f6bac0f7c93d96b00" + }, + "usd_path": "batch28/D00761_Plantain/IsaacSim_assets_6a7c2ebcb56a872fd78d303d/IsaacSim_asset_6a7c2ebcb56a872fd78d303d.usd", + "usd_sha256": "ae4554d66c4a91f47ae26d55a22b1ab6f2c98250e235026bf37799741619e9b6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.19153700023889542, 0.04524200037121773, 0.10929100337671116 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae4554d66c4a91f47ae26d55a22b1ab6f2c98250e235026bf37799741619e9b6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae4554d66c4a91f47ae26d55a22b1ab6f2c98250e235026bf37799741619e9b6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae4554d66c4a91f47ae26d55a22b1ab6f2c98250e235026bf37799741619e9b6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ae4554d66c4a91f47ae26d55a22b1ab6f2c98250e235026bf37799741619e9b6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00802 Pizza/IsaacSim_assets_6a7bdec6b56a872fd780f334/physics_6a7bdec6b56a872fd780f334.json b/batch28/D00802 Pizza/IsaacSim_assets_6a7bdec6b56a872fd780f334/physics_6a7bdec6b56a872fd780f334.json index bde2a4c386dd990bf5eb7b1f18d79607e64da964..fe4fcec070eafa5179fdc01ddcbea0fba8c3799a 100644 --- a/batch28/D00802 Pizza/IsaacSim_assets_6a7bdec6b56a872fd780f334/physics_6a7bdec6b56a872fd780f334.json +++ b/batch28/D00802 Pizza/IsaacSim_assets_6a7bdec6b56a872fd780f334/physics_6a7bdec6b56a872fd780f334.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17344500124454498, - 0.17312000691890717, - 0.04877650737762451 - ], "min": [ -0.17246800661087036, -0.17242200672626495, 0.0018845100421458483 ], + "max": [ + 0.17344500124454498, + 0.17312000691890717, + 0.04877650737762451 + ], "size": [ 0.34591300785541534, 0.3455420136451721, 0.04689199733547866 - ] + ], + "units": "m" }, "description": "D00802 Pizza", "name": "D00802 Pizza", "object_type": "rigid_bodies", - "total_mass": 0.7 + "total_mass": 0.699999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00802", "parts": [ { "bounds": { - "center": [ - 0.0004884973168373108, - 0.00034900009632110596, - 0.02533050870988518 + "min": [ + -0.17246800661087036, + -0.17242200672626495, + 0.0018845100421458483 ], "max": [ 0.17344500124454498, 0.17312000691890717, 0.04877650737762451 ], - "min": [ - -0.17246800661087036, - -0.17242200672626495, - 0.0018845100421458483 - ] + "size": [ + 0.34591300785541534, + 0.3455420136451721, + 0.04689199733547866 + ], + "units": "m" }, "center_of_mass": [ 0.00013293280790094286, @@ -59,7 +65,7 @@ 0.005516069009900093, 0.010831881314516068 ], - "mass": 0.7, + "mass": 0.699999988079071, "material": "plastic", "name": "D00802 Pizza", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00802 Pizza", "part_name": "D00802 Pizza" }, - "volume": 0.000579470188807178 + "volume": 0.000579470188807178, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9acc47665cc5ffc5e2c4a43780d2f5eb309de70c5886593176f9e1d00be2a456" + }, + "usd_path": "batch28/D00802 Pizza/IsaacSim_assets_6a7bdec6b56a872fd780f334/IsaacSim_asset_6a7bdec6b56a872fd780f334.usd", + "usd_sha256": "583a058d526d8b8940963df09ed3c408fd0d12bab7cf1a1041ac98f07f6a86c5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.34591300785541534, 0.3455420136451721, 0.04689199733547866 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "583a058d526d8b8940963df09ed3c408fd0d12bab7cf1a1041ac98f07f6a86c5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.7 + "value_kg": 0.699999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "583a058d526d8b8940963df09ed3c408fd0d12bab7cf1a1041ac98f07f6a86c5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.699999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "583a058d526d8b8940963df09ed3c408fd0d12bab7cf1a1041ac98f07f6a86c5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "583a058d526d8b8940963df09ed3c408fd0d12bab7cf1a1041ac98f07f6a86c5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00813 Taco/IsaacSim_assets_6a7b4a46b56a872fd777bdc4/physics_6a7b4a46b56a872fd777bdc4.json b/batch28/D00813 Taco/IsaacSim_assets_6a7b4a46b56a872fd777bdc4/physics_6a7b4a46b56a872fd777bdc4.json index 3d2273baa5c1898dee02edb1479d8744cf71bf9e..b37a2f09a1fa80a52a082d6557f981b6b1251bd6 100644 --- a/batch28/D00813 Taco/IsaacSim_assets_6a7b4a46b56a872fd777bdc4/physics_6a7b4a46b56a872fd777bdc4.json +++ b/batch28/D00813 Taco/IsaacSim_assets_6a7b4a46b56a872fd777bdc4/physics_6a7b4a46b56a872fd777bdc4.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10048499703407288, - 0.05093500018119812, - 0.0827682688832283 - ], "min": [ -0.09708999842405319, -0.05428300052881241, 0.0010772701352834702 ], + "max": [ + 0.10048499703407288, + 0.05093500018119812, + 0.0827682688832283 + ], "size": [ 0.19757499545812607, 0.10521800071001053, 0.08169099874794483 - ] + ], + "units": "m" }, "description": "D00813 Taco", "name": "D00813 Taco", "object_type": "rigid_bodies", - "total_mass": 0.187 + "total_mass": 0.18700000643730164, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00813", "parts": [ { "bounds": { - "center": [ - 0.001697499305009842, - -0.0016740001738071442, - 0.041922769509255886 + "min": [ + -0.09708999842405319, + -0.05428300052881241, + 0.0010772701352834702 ], "max": [ 0.10048499703407288, 0.05093500018119812, 0.0827682688832283 ], - "min": [ - -0.09708999842405319, - -0.05428300052881241, - 0.0010772701352834702 - ] + "size": [ + 0.19757499545812607, + 0.10521800071001053, + 0.08169099874794483 + ], + "units": "m" }, "center_of_mass": [ 0.00024573496193625033, @@ -59,7 +65,7 @@ 0.0004855679289903492, 0.0005423650145530701 ], - "mass": 0.187, + "mass": 0.18700000643730164, "material": "plastic", "name": "D00813 Taco", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00813 Taco", "part_name": "D00813 Taco" }, - "volume": 0.00018700000643730164 + "volume": 0.00018700000643730164, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9e7aafc34e3d0679f61418504c97e734b448441d016bf24895cae1796e7d7120" + }, + "usd_path": "batch28/D00813 Taco/IsaacSim_assets_6a7b4a46b56a872fd777bdc4/IsaacSim_asset_6a7b4a46b56a872fd777bdc4.usd", + "usd_sha256": "8980c258714777223602472d1bebf5665d32254ba1dd43b8cf5dfaf7a2117e1f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.19757499545812607, 0.10521800071001053, 0.08169099874794483 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8980c258714777223602472d1bebf5665d32254ba1dd43b8cf5dfaf7a2117e1f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.187 + "value_kg": 0.18700000643730164, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8980c258714777223602472d1bebf5665d32254ba1dd43b8cf5dfaf7a2117e1f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.18700000643730164, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 47, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8980c258714777223602472d1bebf5665d32254ba1dd43b8cf5dfaf7a2117e1f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 47, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8980c258714777223602472d1bebf5665d32254ba1dd43b8cf5dfaf7a2117e1f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00819 Samosa/IsaacSim_assets_6a7b4a4ab56a872fd777be30/physics_6a7b4a4ab56a872fd777be30.json b/batch28/D00819 Samosa/IsaacSim_assets_6a7b4a4ab56a872fd777be30/physics_6a7b4a4ab56a872fd777be30.json index cebbd12fd41f6b297f413452ec8e90d7033773d7..b9d20edad19e66863bc3923b74319abd7d172688 100644 --- a/batch28/D00819 Samosa/IsaacSim_assets_6a7b4a4ab56a872fd777be30/physics_6a7b4a4ab56a872fd777be30.json +++ b/batch28/D00819 Samosa/IsaacSim_assets_6a7b4a4ab56a872fd777be30/physics_6a7b4a4ab56a872fd777be30.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03981500118970871, - 0.04850500077009201, - 0.06320511549711227 - ], "min": [ -0.03650999814271927, -0.029910000041127205, 0.0003731099423021078 ], + "max": [ + 0.03981500118970871, + 0.04850500077009201, + 0.06320511549711227 + ], "size": [ 0.07632499933242798, 0.07841500081121922, 0.06283200555481017 - ] + ], + "units": "m" }, "description": "D00819 Samosa", "name": "D00819 Samosa", "object_type": "rigid_bodies", - "total_mass": 0.06 + "total_mass": 0.05999999865889549, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00819", "parts": [ { "bounds": { - "center": [ - 0.0016525015234947205, - 0.009297500364482403, - 0.03178911271970719 + "min": [ + -0.03650999814271927, + -0.029910000041127205, + 0.0003731099423021078 ], "max": [ 0.03981500118970871, 0.04850500077009201, 0.06320511549711227 ], - "min": [ - -0.03650999814271927, - -0.029910000041127205, - 0.0003731099423021078 - ] + "size": [ + 0.07632499933242798, + 0.07841500081121922, + 0.06283200555481017 + ], + "units": "m" }, "center_of_mass": [ 0.0010352624813094735, @@ -59,7 +65,7 @@ 2.5121807993855327e-05, 2.8879234378109686e-05 ], - "mass": 0.06, + "mass": 0.05999999865889549, "material": "wood", "name": "D00819 Samosa", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00819 Samosa", "part_name": "D00819 Samosa" }, - "volume": 7.499999832361936e-05 + "volume": 7.499999832361936e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8777002ce1c4c302a923f7e27de4d9847421d2af29ae392a29affa9e4a5fa3c8" + }, + "usd_path": "batch28/D00819 Samosa/IsaacSim_assets_6a7b4a4ab56a872fd777be30/IsaacSim_asset_6a7b4a4ab56a872fd777be30.usd", + "usd_sha256": "6062a152337c42ef4d8478e2d30aa11f49a1e37f5d355bcb68ea55c58dc65811", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.07632499933242798, 0.07841500081121922, 0.06283200555481017 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6062a152337c42ef4d8478e2d30aa11f49a1e37f5d355bcb68ea55c58dc65811", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.06 + "value_kg": 0.05999999865889549, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6062a152337c42ef4d8478e2d30aa11f49a1e37f5d355bcb68ea55c58dc65811", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05999999865889549, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 15, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6062a152337c42ef4d8478e2d30aa11f49a1e37f5d355bcb68ea55c58dc65811", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 15, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6062a152337c42ef4d8478e2d30aa11f49a1e37f5d355bcb68ea55c58dc65811", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00822 Scone/IsaacSim_assets_6a7b6927b56a872fd779cc80/physics_6a7b6927b56a872fd779cc80.json b/batch28/D00822 Scone/IsaacSim_assets_6a7b6927b56a872fd779cc80/physics_6a7b6927b56a872fd779cc80.json index 1d4f420a56362b2721c288136ce60d935cd9154a..4ca8f2c0180961f41c45b3ed609f197a54024bcc 100644 --- a/batch28/D00822 Scone/IsaacSim_assets_6a7b6927b56a872fd779cc80/physics_6a7b6927b56a872fd779cc80.json +++ b/batch28/D00822 Scone/IsaacSim_assets_6a7b6927b56a872fd779cc80/physics_6a7b6927b56a872fd779cc80.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03806700184941292, - 0.03803199902176857, - 0.038906268775463104 - ], "min": [ -0.037039998918771744, -0.037105001509189606, 0.0004112697206437588 ], + "max": [ + 0.03806700184941292, + 0.03803199902176857, + 0.038906268775463104 + ], "size": [ 0.07510700076818466, 0.07513700053095818, 0.038494999054819345 - ] + ], + "units": "m" }, "description": "D00822 Scone", "name": "D00822 Scone", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00822", "parts": [ { "bounds": { - "center": [ - 0.0005135014653205872, - 0.0004634987562894821, - 0.01965876924805343 + "min": [ + -0.037039998918771744, + -0.037105001509189606, + 0.0004112697206437588 ], "max": [ 0.03806700184941292, 0.03803199902176857, 0.038906268775463104 ], - "min": [ - -0.037039998918771744, - -0.037105001509189606, - 0.0004112697206437588 - ] + "size": [ + 0.07510700076818466, + 0.07513700053095818, + 0.038494999054819345 + ], + "units": "m" }, "center_of_mass": [ 0.00035888038109987974, @@ -59,7 +65,7 @@ 6.082887193770148e-05, 9.239586506737396e-05 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "foam", "name": "D00822 Scone", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00822 Scone", "part_name": "D00822 Scone" }, - "volume": 0.0003333333465788099 + "volume": 0.0003333333465788099, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3aa7cb6c5c90f968811448d9783e644561369928951fc3d8b111a05dc50df441" + }, + "usd_path": "batch28/D00822 Scone/IsaacSim_assets_6a7b6927b56a872fd779cc80/IsaacSim_asset_6a7b6927b56a872fd779cc80.usd", + "usd_sha256": "e01bd684fa344b71c2dcb1351fe4f4eba51524f7e4cd7357fcbc0964d0147d20", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.07510700076818466, 0.07513700053095818, 0.038494999054819345 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e01bd684fa344b71c2dcb1351fe4f4eba51524f7e4cd7357fcbc0964d0147d20", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e01bd684fa344b71c2dcb1351fe4f4eba51524f7e4cd7357fcbc0964d0147d20", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e01bd684fa344b71c2dcb1351fe4f4eba51524f7e4cd7357fcbc0964d0147d20", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e01bd684fa344b71c2dcb1351fe4f4eba51524f7e4cd7357fcbc0964d0147d20", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00842 Cup Noodles/IsaacSim_assets_6a7b692fb56a872fd779cd4a/physics_6a7b692fb56a872fd779cd4a.json b/batch28/D00842 Cup Noodles/IsaacSim_assets_6a7b692fb56a872fd779cd4a/physics_6a7b692fb56a872fd779cd4a.json index 4065d343e04d293c183e2c4f1007e7690bc001d5..e018286bc694ef9c44ebfd9552032bc6be6c6a8d 100644 --- a/batch28/D00842 Cup Noodles/IsaacSim_assets_6a7b692fb56a872fd779cd4a/physics_6a7b692fb56a872fd779cd4a.json +++ b/batch28/D00842 Cup Noodles/IsaacSim_assets_6a7b692fb56a872fd779cd4a/physics_6a7b692fb56a872fd779cd4a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0437140017747879, - 0.043820999562740326, - 0.0944250151515007 - ], "min": [ -0.043731000274419785, -0.04370500147342682, 0.00047901272773742676 ], + "max": [ + 0.0437140017747879, + 0.043820999562740326, + 0.0944250151515007 + ], "size": [ 0.08744500204920769, 0.08752600103616714, 0.09394600242376328 - ] + ], + "units": "m" }, "description": "D00842 Cup Noodles", "name": "D00842 Cup Noodles", "object_type": "rigid_bodies", - "total_mass": 0.075 + "total_mass": 0.07500000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00842", "parts": [ { "bounds": { - "center": [ - -8.499249815940857e-06, - 5.799904465675354e-05, - 0.047452013939619064 + "min": [ + -0.043731000274419785, + -0.04370500147342682, + 0.00047901272773742676 ], "max": [ 0.0437140017747879, 0.043820999562740326, 0.0944250151515007 ], - "min": [ - -0.043731000274419785, - -0.04370500147342682, - 0.00047901272773742676 - ] + "size": [ + 0.08744500204920769, + 0.08752600103616714, + 0.09394600242376328 + ], + "units": "m" }, "center_of_mass": [ -9.18600653676549e-06, @@ -59,7 +65,7 @@ 8.061341941356659e-05, 8.09042903711088e-05 ], - "mass": 0.075, + "mass": 0.07500000298023224, "material": "generic", "name": "D00842 Cup Noodles", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00842 Cup Noodles", "part_name": "D00842 Cup Noodles" }, - "volume": 0.0010000000397364299 + "volume": 0.0010000000397364299, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ff017136e0ba5686941ff4722325993a3865607c18f5aed00f7acca3c4999aa3" + }, + "usd_path": "batch28/D00842 Cup Noodles/IsaacSim_assets_6a7b692fb56a872fd779cd4a/IsaacSim_asset_6a7b692fb56a872fd779cd4a.usd", + "usd_sha256": "d373e32b48c9d10b40ba532974dac365cb24b6206a15f7211a91e2645ff5be0f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08744500204920769, 0.08752600103616714, 0.09394600242376328 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d373e32b48c9d10b40ba532974dac365cb24b6206a15f7211a91e2645ff5be0f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.075 + "value_kg": 0.07500000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d373e32b48c9d10b40ba532974dac365cb24b6206a15f7211a91e2645ff5be0f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07500000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d373e32b48c9d10b40ba532974dac365cb24b6206a15f7211a91e2645ff5be0f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d373e32b48c9d10b40ba532974dac365cb24b6206a15f7211a91e2645ff5be0f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00843 Sushi/IsaacSim_assets_6a71aa79cdde3c1658d58df9/physics_6a71aa79cdde3c1658d58df9.json b/batch28/D00843 Sushi/IsaacSim_assets_6a71aa79cdde3c1658d58df9/physics_6a71aa79cdde3c1658d58df9.json index d1ea8567e1936e86aecfe21c0530809998604bb1..c31eea440f26b0c5b85d2d0b484007a5259f89ab 100644 --- a/batch28/D00843 Sushi/IsaacSim_assets_6a71aa79cdde3c1658d58df9/physics_6a71aa79cdde3c1658d58df9.json +++ b/batch28/D00843 Sushi/IsaacSim_assets_6a71aa79cdde3c1658d58df9/physics_6a71aa79cdde3c1658d58df9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0364421, - 0.03171271, - 0.01600334 - ], "min": [ - -0.031452, - 0.0, - -0.01566249 + -0.0314520001411438, + -0.016016000881791115, + 0.0003216199402231723 + ], + "max": [ + 0.036442000418901443, + 0.015675000846385956, + 0.03204461932182312 ], "size": [ - 0.0678941, - 0.03171271, - 0.031665830000000006 - ] + 0.06789400056004524, + 0.03169100172817707, + 0.03172299938159995 + ], + "units": "m" }, "description": "A piece of nigiri sushi featuring a slice of bright orange salmon with distinct white fat striations, resting on an oblong bed of tightly packed, light brown seasoned rice.", "name": "specialist-current", "object_type": "rigid_bodies", - "total_mass": 0.03 + "total_mass": 0.029999999329447746, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00843", "parts": [ { "bounds": { - "center": [ - 0.0004037700785576703, - 0.014289241680933252, - 0.000122769095603449 + "min": [ + -0.0314520001411438, + -0.016016000881791115, + 0.0003216199402231723 ], "max": [ - 0.0364421, - 0.03171271, - 0.01600334 + 0.036442000418901443, + 0.015675000846385956, + 0.03204461932182312 ], - "min": [ - -0.031452, - 0.0, - -0.01566249 - ] + "size": [ + 0.06789400056004524, + 0.03169100172817707, + 0.03172299938159995 + ], + "units": "m" }, "center_of_mass": [ 0.0009505358076259075, @@ -59,7 +65,7 @@ 8.991168558606982e-06, 9.429464168695117e-06 ], - "mass": 0.03, + "mass": 0.029999999329447746, "material": "food_organic", "name": "specialist-current", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "specialist-current", "part_name": "specialist-current" }, - "volume": 4.163959555659102e-05 + "volume": 4.163959555659102e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a8af6606c597edeb672b73a1581b1a582a9d4a53707b0bf58716af63d0f5df75" + }, + "usd_path": "batch28/D00843 Sushi/IsaacSim_assets_6a71aa79cdde3c1658d58df9/IsaacSim_asset_6a71aa79cdde3c1658d58df9.usd", + "usd_sha256": "3fb68f03729cc6e340df174cb5958de093452feef2a4602cea055420693ec54e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.0678941, - 0.03171271, - 0.031665830000000006 - ] + 0.06789400056004524, + 0.03169100172817707, + 0.03172299938159995 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fb68f03729cc6e340df174cb5958de093452feef2a4602cea055420693ec54e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.03 + "value_kg": 0.029999999329447746, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fb68f03729cc6e340df174cb5958de093452feef2a4602cea055420693ec54e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.029999999329447746, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fb68f03729cc6e340df174cb5958de093452feef2a4602cea055420693ec54e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fb68f03729cc6e340df174cb5958de093452feef2a4602cea055420693ec54e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00845 Canned Soup/IsaacSim_assets_6a7b779fb56a872fd77a99d2/physics_6a7b779fb56a872fd77a99d2.json b/batch28/D00845 Canned Soup/IsaacSim_assets_6a7b779fb56a872fd77a99d2/physics_6a7b779fb56a872fd77a99d2.json index d3dfe712bfad8127b11f893daed398f93d4b97ea..f297708f544bb93e9bcebe212f431dc814d8d289 100644 --- a/batch28/D00845 Canned Soup/IsaacSim_assets_6a7b779fb56a872fd77a99d2/physics_6a7b779fb56a872fd77a99d2.json +++ b/batch28/D00845 Canned Soup/IsaacSim_assets_6a7b779fb56a872fd77a99d2/physics_6a7b779fb56a872fd77a99d2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03966299816966057, - 0.03892999887466431, - 0.10955976694822311 - ], "min": [ -0.03853899985551834, -0.03917799890041351, 0.0002567693591117859 ], + "max": [ + 0.03966299816966057, + 0.03892999887466431, + 0.10955976694822311 + ], "size": [ 0.07820199802517891, 0.07810799777507782, 0.10930299758911133 - ] + ], + "units": "m" }, "description": "D00845 Canned Soup", "name": "D00845 Canned Soup", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00845", "parts": [ { "bounds": { - "center": [ - 0.0005619991570711136, - -0.00012400001287460327, - 0.05490826815366745 + "min": [ + -0.03853899985551834, + -0.03917799890041351, + 0.0002567693591117859 ], "max": [ 0.03966299816966057, 0.03892999887466431, 0.10955976694822311 ], - "min": [ - -0.03853899985551834, - -0.03917799890041351, - 0.0002567693591117859 - ] + "size": [ + 0.07820199802517891, + 0.07810799777507782, + 0.10930299758911133 + ], + "units": "m" }, "center_of_mass": [ 0.0005603522877208889, @@ -67,10 +73,27 @@ "object_name": "D00845 Canned Soup", "part_name": "D00845 Canned Soup" }, - "volume": 0.0005 + "volume": 0.0005, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fcdc000767fe1d7effb3cba3ae506b5fb16ecc56ab6c4842a029f1d621ce89bf" + }, + "usd_path": "batch28/D00845 Canned Soup/IsaacSim_assets_6a7b779fb56a872fd77a99d2/IsaacSim_asset_6a7b779fb56a872fd77a99d2.usd", + "usd_sha256": "799d0187b968044e572613ea7c075387cb37384532de384c816a4f832b7d8c3f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.07820199802517891, 0.07810799777507782, 0.10930299758911133 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "799d0187b968044e572613ea7c075387cb37384532de384c816a4f832b7d8c3f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "799d0187b968044e572613ea7c075387cb37384532de384c816a4f832b7d8c3f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "799d0187b968044e572613ea7c075387cb37384532de384c816a4f832b7d8c3f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "799d0187b968044e572613ea7c075387cb37384532de384c816a4f832b7d8c3f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00846 Canned Tomatoes/IsaacSim_assets_6a7b77f0b56a872fd77a9fa0/physics_6a7b77f0b56a872fd77a9fa0.json b/batch28/D00846 Canned Tomatoes/IsaacSim_assets_6a7b77f0b56a872fd77a9fa0/physics_6a7b77f0b56a872fd77a9fa0.json index d2a7fe2a59ae3112104d466917eae6eac75fbf10..91407fac899067fe2ad10ecea015b76f0ef9dd63 100644 --- a/batch28/D00846 Canned Tomatoes/IsaacSim_assets_6a7b77f0b56a872fd77a9fa0/physics_6a7b77f0b56a872fd77a9fa0.json +++ b/batch28/D00846 Canned Tomatoes/IsaacSim_assets_6a7b77f0b56a872fd77a9fa0/physics_6a7b77f0b56a872fd77a9fa0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04109799861907959, - 0.039900001138448715, - 0.11188124120235443 - ], "min": [ -0.03943999856710434, -0.03992899879813194, 0.0002312399446964264 ], + "max": [ + 0.04109799861907959, + 0.039900001138448715, + 0.11188124120235443 + ], "size": [ 0.08053799718618393, 0.07982899993658066, 0.111650001257658 - ] + ], + "units": "m" }, "description": "D00846 Canned Tomatoes", "name": "D00846 Canned Tomatoes", "object_type": "rigid_bodies", - "total_mass": 0.85 + "total_mass": 0.8500000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00846", "parts": [ { "bounds": { - "center": [ - 0.0008290000259876251, - -1.449882984161377e-05, - 0.05605624057352543 + "min": [ + -0.03943999856710434, + -0.03992899879813194, + 0.0002312399446964264 ], "max": [ 0.04109799861907959, 0.039900001138448715, 0.11188124120235443 ], - "min": [ - -0.03943999856710434, - -0.03992899879813194, - 0.0002312399446964264 - ] + "size": [ + 0.08053799718618393, + 0.07982899993658066, + 0.111650001257658 + ], + "units": "m" }, "center_of_mass": [ 0.0008314850274473429, @@ -59,7 +65,7 @@ 0.001220305566675961, 0.0012265510158613324 ], - "mass": 0.85, + "mass": 0.8500000238418579, "material": "wood", "name": "D00846 Canned Tomatoes", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00846 Canned Tomatoes", "part_name": "D00846 Canned Tomatoes" }, - "volume": 0.0009444444709353977 + "volume": 0.0009444444709353977, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "59837991f771871917455b7b5f575ab062c76d5c193cb80f2b1507cba6404cba" + }, + "usd_path": "batch28/D00846 Canned Tomatoes/IsaacSim_assets_6a7b77f0b56a872fd77a9fa0/IsaacSim_asset_6a7b77f0b56a872fd77a9fa0.usd", + "usd_sha256": "803ba718d5a3287194c717bfd12de277a6d1ac9c750217eb99ff117c400be5d5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08053799718618393, 0.07982899993658066, 0.111650001257658 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "803ba718d5a3287194c717bfd12de277a6d1ac9c750217eb99ff117c400be5d5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.85 + "value_kg": 0.8500000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "803ba718d5a3287194c717bfd12de277a6d1ac9c750217eb99ff117c400be5d5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8500000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "803ba718d5a3287194c717bfd12de277a6d1ac9c750217eb99ff117c400be5d5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "803ba718d5a3287194c717bfd12de277a6d1ac9c750217eb99ff117c400be5d5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch28/D00856 Sardine Can/IsaacSim_assets_6a7b788fb56a872fd77aa969/physics_6a7b788fb56a872fd77aa969.json b/batch28/D00856 Sardine Can/IsaacSim_assets_6a7b788fb56a872fd77aa969/physics_6a7b788fb56a872fd77aa969.json index f333be6f5e0dc24e95fd265f0714c6d3b764c3f7..bac91cf11bb0b8d5ec818c2005fc9762f67df9f1 100644 --- a/batch28/D00856 Sardine Can/IsaacSim_assets_6a7b788fb56a872fd77aa969/physics_6a7b788fb56a872fd77aa969.json +++ b/batch28/D00856 Sardine Can/IsaacSim_assets_6a7b788fb56a872fd77aa969/physics_6a7b788fb56a872fd77aa969.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0587179996073246, - 0.03677099943161011, - 0.031871236860752106 - ], "min": [ -0.05261300131678581, -0.03645800054073334, 0.000542239286005497 ], + "max": [ + 0.0587179996073246, + 0.03677099943161011, + 0.031871236860752106 + ], "size": [ 0.11133100092411041, 0.07322899997234344, 0.03132899757474661 - ] + ], + "units": "m" }, "description": "D00856 Sardine Can", "name": "D00856 Sardine Can", "object_type": "rigid_bodies", - "total_mass": 0.125 + "total_mass": 0.125, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00856", "parts": [ { "bounds": { - "center": [ - 0.003052499145269394, - 0.000156499445438385, - 0.0162067380733788 + "min": [ + -0.05261300131678581, + -0.03645800054073334, + 0.000542239286005497 ], "max": [ 0.0587179996073246, 0.03677099943161011, 0.031871236860752106 ], - "min": [ - -0.05261300131678581, - -0.03645800054073334, - 0.000542239286005497 - ] + "size": [ + 0.11133100092411041, + 0.07322899997234344, + 0.03132899757474661 + ], + "units": "m" }, "center_of_mass": [ 0.0030853801872581244, @@ -67,10 +73,27 @@ "object_name": "D00856 Sardine Can", "part_name": "D00856 Sardine Can" }, - "volume": 2.0833333333333333e-05 + "volume": 2.0833333333333333e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "dbee43bbd27e0f7fc464e6e057b575bdb0c7ad3a50a361eb8808debc64c062a1" + }, + "usd_path": "batch28/D00856 Sardine Can/IsaacSim_assets_6a7b788fb56a872fd77aa969/IsaacSim_asset_6a7b788fb56a872fd77aa969.usd", + "usd_sha256": "71f3adadce8f242b8c70c748dead24148703209bcbd5ebaff849c42117d26302", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.11133100092411041, 0.07322899997234344, 0.03132899757474661 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71f3adadce8f242b8c70c748dead24148703209bcbd5ebaff849c42117d26302", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.125 + "value_kg": 0.125, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71f3adadce8f242b8c70c748dead24148703209bcbd5ebaff849c42117d26302", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.125, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71f3adadce8f242b8c70c748dead24148703209bcbd5ebaff849c42117d26302", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71f3adadce8f242b8c70c748dead24148703209bcbd5ebaff849c42117d26302", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00498 Magazine/IsaacSim_assets_6a7ec9efb7a9c4204a9d2f2c/physics_6a7ec9efb7a9c4204a9d2f2c.json b/batch29/D00498 Magazine/IsaacSim_assets_6a7ec9efb7a9c4204a9d2f2c/physics_6a7ec9efb7a9c4204a9d2f2c.json index ee2af7cb892f9793723ef999d5cfd6e3792a4f42..5c5361c2c5b5b2f58eb2c934f5ab1853858a95c0 100644 --- a/batch29/D00498 Magazine/IsaacSim_assets_6a7ec9efb7a9c4204a9d2f2c/physics_6a7ec9efb7a9c4204a9d2f2c.json +++ b/batch29/D00498 Magazine/IsaacSim_assets_6a7ec9efb7a9c4204a9d2f2c/physics_6a7ec9efb7a9c4204a9d2f2c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10420600324869156, - 0.04240183159708977, - 0.14255300164222717 - ], "min": [ -0.10381700098514557, - 0.0015398301184177399, - -0.1437149941921234 + -0.14255300164222717, + 0.0015398301184177399 + ], + "max": [ + 0.10420600324869156, + 0.1437149941921234, + 0.04240183159708977 ], "size": [ 0.20802300423383713, - 0.04086200147867203, - 0.2862679958343506 - ] + 0.2862679958343506, + 0.04086200147867203 + ], + "units": "m" }, "description": "D00498 Magazine", "name": "D00498 Magazine", "object_type": "rigid_bodies", - "total_mass": 1.9 + "total_mass": 1.899999976158142, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00498", "parts": [ { "bounds": { - "center": [ - 0.000194501131772995, - 0.021970830857753754, - -0.0005809962749481201 + "min": [ + -0.10381700098514557, + -0.14255300164222717, + 0.0015398301184177399 ], "max": [ 0.10420600324869156, - 0.04240183159708977, - 0.14255300164222717 + 0.1437149941921234, + 0.04240183159708977 ], - "min": [ - -0.10381700098514557, - 0.0015398301184177399, - -0.1437149941921234 - ] + "size": [ + 0.20802300423383713, + 0.2862679958343506, + 0.04086200147867203 + ], + "units": "m" }, "center_of_mass": [ 0.0007310420041903853, @@ -59,7 +65,7 @@ 0.013219816610217094, 0.019710399210453033 ], - "mass": 1.9, + "mass": 1.899999976158142, "material": "wood", "name": "D00498 Magazine", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00498 Magazine", "part_name": "D00498 Magazine" }, - "volume": 0.0023749999701976774 + "volume": 0.0023749999701976774, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7a3db1fb926acff5434e6d6a8c50fd420e8dc2615055ccd3f5febc16845cf87b" + }, + "usd_path": "batch29/D00498 Magazine/IsaacSim_assets_6a7ec9efb7a9c4204a9d2f2c/IsaacSim_asset_6a7ec9efb7a9c4204a9d2f2c.usd", + "usd_sha256": "dd62a23fa0f60701e5418cbb575dbd8361c54d1b6eec568d89b89bbf11006394", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.20802300423383713, - 0.04086200147867203, - 0.2862679958343506 - ] + 0.2862679958343506, + 0.04086200147867203 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dd62a23fa0f60701e5418cbb575dbd8361c54d1b6eec568d89b89bbf11006394", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.9 + "value_kg": 1.899999976158142, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dd62a23fa0f60701e5418cbb575dbd8361c54d1b6eec568d89b89bbf11006394", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.899999976158142, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dd62a23fa0f60701e5418cbb575dbd8361c54d1b6eec568d89b89bbf11006394", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dd62a23fa0f60701e5418cbb575dbd8361c54d1b6eec568d89b89bbf11006394", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00509 Metal Ball/IsaacSim_assets_6a7da303bc69ff712cec97c4/physics_6a7da303bc69ff712cec97c4.json b/batch29/D00509 Metal Ball/IsaacSim_assets_6a7da303bc69ff712cec97c4/physics_6a7da303bc69ff712cec97c4.json index 65b05099b248f7c6064cbb3f885662580320e77c..d29a2e4425f48585882a046aa9949f82a05ad549 100644 --- a/batch29/D00509 Metal Ball/IsaacSim_assets_6a7da303bc69ff712cec97c4/physics_6a7da303bc69ff712cec97c4.json +++ b/batch29/D00509 Metal Ball/IsaacSim_assets_6a7da303bc69ff712cec97c4/physics_6a7da303bc69ff712cec97c4.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04444304, - 0.09001918, - 0.04468903 - ], "min": [ - -0.04437272, - 0.0, - -0.04466158 + -0.04437199980020523, + -0.04468600079417229, + 9.999999974752427e-07 + ], + "max": [ + 0.04444200173020363, + 0.044658999890089035, + 0.09001799672842026 ], "size": [ - 0.08881576, - 0.09001918, - 0.08935061 - ] + 0.08881400153040886, + 0.08934500068426132, + 0.09001699672842278 + ], + "units": "m" }, "description": "A smooth, highly reflective polished metal sphere.", "name": "specialist-current", "object_type": "rigid_bodies", - "total_mass": 4.11 + "total_mass": 4.110000133514404, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00509", "parts": [ { "bounds": { - "center": [ - 3.770314449254679e-05, - 0.04508976634741509, - 9.29107541738191e-06 + "min": [ + -0.04437199980020523, + -0.04468600079417229, + 9.999999974752427e-07 ], "max": [ - 0.04444304, - 0.09001918, - 0.04468903 + 0.04444200173020363, + 0.044658999890089035, + 0.09001799672842026 ], - "min": [ - -0.04437272, - 0.0, - -0.04466158 - ] + "size": [ + 0.08881400153040886, + 0.08934500068426132, + 0.09001699672842278 + ], + "units": "m" }, "center_of_mass": [ 3.766254551481727e-05, @@ -59,7 +65,7 @@ 0.003296380171331466, 0.0033176910468336158 ], - "mass": 4.11, + "mass": 4.110000133514404, "material": "polished_metal", "name": "specialist-current", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "specialist-current", "part_name": "specialist-current" }, - "volume": 0.00037605917765236427 + "volume": 0.00037605917765236427, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a0b92b0d8e8113c0e663820c4df33419a8cf7ef14f5e8703a3a7ea66215604c3" + }, + "usd_path": "batch29/D00509 Metal Ball/IsaacSim_assets_6a7da303bc69ff712cec97c4/IsaacSim_asset_6a7da303bc69ff712cec97c4.usd", + "usd_sha256": "b95843c6d77b62f18d60eb333e7e7b8bb659dab30ed9535c7958ae47226c2d68", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.08881576, - 0.09001918, - 0.08935061 - ] + 0.08881400153040886, + 0.08934500068426132, + 0.09001699672842278 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b95843c6d77b62f18d60eb333e7e7b8bb659dab30ed9535c7958ae47226c2d68", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.11 + "value_kg": 4.110000133514404, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b95843c6d77b62f18d60eb333e7e7b8bb659dab30ed9535c7958ae47226c2d68", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.110000133514404, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b95843c6d77b62f18d60eb333e7e7b8bb659dab30ed9535c7958ae47226c2d68", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b95843c6d77b62f18d60eb333e7e7b8bb659dab30ed9535c7958ae47226c2d68", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00513 Metal Jug/IsaacSim_assets_6a7dda69b7a9c4204a82c171/physics_6a7dda69b7a9c4204a82c171.json b/batch29/D00513 Metal Jug/IsaacSim_assets_6a7dda69b7a9c4204a82c171/physics_6a7dda69b7a9c4204a82c171.json index caaa581e9ad1b8b529888d2e9c9b95b96896fa44..cb9865dbf57a91c6e8d37dfa88dc1dd9cf43010f 100644 --- a/batch29/D00513 Metal Jug/IsaacSim_assets_6a7dda69b7a9c4204a82c171/physics_6a7dda69b7a9c4204a82c171.json +++ b/batch29/D00513 Metal Jug/IsaacSim_assets_6a7dda69b7a9c4204a82c171/physics_6a7dda69b7a9c4204a82c171.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08839599788188934, - 0.13098779320716858, - 0.05299299955368042 - ], "min": [ -0.05994199961423874, - 0.0007867999374866486, - -0.05283600091934204 + -0.05299299955368042, + 0.0007867999374866486 + ], + "max": [ + 0.08839599788188934, + 0.05283600091934204, + 0.13098779320716858 ], "size": [ 0.14833799749612808, - 0.13020099326968193, - 0.10582900047302246 - ] + 0.10582900047302246, + 0.13020099326968193 + ], + "units": "m" }, "description": "D00513 Metal Jug", "name": "D00513 Metal Jug", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00513", "parts": [ { "bounds": { - "center": [ - 0.014226999133825302, - 0.06588729657232761, - 7.849931716918945e-05 + "min": [ + -0.05994199961423874, + -0.05299299955368042, + 0.0007867999374866486 ], "max": [ 0.08839599788188934, - 0.13098779320716858, - 0.05299299955368042 + 0.05283600091934204, + 0.13098779320716858 ], - "min": [ - -0.05994199961423874, - 0.0007867999374866486, - -0.05283600091934204 - ] + "size": [ + 0.14833799749612808, + 0.10582900047302246, + 0.13020099326968193 + ], + "units": "m" }, "center_of_mass": [ 0.005141702014952898, @@ -59,7 +65,7 @@ 0.00039232740527950227, 0.00047232021461240947 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "metal", "name": "D00513 Metal Jug", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00513 Metal Jug", "part_name": "D00513 Metal Jug" }, - "volume": 2.5641026023106698e-05 + "volume": 2.5641026023106698e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d28a33464783aeb6834fa90626f2f2ed99682cf58cc276d0b02880bfd3ec5f66" + }, + "usd_path": "batch29/D00513 Metal Jug/IsaacSim_assets_6a7dda69b7a9c4204a82c171/IsaacSim_asset_6a7dda69b7a9c4204a82c171.usd", + "usd_sha256": "e405dc63d1690945ebcd30060aee5f41bd44555577ee53947f0a65cca6f01784", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.14833799749612808, - 0.13020099326968193, - 0.10582900047302246 - ] + 0.10582900047302246, + 0.13020099326968193 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e405dc63d1690945ebcd30060aee5f41bd44555577ee53947f0a65cca6f01784", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e405dc63d1690945ebcd30060aee5f41bd44555577ee53947f0a65cca6f01784", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e405dc63d1690945ebcd30060aee5f41bd44555577ee53947f0a65cca6f01784", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e405dc63d1690945ebcd30060aee5f41bd44555577ee53947f0a65cca6f01784", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00518 Milk Bottle/IsaacSim_assets_6a7d4488b7a9c4204a6c5c18/physics_6a7d4488b7a9c4204a6c5c18.json b/batch29/D00518 Milk Bottle/IsaacSim_assets_6a7d4488b7a9c4204a6c5c18/physics_6a7d4488b7a9c4204a6c5c18.json index 6ecdf736b9b3075e4541963dd80cd60d3e9fcee3..a3bb4b6cfb88d50eb6d02b6d28decbf47b7e9cfe 100644 --- a/batch29/D00518 Milk Bottle/IsaacSim_assets_6a7d4488b7a9c4204a6c5c18/physics_6a7d4488b7a9c4204a6c5c18.json +++ b/batch29/D00518 Milk Bottle/IsaacSim_assets_6a7d4488b7a9c4204a6c5c18/physics_6a7d4488b7a9c4204a6c5c18.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04935000091791153, - 0.2465432733297348, - 0.05591199919581413 - ], "min": [ -0.04905499890446663, - 0.0012252745218575, - -0.059491001069545746 + -0.05591199919581413, + 0.0012252745218575 + ], + "max": [ + 0.04935000091791153, + 0.059491001069545746, + 0.2465432733297348 ], "size": [ 0.09840499982237816, - 0.2453179988078773, - 0.11540300026535988 - ] + 0.11540300026535988, + 0.2453179988078773 + ], + "units": "m" }, "description": "D00518 Milk Bottle", "name": "D00518 Milk Bottle", "object_type": "rigid_bodies", - "total_mass": 0.161 + "total_mass": 0.16099999845027924, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00518", "parts": [ { "bounds": { - "center": [ - 0.00014750100672245026, - 0.12388427392579615, - -0.0017895009368658066 + "min": [ + -0.04905499890446663, + -0.05591199919581413, + 0.0012252745218575 ], "max": [ 0.04935000091791153, - 0.2465432733297348, - 0.05591199919581413 + 0.059491001069545746, + 0.2465432733297348 ], - "min": [ - -0.04905499890446663, - 0.0012252745218575, - -0.059491001069545746 - ] + "size": [ + 0.09840499982237816, + 0.11540300026535988, + 0.2453179988078773 + ], + "units": "m" }, "center_of_mass": [ 0.0001519647048553452, @@ -59,7 +65,7 @@ 0.0007255269447341561, 0.0007622025441378355 ], - "mass": 0.161, + "mass": 0.16099999845027924, "material": "plastic", "name": "D00518 Milk Bottle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00518 Milk Bottle", "part_name": "D00518 Milk Bottle" }, - "volume": 0.0001694736825792413 + "volume": 0.0001694736825792413, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d4a0349531212c9486d06772594c9a4cd6c97f97f5c659995b89c6be0fd44e77" + }, + "usd_path": "batch29/D00518 Milk Bottle/IsaacSim_assets_6a7d4488b7a9c4204a6c5c18/IsaacSim_asset_6a7d4488b7a9c4204a6c5c18.usd", + "usd_sha256": "5e5b45fc75b5b5888eb285e01d599c2424935d833f13ad1eacc50121096cb171", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.09840499982237816, - 0.2453179988078773, - 0.11540300026535988 - ] + 0.11540300026535988, + 0.2453179988078773 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5e5b45fc75b5b5888eb285e01d599c2424935d833f13ad1eacc50121096cb171", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.161 + "value_kg": 0.16099999845027924, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5e5b45fc75b5b5888eb285e01d599c2424935d833f13ad1eacc50121096cb171", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.16099999845027924, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5e5b45fc75b5b5888eb285e01d599c2424935d833f13ad1eacc50121096cb171", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5e5b45fc75b5b5888eb285e01d599c2424935d833f13ad1eacc50121096cb171", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00523 Milk Jar/IsaacSim_assets_6a7d4300b7a9c4204a6b8a2e/physics_6a7d4300b7a9c4204a6b8a2e.json b/batch29/D00523 Milk Jar/IsaacSim_assets_6a7d4300b7a9c4204a6b8a2e/physics_6a7d4300b7a9c4204a6b8a2e.json index cd33e70ba48c2809ec7d135218caf26247f24163..618deac636447ba927aca3e7d5ad339f4d9df763 100644 --- a/batch29/D00523 Milk Jar/IsaacSim_assets_6a7d4300b7a9c4204a6b8a2e/physics_6a7d4300b7a9c4204a6b8a2e.json +++ b/batch29/D00523 Milk Jar/IsaacSim_assets_6a7d4300b7a9c4204a6b8a2e/physics_6a7d4300b7a9c4204a6b8a2e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04812999814748764, - 0.2555990219116211, - 0.0459510013461113 - ], "min": [ -0.04602300003170967, - 0.0011460036039352417, - -0.045844998210668564 + -0.0459510013461113, + 0.0011460036039352417 + ], + "max": [ + 0.04812999814748764, + 0.045844998210668564, + 0.2555990219116211 ], "size": [ 0.09415299817919731, - 0.25445301830768585, - 0.09179599955677986 - ] + 0.09179599955677986, + 0.25445301830768585 + ], + "units": "m" }, "description": "D00523 Milk Jar", "name": "D00523 Milk Jar", "object_type": "rigid_bodies", - "total_mass": 0.171 + "total_mass": 0.17100000381469727, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00523", "parts": [ { "bounds": { - "center": [ - 0.0010534990578889847, - 0.12837251275777817, - 5.300156772136688e-05 + "min": [ + -0.04602300003170967, + -0.0459510013461113, + 0.0011460036039352417 ], "max": [ 0.04812999814748764, - 0.2555990219116211, - 0.0459510013461113 + 0.045844998210668564, + 0.2555990219116211 ], - "min": [ - -0.04602300003170967, - 0.0011460036039352417, - -0.045844998210668564 - ] + "size": [ + 0.09415299817919731, + 0.09179599955677986, + 0.25445301830768585 + ], + "units": "m" }, "center_of_mass": [ 0.0007732458761893213, @@ -59,7 +65,7 @@ 0.0009021565783768892, 0.000906249217223376 ], - "mass": 0.171, + "mass": 0.17100000381469727, "material": "plastic", "name": "D00523 Milk Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00523 Milk Jar", "part_name": "D00523 Milk Jar" }, - "volume": 0.00017100000381469727 + "volume": 0.00017100000381469727, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "54453e3cf64416030f2a704aedd9f5230062f98f75ec3246e44dfbfbed4c2753" + }, + "usd_path": "batch29/D00523 Milk Jar/IsaacSim_assets_6a7d4300b7a9c4204a6b8a2e/IsaacSim_asset_6a7d4300b7a9c4204a6b8a2e.usd", + "usd_sha256": "fae5dfb094075ec58239deb11e8a27eef3b2f83a0c09082c5116da9405cfc984", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.09415299817919731, - 0.25445301830768585, - 0.09179599955677986 - ] + 0.09179599955677986, + 0.25445301830768585 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fae5dfb094075ec58239deb11e8a27eef3b2f83a0c09082c5116da9405cfc984", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.171 + "value_kg": 0.17100000381469727, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fae5dfb094075ec58239deb11e8a27eef3b2f83a0c09082c5116da9405cfc984", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.17100000381469727, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fae5dfb094075ec58239deb11e8a27eef3b2f83a0c09082c5116da9405cfc984", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fae5dfb094075ec58239deb11e8a27eef3b2f83a0c09082c5116da9405cfc984", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00527 Milk Pitcher/IsaacSim_assets_6a7dda66b7a9c4204a82c0af/physics_6a7dda66b7a9c4204a82c0af.json b/batch29/D00527 Milk Pitcher/IsaacSim_assets_6a7dda66b7a9c4204a82c0af/physics_6a7dda66b7a9c4204a82c0af.json index bc32572057530ec0fa6c94aceb00f5352d003015..3f4e707ea4607d9484f2c2bf78bbe19081e71083 100644 --- a/batch29/D00527 Milk Pitcher/IsaacSim_assets_6a7dda66b7a9c4204a82c0af/physics_6a7dda66b7a9c4204a82c0af.json +++ b/batch29/D00527 Milk Pitcher/IsaacSim_assets_6a7dda66b7a9c4204a82c0af/physics_6a7dda66b7a9c4204a82c0af.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08229800313711166, - 0.13137459754943848, - 0.055410999804735184 - ], "min": [ -0.05884699895977974, - 0.000771600054576993, - -0.05507799983024597 + -0.055410999804735184, + 0.000771600054576993 + ], + "max": [ + 0.08229800313711166, + 0.05507799983024597, + 0.13137459754943848 ], "size": [ 0.1411450020968914, - 0.13060299749486148, - 0.11048899963498116 - ] + 0.11048899963498116, + 0.13060299749486148 + ], + "units": "m" }, "description": "D00527 Milk Pitcher", "name": "D00527 Milk Pitcher", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00527", "parts": [ { "bounds": { - "center": [ - 0.011725502088665962, - 0.06607309880200773, - 0.00016649998724460602 + "min": [ + -0.05884699895977974, + -0.055410999804735184, + 0.000771600054576993 ], "max": [ 0.08229800313711166, - 0.13137459754943848, - 0.055410999804735184 + 0.05507799983024597, + 0.13137459754943848 ], - "min": [ - -0.05884699895977974, - 0.000771600054576993, - -0.05507799983024597 - ] + "size": [ + 0.1411450020968914, + 0.11048899963498116, + 0.13060299749486148 + ], + "units": "m" }, "center_of_mass": [ 0.003804387291893363, @@ -67,10 +73,27 @@ "object_name": "D00527 Milk Pitcher", "part_name": "D00527 Milk Pitcher" }, - "volume": 3.125e-05 + "volume": 3.125e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a3b0eb485809717673840a345bd8e8b25c9335f6dcff184a409c60c57bcd096f" + }, + "usd_path": "batch29/D00527 Milk Pitcher/IsaacSim_assets_6a7dda66b7a9c4204a82c0af/IsaacSim_asset_6a7dda66b7a9c4204a82c0af.usd", + "usd_sha256": "e42d906a8348e84195ff22cc9ec15d4aa00eab054c3dca7e69a1c69a26239b7e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.1411450020968914, - 0.13060299749486148, - 0.11048899963498116 - ] + 0.11048899963498116, + 0.13060299749486148 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e42d906a8348e84195ff22cc9ec15d4aa00eab054c3dca7e69a1c69a26239b7e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e42d906a8348e84195ff22cc9ec15d4aa00eab054c3dca7e69a1c69a26239b7e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e42d906a8348e84195ff22cc9ec15d4aa00eab054c3dca7e69a1c69a26239b7e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e42d906a8348e84195ff22cc9ec15d4aa00eab054c3dca7e69a1c69a26239b7e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00536 Muffin Basket/IsaacSim_assets_6a7ed18eb7a9c4204a9df2cc/physics_6a7ed18eb7a9c4204a9df2cc.json b/batch29/D00536 Muffin Basket/IsaacSim_assets_6a7ed18eb7a9c4204a9df2cc/physics_6a7ed18eb7a9c4204a9df2cc.json index 253559b66975ad844a050cad699e290c1f7875d9..d0a739cf096bbe925ea7e8cf42f0017107589e88 100644 --- a/batch29/D00536 Muffin Basket/IsaacSim_assets_6a7ed18eb7a9c4204a9df2cc/physics_6a7ed18eb7a9c4204a9df2cc.json +++ b/batch29/D00536 Muffin Basket/IsaacSim_assets_6a7ed18eb7a9c4204a9df2cc/physics_6a7ed18eb7a9c4204a9df2cc.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.153329998254776, - 0.115471750497818, - 0.14997200667858124 - ], "min": [ -0.15346099436283112, - 0.0013767500640824437, - -0.14692600071430206 + -0.14997200667858124, + 0.0013767500640824437 + ], + "max": [ + 0.153329998254776, + 0.14692600071430206, + 0.115471750497818 ], "size": [ 0.3067909926176071, - 0.11409500043373555, - 0.2968980073928833 - ] + 0.2968980073928833, + 0.11409500043373555 + ], + "units": "m" }, "description": "D00536 Muffin Basket", "name": "D00536 Muffin Basket", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.44999998807907104, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00536", "parts": [ { "bounds": { - "center": [ - -6.549805402755737e-05, - 0.05842425028095022, - 0.0015230029821395874 + "min": [ + -0.15346099436283112, + -0.14997200667858124, + 0.0013767500640824437 ], "max": [ 0.153329998254776, - 0.115471750497818, - 0.14997200667858124 + 0.14692600071430206, + 0.115471750497818 ], - "min": [ - -0.15346099436283112, - 0.0013767500640824437, - -0.14692600071430206 - ] + "size": [ + 0.3067909926176071, + 0.2968980073928833, + 0.11409500043373555 + ], + "units": "m" }, "center_of_mass": [ 0.0008006347925402224, @@ -59,7 +65,7 @@ 0.0054053086787462234, 0.009276585653424263 ], - "mass": 0.45, + "mass": 0.44999998807907104, "material": "wood", "name": "D00536 Muffin Basket", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00536 Muffin Basket", "part_name": "D00536 Muffin Basket" }, - "volume": 0.0008379888046165196 + "volume": 0.0008379888046165196, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "77555d0a1992b5026fbcf33656125df236ead509989a55607b846ef8fdaea60f" + }, + "usd_path": "batch29/D00536 Muffin Basket/IsaacSim_assets_6a7ed18eb7a9c4204a9df2cc/IsaacSim_asset_6a7ed18eb7a9c4204a9df2cc.usd", + "usd_sha256": "e4f08137a7ee22d64b742600e42179f69992465ff6cd9d2245032712661173b1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.3067909926176071, - 0.11409500043373555, - 0.2968980073928833 - ] + 0.2968980073928833, + 0.11409500043373555 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e4f08137a7ee22d64b742600e42179f69992465ff6cd9d2245032712661173b1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.44999998807907104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e4f08137a7ee22d64b742600e42179f69992465ff6cd9d2245032712661173b1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.44999998807907104, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 19, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e4f08137a7ee22d64b742600e42179f69992465ff6cd9d2245032712661173b1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 19, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e4f08137a7ee22d64b742600e42179f69992465ff6cd9d2245032712661173b1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00547 Mushroom/IsaacSim_assets_6a7da3c0bc69ff712cecf434/physics_6a7da3c0bc69ff712cecf434.json b/batch29/D00547 Mushroom/IsaacSim_assets_6a7da3c0bc69ff712cecf434/physics_6a7da3c0bc69ff712cecf434.json index 2319a4887d04f0b66e9bac2acb7c58681c0fe635..289654efd90317729ed15863343617c3524b15f9 100644 --- a/batch29/D00547 Mushroom/IsaacSim_assets_6a7da3c0bc69ff712cecf434/physics_6a7da3c0bc69ff712cecf434.json +++ b/batch29/D00547 Mushroom/IsaacSim_assets_6a7da3c0bc69ff712cecf434/physics_6a7da3c0bc69ff712cecf434.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05408876, - 0.12163383, - 0.0539367 - ], "min": [ - -0.05334009, - 0.0, - -0.05484165 + -0.053335998207330704, + -0.053932998329401016, + 0.0006093624397180974 + ], + "max": [ + 0.05408500134944916, + 0.05483800172805786, + 0.12222735583782196 ], "size": [ - 0.10742884999999999, - 0.12163383, - 0.10877835 - ] + 0.10742099955677986, + 0.10877100005745888, + 0.12161799339810386 + ], + "units": "m" }, "description": "A large brown mushroom with a smooth domed cap and a thick, textured stem. Ribbed gills are visible on the underside of the cap.", "name": "specialist-current", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00547", "parts": [ { "bounds": { - "center": [ - 0.00010908533739691292, - 0.08120488121200509, - 0.00011815398030438433 + "min": [ + -0.053335998207330704, + -0.053932998329401016, + 0.0006093624397180974 ], "max": [ - 0.05408876, - 0.12163383, - 0.0539367 + 0.05408500134944916, + 0.05483800172805786, + 0.12222735583782196 ], - "min": [ - -0.05334009, - 0.0, - -0.05484165 - ] + "size": [ + 0.10742099955677986, + 0.10877100005745888, + 0.12161799339810386 + ], + "units": "m" }, "center_of_mass": [ 0.0002081858480606753, @@ -59,7 +65,7 @@ 0.00018373766588692137, 0.00018652853475785016 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "organic_plant_matter", "name": "specialist-current", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "specialist-current", "part_name": "specialist-current" }, - "volume": 0.0005808727280437816 + "volume": 0.0005808727280437816, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7031f1760d851c82e6f8e5ce5ce0174b3ad8de47fc256b4b19643c94470f5307" + }, + "usd_path": "batch29/D00547 Mushroom/IsaacSim_assets_6a7da3c0bc69ff712cecf434/IsaacSim_asset_6a7da3c0bc69ff712cecf434.usd", + "usd_sha256": "74d73fbbe8bac7dd0ce9946058ffa3850af72109a650c44a74a2793c95ec0aea", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -88,25 +111,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.10742884999999999, - 0.12163383, - 0.10877835 - ] + 0.10742099955677986, + 0.10877100005745888, + 0.12161799339810386 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74d73fbbe8bac7dd0ce9946058ffa3850af72109a650c44a74a2793c95ec0aea", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74d73fbbe8bac7dd0ce9946058ffa3850af72109a650c44a74a2793c95ec0aea", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 16, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74d73fbbe8bac7dd0ce9946058ffa3850af72109a650c44a74a2793c95ec0aea", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 16, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74d73fbbe8bac7dd0ce9946058ffa3850af72109a650c44a74a2793c95ec0aea", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00551 Noodle/IsaacSim_assets_6a7edf24b7a9c4204a9f72f5/physics_6a7edf24b7a9c4204a9f72f5.json b/batch29/D00551 Noodle/IsaacSim_assets_6a7edf24b7a9c4204a9f72f5/physics_6a7edf24b7a9c4204a9f72f5.json index bb32d61693c492cd1d1d06f607ec1ffb724d2ae6..3ca235d1b2249b7a168021a7012d364fec202c65 100644 --- a/batch29/D00551 Noodle/IsaacSim_assets_6a7edf24b7a9c4204a9f72f5/physics_6a7edf24b7a9c4204a9f72f5.json +++ b/batch29/D00551 Noodle/IsaacSim_assets_6a7edf24b7a9c4204a9f72f5/physics_6a7edf24b7a9c4204a9f72f5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05891299992799759, - 0.035956308245658875, - 0.04576899856328964 - ], "min": [ -0.057507000863552094, - 0.0006373096257448196, - -0.0468829981982708 + -0.04576899856328964, + 0.0006373096257448196 + ], + "max": [ + 0.05891299992799759, + 0.0468829981982708, + 0.035956308245658875 ], "size": [ 0.11642000079154968, - 0.035318998619914055, - 0.09265199676156044 - ] + 0.09265199676156044, + 0.035318998619914055 + ], + "units": "m" }, "description": "D00551 Noodle", "name": "D00551 Noodle", "object_type": "rigid_bodies", - "total_mass": 0.085 + "total_mass": 0.08500000089406967, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00551", "parts": [ { "bounds": { - "center": [ - 0.0007029995322227478, - 0.018296808935701847, - -0.0005569998174905777 + "min": [ + -0.057507000863552094, + -0.04576899856328964, + 0.0006373096257448196 ], "max": [ 0.05891299992799759, - 0.035956308245658875, - 0.04576899856328964 + 0.0468829981982708, + 0.035956308245658875 ], - "min": [ - -0.057507000863552094, - 0.0006373096257448196, - -0.0468829981982708 - ] + "size": [ + 0.11642000079154968, + 0.09265199676156044, + 0.035318998619914055 + ], + "units": "m" }, "center_of_mass": [ 0.0007230989867821336, @@ -59,7 +65,7 @@ 8.181970770237967e-05, 0.00012198446347611025 ], - "mass": 0.085, + "mass": 0.08500000089406967, "material": "foam_or_hollow", "name": "D00551 Noodle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00551 Noodle", "part_name": "D00551 Noodle" }, - "volume": 0.00037444934314568136 + "volume": 0.00037444934314568136, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1a09fff0f1dfdc60b176bb0c3ffc98026868fe31afa24f86cd14a54bdd32c6d8" + }, + "usd_path": "batch29/D00551 Noodle/IsaacSim_assets_6a7edf24b7a9c4204a9f72f5/IsaacSim_asset_6a7edf24b7a9c4204a9f72f5.usd", + "usd_sha256": "af72f6cdd9628c889462869f91a070c4b36246339feea42fe759695eb9e2405e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.11642000079154968, - 0.035318998619914055, - 0.09265199676156044 - ] + 0.09265199676156044, + 0.035318998619914055 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af72f6cdd9628c889462869f91a070c4b36246339feea42fe759695eb9e2405e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.085 + "value_kg": 0.08500000089406967, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af72f6cdd9628c889462869f91a070c4b36246339feea42fe759695eb9e2405e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.08500000089406967, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af72f6cdd9628c889462869f91a070c4b36246339feea42fe759695eb9e2405e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af72f6cdd9628c889462869f91a070c4b36246339feea42fe759695eb9e2405e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00556 Oil Bottle/IsaacSim_assets_6a7dda67b7a9c4204a82c121/physics_6a7dda67b7a9c4204a82c121.json b/batch29/D00556 Oil Bottle/IsaacSim_assets_6a7dda67b7a9c4204a82c121/physics_6a7dda67b7a9c4204a82c121.json index d0bd551b48e16fa79ae227e3dc06f1cc5c1ba3b8..c918bd8616014460f4b756155bf2a1821c0de63e 100644 --- a/batch29/D00556 Oil Bottle/IsaacSim_assets_6a7dda67b7a9c4204a82c121/physics_6a7dda67b7a9c4204a82c121.json +++ b/batch29/D00556 Oil Bottle/IsaacSim_assets_6a7dda67b7a9c4204a82c121/physics_6a7dda67b7a9c4204a82c121.json @@ -6,64 +6,205 @@ "body0": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_2", "body1": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_0", "joint_path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/Joints/joint_bottle_body__bottle_base", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__bottle_base", + "path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/Joints/joint_bottle_body__bottle_base", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_0" + ], + "authored_usd": { + "id": "joint_bottle_body__bottle_base", + "source_prim_path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/Joints/joint_bottle_body__bottle_base", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_2" + ], + "body1": [ + "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_0" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.00034120003692805767 + ], + "localPos1": [ + 0.0, + 0.0, + 0.00034120003692805767 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_3", "body1": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_1", "joint_path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/Joints/joint_bottle_neck__bottle_cap", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_neck__bottle_cap", + "path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/Joints/joint_bottle_neck__bottle_cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_3" + ], + "body1_targets": [ + "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_1" + ], + "authored_usd": { + "id": "joint_bottle_neck__bottle_cap", + "source_prim_path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/Joints/joint_bottle_neck__bottle_cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_3" + ], + "body1": [ + "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.00034120003692805767 + ], + "localPos1": [ + 0.0, + 0.0, + 0.00034120003692805767 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_2", "body1": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_3", "joint_path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/Joints/joint_bottle_body__bottle_neck", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__bottle_neck", + "path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/Joints/joint_bottle_body__bottle_neck", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_3" + ], + "authored_usd": { + "id": "joint_bottle_body__bottle_neck", + "source_prim_path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/Joints/joint_bottle_body__bottle_neck", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_2" + ], + "body1": [ + "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_3" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.00034120003692805767 + ], + "localPos1": [ + 0.0, + 0.0, + 0.00034120003692805767 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03712699934840202, - 0.2855242192745209, - 0.036706000566482544 - ], "min": [ -0.037007998675107956, - 0.0003722000401467085, - -0.0368879996240139 + -0.036706000566482544, + 0.0003722000401467085 + ], + "max": [ + 0.03712699934840202, + 0.0368879996240139, + 0.2855242192745209 ], "size": [ 0.07413499802350998, - 0.28515201923437417, - 0.07359400019049644 - ] + 0.07359400019049644, + 0.28515201923437417 + ], + "units": "m" }, "description": "D00556 Oil Bottle", "name": "D00556 Oil Bottle", "object_type": "rigid_bodies", - "total_mass": 0.81 + "total_mass": 0.8100000116974115, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00556", "parts": [ { "bounds": { - "center": [ - 4.7501176595687866e-05, - 0.1300481999060139, - -0.00011100061237812042 + "min": [ + -0.03679399937391281, + -0.03642899915575981, + 0.0003722000401467085 ], "max": [ 0.03688900172710419, - 0.2597241997718811, - 0.03642899915575981 + 0.03665100038051605, + 0.2597241997718811 ], - "min": [ - -0.03679399937391281, - 0.0003722000401467085, - -0.03665100038051605 - ] + "size": [ + 0.073683001101017, + 0.07307999953627586, + 0.2593519997317344 + ], + "units": "m" }, "center_of_mass": [ -0.0030985837802290916, @@ -78,7 +219,7 @@ 0.00043666985584422946, 0.00043686761637218297 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "ceramic_or_glass", "name": "D00556 Oil Bottle", "physics_type": "rigid", @@ -86,25 +227,28 @@ "object_name": "D00556 Oil Bottle", "part_name": "D00556 Oil Bottle" }, - "volume": 6.000000238418579e-05 + "volume": 6.000000238418579e-05, + "source_prim_path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.008393500000238419, - 0.16627470962703228, - -0.00010850001126527786 + "min": [ + -0.03679100051522255, + -0.020098000764846802, + 0.047025199979543686 ], "max": [ 0.020004000514745712, - 0.2855242192745209, - 0.020098000764846802 + 0.020315000787377357, + 0.2855242192745209 ], - "min": [ - -0.03679100051522255, - 0.047025199979543686, - -0.020315000787377357 - ] + "size": [ + 0.05679500102996826, + 0.04041300155222416, + 0.2384990192949772 + ], + "units": "m" }, "center_of_mass": [ -0.007406280841678381, @@ -119,7 +263,7 @@ 2.348560701648239e-05, 2.351202056161128e-05 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "ceramic_or_glass", "name": "D00556 Oil Bottle", "physics_type": "rigid", @@ -127,25 +271,28 @@ "object_name": "D00556 Oil Bottle", "part_name": "D00556 Oil Bottle" }, - "volume": 3.703703620919475e-06 + "volume": 3.703703620919475e-06, + "source_prim_path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 5.950033664703369e-05, - 0.10971119999885559, - -9.09995287656784e-05 + "min": [ + -0.037007998675107956, + -0.036706000566482544, + 0.04692620038986206 ], "max": [ 0.03712699934840202, - 0.17249619960784912, - 0.036706000566482544 + 0.0368879996240139, + 0.17249619960784912 ], - "min": [ - -0.037007998675107956, - 0.04692620038986206, - -0.0368879996240139 - ] + "size": [ + 0.07413499802350998, + 0.07359400019049644, + 0.12556999921798706 + ], + "units": "m" }, "center_of_mass": [ 4.302931483834982e-05, @@ -160,7 +307,7 @@ 0.0006585069932043552, 0.0006602412322536111 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "plastic", "name": "D00556 Oil Bottle", "physics_type": "rigid", @@ -168,25 +315,28 @@ "object_name": "D00556 Oil Bottle", "part_name": "D00556 Oil Bottle" }, - "volume": 0.0003809523866290138 + "volume": 0.0003809523866290138, + "source_prim_path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 4.200078547000885e-05, - 0.21477171033620834, - -9.799934923648834e-05 + "min": [ + -0.03661699965596199, + -0.036382000893354416, + 0.17149220407009125 ], "max": [ 0.03670100122690201, - 0.25805121660232544, - 0.036382000893354416 + 0.03657799959182739, + 0.25805121660232544 ], - "min": [ - -0.03661699965596199, - 0.17149220407009125, - -0.03657799959182739 - ] + "size": [ + 0.073318000882864, + 0.07296000048518181, + 0.08655901253223419 + ], + "units": "m" }, "center_of_mass": [ 3.143445428577252e-05, @@ -209,10 +359,27 @@ "object_name": "D00556 Oil Bottle", "part_name": "D00556 Oil Bottle" }, - "volume": 0.0001 + "volume": 0.0001, + "source_prim_path": "/World/textured_mesh_6a7dda67b7a9c4204a82c121/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e9e3d3fec5783ab23c58cbcb1ab58d51bed2e0c3259fd26b09c7bd28abc555b6" + }, + "usd_path": "batch29/D00556 Oil Bottle/IsaacSim_assets_6a7dda67b7a9c4204a82c121/IsaacSim_asset_6a7dda67b7a9c4204a82c121.usd", + "usd_sha256": "7278dcb48b7eefc63ff0f751d1b43d3bd6e3ac0a244943b23265c4d3755f70d1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -231,24 +398,58 @@ "up_axis": "Z", "bounds_m": [ 0.07413499802350998, - 0.28515201923437417, - 0.07359400019049644 - ] + 0.07359400019049644, + 0.28515201923437417 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7278dcb48b7eefc63ff0f751d1b43d3bd6e3ac0a244943b23265c4d3755f70d1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.81 + "value_kg": 0.8100000116974115, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7278dcb48b7eefc63ff0f751d1b43d3bd6e3ac0a244943b23265c4d3755f70d1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8100000116974115, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 66, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7278dcb48b7eefc63ff0f751d1b43d3bd6e3ac0a244943b23265c4d3755f70d1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 66, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7278dcb48b7eefc63ff0f751d1b43d3bd6e3ac0a244943b23265c4d3755f70d1", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00560 Olive Oil/IsaacSim_assets_6a7ddf7fb7a9c4204a831a84/physics_6a7ddf7fb7a9c4204a831a84.json b/batch29/D00560 Olive Oil/IsaacSim_assets_6a7ddf7fb7a9c4204a831a84/physics_6a7ddf7fb7a9c4204a831a84.json index 9c16f07ad476d2a8b9ba07f97e56892a1777d4ac..254ab16984e212ab218a6154afb2d100e8b7d887 100644 --- a/batch29/D00560 Olive Oil/IsaacSim_assets_6a7ddf7fb7a9c4204a831a84/physics_6a7ddf7fb7a9c4204a831a84.json +++ b/batch29/D00560 Olive Oil/IsaacSim_assets_6a7ddf7fb7a9c4204a831a84/physics_6a7ddf7fb7a9c4204a831a84.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_00", "body1": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_01", "joint_path": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/Joints/joint_bottle__cap", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle__cap", + "path": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/Joints/joint_bottle__cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_01" + ], + "authored_usd": { + "id": "joint_bottle__cap", + "source_prim_path": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/Joints/joint_bottle__cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_00" + ], + "body1": [ + "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.00016114115715026855 + ], + "localPos1": [ + 0.0, + 0.0, + 0.00016114115715026855 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_00", "body1": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_02", "joint_path": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/Joints/joint_bottle__label", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle__label", + "path": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/Joints/joint_bottle__label", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_02" + ], + "authored_usd": { + "id": "joint_bottle__label", + "source_prim_path": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/Joints/joint_bottle__label", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_00" + ], + "body1": [ + "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.00016114115715026855 + ], + "localPos1": [ + 0.0, + 0.0, + 0.00016114115715026855 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03813499957323074, - 0.279476135969162, - 0.03754299879074097 - ], "min": [ -0.03804900124669075, - 0.00017714116256684065, - -0.038995999842882156 + -0.03754299879074097, + 0.00017714116256684065 + ], + "max": [ + 0.03813499957323074, + 0.038995999842882156, + 0.279476135969162 ], "size": [ 0.0761840008199215, - 0.27929899480659515, - 0.07653899863362312 - ] + 0.07653899863362312, + 0.27929899480659515 + ], + "units": "m" }, "description": "D00560 Olive Oil", "name": "D00560 Olive Oil", "object_type": "rigid_bodies", - "total_mass": 1.16 + "total_mass": 1.1599999759346247, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00560", "parts": [ { "bounds": { - "center": [ - 4.299916326999664e-05, - 0.12892664776882157, - -0.0007329992949962616 + "min": [ + -0.03804900124669075, + -0.03753000125288963, + 0.00017714116256684065 ], "max": [ 0.03813499957323074, - 0.2576761543750763, - 0.03753000125288963 + 0.038995999842882156, + 0.2576761543750763 ], - "min": [ - -0.03804900124669075, - 0.00017714116256684065, - -0.038995999842882156 - ] + "size": [ + 0.0761840008199215, + 0.07652600109577179, + 0.25749901321250945 + ], + "units": "m" }, "center_of_mass": [ -1.1823013892353629e-06, @@ -72,7 +168,7 @@ 0.0022416843567043543, 0.0022432152181863785 ], - "mass": 0.45, + "mass": 0.44999998807907104, "material": "ceramic_or_glass", "name": "D00560 Olive Oil", "physics_type": "rigid", @@ -80,25 +176,28 @@ "object_name": "D00560 Olive Oil", "part_name": "D00560 Olive Oil" }, - "volume": 0.00017999999523162841 + "volume": 0.00017999999523162841, + "source_prim_path": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 7.050111889839172e-05, - 0.162695137783885, - 0.00018849968910217285 + "min": [ + -0.031950999051332474, + -0.03255299851298332, + 0.04591413959860802 ], "max": [ 0.03209200128912926, - 0.279476135969162, - 0.03255299851298332 + 0.032175999134778976, + 0.279476135969162 ], - "min": [ - -0.031950999051332474, - 0.04591413959860802, - -0.032175999134778976 - ] + "size": [ + 0.06404300034046173, + 0.0647289976477623, + 0.23356199637055397 + ], + "units": "m" }, "center_of_mass": [ -0.00042078839032910764, @@ -113,7 +212,7 @@ 0.0027939355932176113, 0.002804284216836095 ], - "mass": 0.7, + "mass": 0.699999988079071, "material": "plastic", "name": "D00560 Olive Oil", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00560 Olive Oil", "part_name": "D00560 Olive Oil" }, - "volume": 0.000699999988079071 + "volume": 0.000699999988079071, + "source_prim_path": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0007684994488954544, - 0.10619913972914219, - 0.032171498984098434 + "min": [ + -0.02456600032746792, + -0.03754299879074097, + 0.03526313975453377 ], "max": [ 0.026102999225258827, - 0.1771351397037506, - 0.03754299879074097 + -0.026799999177455902, + 0.1771351397037506 ], - "min": [ - -0.02456600032746792, - 0.03526313975453377, - 0.026799999177455902 - ] + "size": [ + 0.050668999552726746, + 0.010742999613285065, + 0.14187199994921684 + ], + "units": "m" }, "center_of_mass": [ 0.0004704073944594711, @@ -154,7 +256,7 @@ 1.4108069080975838e-05, 1.5365218132501468e-05 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "wood", "name": "D00560 Olive Oil", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00560 Olive Oil", "part_name": "D00560 Olive Oil" }, - "volume": 1.2499999720603227e-05 + "volume": 1.2499999720603227e-05, + "source_prim_path": "/World/textured_mesh_6a7ddf7fb7a9c4204a831a84/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6d35aa5fc466cd56f1ebf040556274d3a32a80ae65a44d93b4c3cb5a08840d48" + }, + "usd_path": "batch29/D00560 Olive Oil/IsaacSim_assets_6a7ddf7fb7a9c4204a831a84/IsaacSim_asset_6a7ddf7fb7a9c4204a831a84.usd", + "usd_sha256": "037bae6afa1f2202f27cbf2d69485aa088c07ce84880cf86714565868851fea3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,58 @@ "up_axis": "Z", "bounds_m": [ 0.0761840008199215, - 0.27929899480659515, - 0.07653899863362312 - ] + 0.07653899863362312, + 0.27929899480659515 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "037bae6afa1f2202f27cbf2d69485aa088c07ce84880cf86714565868851fea3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.16 + "value_kg": 1.1599999759346247, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "037bae6afa1f2202f27cbf2d69485aa088c07ce84880cf86714565868851fea3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.1599999759346247, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 16, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "037bae6afa1f2202f27cbf2d69485aa088c07ce84880cf86714565868851fea3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 16, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "037bae6afa1f2202f27cbf2d69485aa088c07ce84880cf86714565868851fea3", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00629_Plate_Glass_Bowl/IsaacSim_assets_6a7d865db7a9c4204a783cfb/physics_6a7d865db7a9c4204a783cfb.json b/batch29/D00629_Plate_Glass_Bowl/IsaacSim_assets_6a7d865db7a9c4204a783cfb/physics_6a7d865db7a9c4204a783cfb.json index 23d11f6fd0d5d42b7102f373c2987bc3b88eae5d..e5baf28ce98b956c4b9ca2c86d0a0872a12384ba 100644 --- a/batch29/D00629_Plate_Glass_Bowl/IsaacSim_assets_6a7d865db7a9c4204a783cfb/physics_6a7d865db7a9c4204a783cfb.json +++ b/batch29/D00629_Plate_Glass_Bowl/IsaacSim_assets_6a7d865db7a9c4204a783cfb/physics_6a7d865db7a9c4204a783cfb.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10188200324773788, - 0.061289829201996326, - 0.1016869992017746 - ], "min": [ -0.10154800117015839, - 0.0010668304596492817, - -0.10133600234985352 + -0.1016869992017746, + 0.0010668304596492817 + ], + "max": [ + 0.10188200324773788, + 0.10133600234985352, + 0.061289829201996326 ], "size": [ 0.20343000441789627, - 0.060222998742347045, - 0.2030230015516281 - ] + 0.2030230015516281, + 0.060222998742347045 + ], + "units": "m" }, "description": "D00629 Plate_Glass_Bowl", "name": "D00629 Plate_Glass_Bowl", "object_type": "rigid_bodies", - "total_mass": 0.426 + "total_mass": 0.4259999990463257, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00629", "parts": [ { "bounds": { - "center": [ - 0.00016700103878974915, - 0.031178329830822804, - 0.00017549842596054077 + "min": [ + -0.10154800117015839, + -0.1016869992017746, + 0.0010668304596492817 ], "max": [ 0.10188200324773788, - 0.061289829201996326, - 0.1016869992017746 + 0.10133600234985352, + 0.061289829201996326 ], - "min": [ - -0.10154800117015839, - 0.0010668304596492817, - -0.10133600234985352 - ] + "size": [ + 0.20343000441789627, + 0.2030230015516281, + 0.060222998742347045 + ], + "units": "m" }, "center_of_mass": [ 0.0001305331097682938, @@ -59,7 +65,7 @@ 0.0010820861207321286, 0.0019305916503071785 ], - "mass": 0.426, + "mass": 0.4259999990463257, "material": "ceramic_or_glass", "name": "D00629 Plate_Glass_Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00629 Plate_Glass_Bowl", "part_name": "D00629 Plate_Glass_Bowl" }, - "volume": 0.00017039999961853026 + "volume": 0.00017039999961853026, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "192a91f4e7b2ca1030690ed8c0c738212b97efcc15192637cde0b60d844eb665" + }, + "usd_path": "batch29/D00629_Plate_Glass_Bowl/IsaacSim_assets_6a7d865db7a9c4204a783cfb/IsaacSim_asset_6a7d865db7a9c4204a783cfb.usd", + "usd_sha256": "00b6f55a0659183f8deee5125e57fd1e5d8e821c7b26f758e07fa48f4ff9e32c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.20343000441789627, - 0.060222998742347045, - 0.2030230015516281 - ] + 0.2030230015516281, + 0.060222998742347045 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "00b6f55a0659183f8deee5125e57fd1e5d8e821c7b26f758e07fa48f4ff9e32c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.426 + "value_kg": 0.4259999990463257, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "00b6f55a0659183f8deee5125e57fd1e5d8e821c7b26f758e07fa48f4ff9e32c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4259999990463257, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 24, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "00b6f55a0659183f8deee5125e57fd1e5d8e821c7b26f758e07fa48f4ff9e32c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 24, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "00b6f55a0659183f8deee5125e57fd1e5d8e821c7b26f758e07fa48f4ff9e32c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00636_Popcorn_Butter/IsaacSim_assets_6a7d89d6b7a9c4204a78bb65/physics_6a7d89d6b7a9c4204a78bb65.json b/batch29/D00636_Popcorn_Butter/IsaacSim_assets_6a7d89d6b7a9c4204a78bb65/physics_6a7d89d6b7a9c4204a78bb65.json index 3b258f1e5248c4017b1c842a63f66e3852a99711..589d6ecf970643592497e47bcc8b119b7900c6b3 100644 --- a/batch29/D00636_Popcorn_Butter/IsaacSim_assets_6a7d89d6b7a9c4204a78bb65/physics_6a7d89d6b7a9c4204a78bb65.json +++ b/batch29/D00636_Popcorn_Butter/IsaacSim_assets_6a7d89d6b7a9c4204a78bb65/physics_6a7d89d6b7a9c4204a78bb65.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_01", "body1": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_00", "joint_path": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/Joints/joint_bottle_body__bottle_cap", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__bottle_cap", + "path": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/Joints/joint_bottle_body__bottle_cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_00" + ], + "authored_usd": { + "id": "joint_bottle_body__bottle_cap", + "source_prim_path": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/Joints/joint_bottle_body__bottle_cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_01" + ], + "body1": [ + "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_00" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_01", "body1": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_02", "joint_path": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/Joints/joint_bottle_body__label", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__label", + "path": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/Joints/joint_bottle_body__label", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_02" + ], + "authored_usd": { + "id": "joint_bottle_body__label", + "source_prim_path": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/Joints/joint_bottle_body__label", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_01" + ], + "body1": [ + "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04123900085687637, - 0.1956515999045223, - 0.028735000640153885 - ], "min": [ -0.041165001690387726, - 0.0009145999920292525, - -0.0352259986102581 + -0.028735000640153885, + 0.0009145999920292525 + ], + "max": [ + 0.04123900085687637, + 0.0352259986102581, + 0.1956515999045223 ], "size": [ 0.0824040025472641, - 0.19473699991249305, - 0.06396099925041199 - ] + 0.06396099925041199, + 0.19473699991249305 + ], + "units": "m" }, "description": "D00636 Popcorn_Butter", "name": "D00636 Popcorn_Butter", "object_type": "rigid_bodies", - "total_mass": 0.292 + "total_mass": 0.2920000010635704, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00636", "parts": [ { "bounds": { - "center": [ - -0.008242499083280563, - 0.10111609986051917, - -0.0035154996439814568 + "min": [ + -0.04113699868321419, + -0.02090900018811226, + 0.006580599816516042 ], "max": [ 0.02465200051665306, - 0.1956515999045223, - 0.02090900018811226 + 0.027939999476075172, + 0.1956515999045223 ], - "min": [ - -0.04113699868321419, - 0.006580599816516042, - -0.027939999476075172 - ] + "size": [ + 0.06578899919986725, + 0.04884899966418743, + 0.18907100008800626 + ], + "units": "m" }, "center_of_mass": [ -0.008369451388716698, @@ -72,7 +168,7 @@ 1.6831352695589885e-05, 1.6864096323843114e-05 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "wood", "name": "D00636 Popcorn_Butter", "physics_type": "rigid", @@ -80,25 +176,28 @@ "object_name": "D00636 Popcorn_Butter", "part_name": "D00636 Popcorn_Butter" }, - "volume": 1.1111110862758424e-05 + "volume": 1.1111110862758424e-05, + "source_prim_path": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 3.699958324432373e-05, - 0.08517760318409273, - -0.003383999690413475 + "min": [ + -0.041165001690387726, + -0.028457999229431152, + 0.0009145999920292525 ], "max": [ 0.04123900085687637, - 0.1694406063761562, - 0.028457999229431152 + 0.0352259986102581, + 0.1694406063761562 ], - "min": [ - -0.041165001690387726, - 0.0009145999920292525, - -0.0352259986102581 - ] + "size": [ + 0.0824040025472641, + 0.06368399783968925, + 0.16852600638412696 + ], + "units": "m" }, "center_of_mass": [ 1.6240966942859814e-05, @@ -113,7 +212,7 @@ 0.0006813195650465786, 0.0007332667009904981 ], - "mass": 0.28, + "mass": 0.2800000011920929, "material": "plastic", "name": "D00636 Popcorn_Butter", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00636 Popcorn_Butter", "part_name": "D00636 Popcorn_Butter" }, - "volume": 0.0002800000011920929 + "volume": 0.0002800000011920929, + "source_prim_path": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 8.300039917230606e-05, - 0.08256560075096786, - 0.02501850016415119 + "min": [ + -0.027879999950528145, + -0.028735000640153885, + 0.02473260066471994 ], "max": [ 0.028046000748872757, - 0.14039860083721578, - 0.028735000640153885 + -0.0213019996881485, + 0.14039860083721578 ], - "min": [ - -0.027879999950528145, - 0.02473260066471994, - 0.0213019996881485 - ] + "size": [ + 0.0559260006994009, + 0.007433000952005386, + 0.11566600017249584 + ], + "units": "m" }, "center_of_mass": [ 3.184987144777551e-05, @@ -154,7 +256,7 @@ 2.065812395812827e-06, 2.4012670110096224e-06 ], - "mass": 0.002, + "mass": 0.0020000000949949026, "material": "wood", "name": "D00636 Popcorn_Butter", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00636 Popcorn_Butter", "part_name": "D00636 Popcorn_Butter" }, - "volume": 2.5000001187436284e-06 + "volume": 2.5000001187436284e-06, + "source_prim_path": "/World/textured_mesh_6a7d89d6b7a9c4204a78bb65/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "98e3c062ddb34f6410e1e6adf484e2e8f4bca662e8e0b1cc39ad294cf6cac328" + }, + "usd_path": "batch29/D00636_Popcorn_Butter/IsaacSim_assets_6a7d89d6b7a9c4204a78bb65/IsaacSim_asset_6a7d89d6b7a9c4204a78bb65.usd", + "usd_sha256": "5ea6d68d129e3b3ef2e5051d2e4d9dbe33fb2ba7398f1ab897d0359f8dbc96cb", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,58 @@ "up_axis": "Z", "bounds_m": [ 0.0824040025472641, - 0.19473699991249305, - 0.06396099925041199 - ] + 0.06396099925041199, + 0.19473699991249305 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ea6d68d129e3b3ef2e5051d2e4d9dbe33fb2ba7398f1ab897d0359f8dbc96cb", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.292 + "value_kg": 0.2920000010635704, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ea6d68d129e3b3ef2e5051d2e4d9dbe33fb2ba7398f1ab897d0359f8dbc96cb", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2920000010635704, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ea6d68d129e3b3ef2e5051d2e4d9dbe33fb2ba7398f1ab897d0359f8dbc96cb", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ea6d68d129e3b3ef2e5051d2e4d9dbe33fb2ba7398f1ab897d0359f8dbc96cb", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00638_Eggplant/IsaacSim_assets_6a7d6efcb7a9c4204a756e93/physics_6a7d6efcb7a9c4204a756e93.json b/batch29/D00638_Eggplant/IsaacSim_assets_6a7d6efcb7a9c4204a756e93/physics_6a7d6efcb7a9c4204a756e93.json index 7b14dcfcac8b7e181b067265cc1f56b4b077c821..79cbf9167e93cb4736ef3d75574485f0b6fdb274 100644 --- a/batch29/D00638_Eggplant/IsaacSim_assets_6a7d6efcb7a9c4204a756e93/physics_6a7d6efcb7a9c4204a756e93.json +++ b/batch29/D00638_Eggplant/IsaacSim_assets_6a7d6efcb7a9c4204a756e93/physics_6a7d6efcb7a9c4204a756e93.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09795600175857544, - 0.08384399861097336, - 0.04097500070929527 - ], "min": [ -0.10215000063180923, - -2.976507846153091e-19, - -0.046893998980522156 + -0.04097500070929527, + -2.976507846153091e-19 + ], + "max": [ + 0.09795600175857544, + 0.046893998980522156, + 0.08384399861097336 ], "size": [ 0.20010600239038467, - 0.08384399861097336, - 0.08786899968981743 - ] + 0.08786899968981743, + 0.08384399861097336 + ], + "units": "m" }, "description": "D00638 Eggplant", "name": "D00638 Eggplant", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00638", "parts": [ { "bounds": { - "center": [ - -0.0020969994366168976, - 0.04192199930548668, - -0.0029594991356134415 + "min": [ + -0.10215000063180923, + -0.04097500070929527, + -2.976507846153091e-19 ], "max": [ 0.09795600175857544, - 0.08384399861097336, - 0.04097500070929527 + 0.046893998980522156, + 0.08384399861097336 ], - "min": [ - -0.10215000063180923, - -2.976507846153091e-19, - -0.046893998980522156 - ] + "size": [ + 0.20010600239038467, + 0.08786899968981743, + 0.08384399861097336 + ], + "units": "m" }, "center_of_mass": [ 0.013456380926072598, @@ -59,7 +65,7 @@ 0.0009262376115657389, 0.0009343147394247353 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "wood", "name": "D00638 Eggplant", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00638 Eggplant", "part_name": "D00638 Eggplant" }, - "volume": 0.0008000000119209289 + "volume": 0.0008000000119209289, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "67a78a60fc4106131cc57b2057ec68d4c7f0a542b44a03b311e842da04562f2e" + }, + "usd_path": "batch29/D00638_Eggplant/IsaacSim_assets_6a7d6efcb7a9c4204a756e93/IsaacSim_asset_6a7d6efcb7a9c4204a756e93.usd", + "usd_sha256": "825132623c60dc73bf800fc7d4c0cc54e6140084f159e3cd2c23503ab6ba71fe", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.20010600239038467, - 0.08384399861097336, - 0.08786899968981743 - ] + 0.08786899968981743, + 0.08384399861097336 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "825132623c60dc73bf800fc7d4c0cc54e6140084f159e3cd2c23503ab6ba71fe", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "825132623c60dc73bf800fc7d4c0cc54e6140084f159e3cd2c23503ab6ba71fe", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "825132623c60dc73bf800fc7d4c0cc54e6140084f159e3cd2c23503ab6ba71fe", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "825132623c60dc73bf800fc7d4c0cc54e6140084f159e3cd2c23503ab6ba71fe", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00664_Dish_Soap_Bottle/IsaacSim_assets_6a7d803bb7a9c4204a779a92/physics_6a7d803bb7a9c4204a779a92.json b/batch29/D00664_Dish_Soap_Bottle/IsaacSim_assets_6a7d803bb7a9c4204a779a92/physics_6a7d803bb7a9c4204a779a92.json index f0c8547a84c8017c83c6faaa8755e53b5448c47b..3eafdc19b19b0d5fc2f5a333247aa7c11ff4e0a7 100644 --- a/batch29/D00664_Dish_Soap_Bottle/IsaacSim_assets_6a7d803bb7a9c4204a779a92/physics_6a7d803bb7a9c4204a779a92.json +++ b/batch29/D00664_Dish_Soap_Bottle/IsaacSim_assets_6a7d803bb7a9c4204a779a92/physics_6a7d803bb7a9c4204a779a92.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.036986999213695526, - 0.21081338077783585, - 0.03813700005412102 - ], "min": [ -0.03897099941968918, - 0.0007593806594741181, - -0.038300998508930206 + -0.03813700005412102, + 0.0007593806594741181 + ], + "max": [ + 0.036986999213695526, + 0.038300998508930206, + 0.21081338077783585 ], "size": [ 0.0759579986333847, - 0.21005400011836173, - 0.07643799856305122 - ] + 0.07643799856305122, + 0.21005400011836173 + ], + "units": "m" }, "description": "D00664 Dish_Soap_Bottle", "name": "D00664 Dish_Soap_Bottle", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.30000001192092896, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00664", "parts": [ { "bounds": { - "center": [ - -0.0009920001029968262, - 0.10578638071865498, - -8.199922740459442e-05 + "min": [ + -0.03897099941968918, + -0.03813700005412102, + 0.0007593806594741181 ], "max": [ 0.036986999213695526, - 0.21081338077783585, - 0.03813700005412102 + 0.038300998508930206, + 0.21081338077783585 ], - "min": [ - -0.03897099941968918, - 0.0007593806594741181, - -0.038300998508930206 - ] + "size": [ + 0.0759579986333847, + 0.07643799856305122, + 0.21005400011836173 + ], + "units": "m" }, "center_of_mass": [ -7.40623363526538e-05, @@ -59,7 +65,7 @@ 0.0009591147536411881, 0.0009640442440286279 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "plastic", "name": "D00664 Dish_Soap_Bottle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00664 Dish_Soap_Bottle", "part_name": "D00664 Dish_Soap_Bottle" }, - "volume": 0.00030000001192092895 + "volume": 0.00030000001192092895, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "42a60d551400f3cb95edc40f14e48d4b9b256b57abbd9ad12979ae163a857ce0" + }, + "usd_path": "batch29/D00664_Dish_Soap_Bottle/IsaacSim_assets_6a7d803bb7a9c4204a779a92/IsaacSim_asset_6a7d803bb7a9c4204a779a92.usd", + "usd_sha256": "80e4cf8612dc53e03487eb6511718dc3fa8bce2ee36c05607259eafbc7b0d8c7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.0759579986333847, - 0.21005400011836173, - 0.07643799856305122 - ] + 0.07643799856305122, + 0.21005400011836173 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "80e4cf8612dc53e03487eb6511718dc3fa8bce2ee36c05607259eafbc7b0d8c7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.30000001192092896, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "80e4cf8612dc53e03487eb6511718dc3fa8bce2ee36c05607259eafbc7b0d8c7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.30000001192092896, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "80e4cf8612dc53e03487eb6511718dc3fa8bce2ee36c05607259eafbc7b0d8c7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "80e4cf8612dc53e03487eb6511718dc3fa8bce2ee36c05607259eafbc7b0d8c7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00665_Rice/IsaacSim_assets_6a7e9df1b7a9c4204a988a7a/physics_6a7e9df1b7a9c4204a988a7a.json b/batch29/D00665_Rice/IsaacSim_assets_6a7e9df1b7a9c4204a988a7a/physics_6a7e9df1b7a9c4204a988a7a.json index c6b03cb9780fa21d6047d7d35f48801ebfb44b05..fb0e38984beff0f32f4ad69956bdf569d9228c24 100644 --- a/batch29/D00665_Rice/IsaacSim_assets_6a7e9df1b7a9c4204a988a7a/physics_6a7e9df1b7a9c4204a988a7a.json +++ b/batch29/D00665_Rice/IsaacSim_assets_6a7e9df1b7a9c4204a988a7a/physics_6a7e9df1b7a9c4204a988a7a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07249899953603745, - 0.09047486260533333, - 0.07190900295972824 - ], "min": [ -0.07206299901008606, - 0.0007998614655662095, - -0.07287999987602234 + -0.07190900295972824, + 0.0007998614655662095 + ], + "max": [ + 0.07249899953603745, + 0.07287999987602234, + 0.09047486260533333 ], "size": [ 0.1445619985461235, - 0.08967500113976712, - 0.14478900283575058 - ] + 0.14478900283575058, + 0.08967500113976712 + ], + "units": "m" }, "description": "D00665 Rice", "name": "D00665 Rice", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00665", "parts": [ { "bounds": { - "center": [ - 0.00021800026297569275, - 0.04563736203544977, - -0.00048549845814704895 + "min": [ + -0.07206299901008606, + -0.07190900295972824, + 0.0007998614655662095 ], "max": [ 0.07249899953603745, - 0.09047486260533333, - 0.07190900295972824 + 0.07287999987602234, + 0.09047486260533333 ], - "min": [ - -0.07206299901008606, - 0.0007998614655662095, - -0.07287999987602234 - ] + "size": [ + 0.1445619985461235, + 0.14478900283575058, + 0.08967500113976712 + ], + "units": "m" }, "center_of_mass": [ 0.00015467080811504275, @@ -67,10 +73,27 @@ "object_name": "D00665 Rice", "part_name": "D00665 Rice" }, - "volume": 0.0002 + "volume": 0.0002, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9e8d993d95b90716a349cc8b92a421e0b9b187b317498db29bc6023bc4e76894" + }, + "usd_path": "batch29/D00665_Rice/IsaacSim_assets_6a7e9df1b7a9c4204a988a7a/IsaacSim_asset_6a7e9df1b7a9c4204a988a7a.usd", + "usd_sha256": "f8dc53787511bd36b6c8709596065291b43ae25a4a4b05ac98374cd85344ae55", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.1445619985461235, - 0.08967500113976712, - 0.14478900283575058 - ] + 0.14478900283575058, + 0.08967500113976712 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f8dc53787511bd36b6c8709596065291b43ae25a4a4b05ac98374cd85344ae55", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f8dc53787511bd36b6c8709596065291b43ae25a4a4b05ac98374cd85344ae55", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 43, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f8dc53787511bd36b6c8709596065291b43ae25a4a4b05ac98374cd85344ae55", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 43, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f8dc53787511bd36b6c8709596065291b43ae25a4a4b05ac98374cd85344ae55", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00668_Rice_Container/IsaacSim_assets_6a7d419fb7a9c4204a6ab107/physics_6a7d419fb7a9c4204a6ab107.json b/batch29/D00668_Rice_Container/IsaacSim_assets_6a7d419fb7a9c4204a6ab107/physics_6a7d419fb7a9c4204a6ab107.json index 7543db95640163fcbea3423e5b83a9d954486dbb..f3cc79c5924060af2d2641c73adbb2f3ab19b7a0 100644 --- a/batch29/D00668_Rice_Container/IsaacSim_assets_6a7d419fb7a9c4204a6ab107/physics_6a7d419fb7a9c4204a6ab107.json +++ b/batch29/D00668_Rice_Container/IsaacSim_assets_6a7d419fb7a9c4204a6ab107/physics_6a7d419fb7a9c4204a6ab107.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11553261933788311, - 0.2898446854298133, - 0.11640752425661605 - ], "min": [ - -0.1151568181372069, - 0.0012466074622352608, - -0.11763469318078895 + -0.11507192916083714, + -0.1163316900810286, + 0.0012466074622352608 + ], + "max": [ + 0.11528349547236072, + 0.11740120981478977, + 0.28899438815118267 ], "size": [ - 0.23068943747509002, - 0.288598077967578, - 0.234042217437405 - ] + 0.23035542463319786, + 0.23373289989581836, + 0.2877477806889474 + ], + "units": "m" }, "description": "D00668 Rice_Container", "name": "D00668 Rice_Container", "object_type": "rigid_bodies", - "total_mass": 2.3 + "total_mass": 2.299999952316284, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00668", "parts": [ { "bounds": { - "center": [ - 0.0003131403209408745, - 0.11828460850301781, - -0.0006335594753181795 + "min": [ + -0.11462736142857466, + -0.11593743850789906, + 0.0012466074622352608 ], "max": [ 0.11525364207045641, - 0.23532260954380035, - 0.11593743850789906 + 0.11720455745853542, + 0.23532260954380035 ], - "min": [ - -0.11462736142857466, - 0.0012466074622352608, - -0.11720455745853542 - ] + "size": [ + 0.22988100349903107, + 0.23314199596643448, + 0.2340760020815651 + ], + "units": "m" }, "center_of_mass": [ -0.000204892159672454, @@ -59,7 +65,7 @@ 0.02040131390094757, 0.02186269871890545 ], - "mass": 1.8, + "mass": 1.7999999523162842, "material": "ceramic_or_glass", "name": "D00668 Rice_Container", "physics_type": "rigid", @@ -67,25 +73,28 @@ "object_name": "D00668 Rice_Container", "part_name": "D00668 Rice_Container" }, - "volume": 0.0007499999801317851 + "volume": 0.0007499999801317851, + "source_prim_path": "/World/textured_mesh_6a7d419fb7a9c4204a6ab107/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0001879006003381034, - 0.26158399507548175, - -0.0006135844620864528 + "min": [ + -0.11507192916083714, + -0.1163316900810286, + 0.2342203644040907 ], "max": [ - 0.11553261933788311, - 0.2898446854298133, - 0.11640752425661605 + 0.11528349547236072, + 0.11740120981478977, + 0.28899438815118267 ], - "min": [ - -0.1151568181372069, - 0.23332330472115018, - -0.11763469318078895 - ] + "size": [ + 0.23035542463319786, + 0.23373289989581836, + 0.05477402374709198 + ], + "units": "m" }, "center_of_mass": [ 0.0002785639662761241, @@ -108,10 +117,27 @@ "object_name": "D00668 Rice_Container", "part_name": "D00668 Rice_Container" }, - "volume": 0.00020833333333333335 + "volume": 0.00020833333333333335, + "source_prim_path": "/World/textured_mesh_6a7d419fb7a9c4204a6ab107/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "895479ec1bdb9d9497335ceef300c4fd2707cd6ead01e85e66ada2d559458a57" + }, + "usd_path": "batch29/D00668_Rice_Container/IsaacSim_assets_6a7d419fb7a9c4204a6ab107/IsaacSim_asset_6a7d419fb7a9c4204a6ab107.usd", + "usd_sha256": "e9f4857b4f4e1714e482f45e07ea5bee0ef3fd5d06557f69cfc0d2bb4e76e44e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -129,25 +155,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.23068943747509002, - 0.288598077967578, - 0.234042217437405 - ] + 0.23035542463319786, + 0.23373289989581836, + 0.2877477806889474 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e9f4857b4f4e1714e482f45e07ea5bee0ef3fd5d06557f69cfc0d2bb4e76e44e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.3 + "value_kg": 2.299999952316284, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e9f4857b4f4e1714e482f45e07ea5bee0ef3fd5d06557f69cfc0d2bb4e76e44e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.299999952316284, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e9f4857b4f4e1714e482f45e07ea5bee0ef3fd5d06557f69cfc0d2bb4e76e44e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e9f4857b4f4e1714e482f45e07ea5bee0ef3fd5d06557f69cfc0d2bb4e76e44e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00690_Salt_Storage_Jar/IsaacSim_assets_6a7d5a68b7a9c4204a73488f/physics_6a7d5a68b7a9c4204a73488f.json b/batch29/D00690_Salt_Storage_Jar/IsaacSim_assets_6a7d5a68b7a9c4204a73488f/physics_6a7d5a68b7a9c4204a73488f.json index 6bc24f8bc687f83c64ae4f3a19eabe4a61347739..8eeebbf02adc4efaacee0d27daefa9bb1e087b87 100644 --- a/batch29/D00690_Salt_Storage_Jar/IsaacSim_assets_6a7d5a68b7a9c4204a73488f/physics_6a7d5a68b7a9c4204a73488f.json +++ b/batch29/D00690_Salt_Storage_Jar/IsaacSim_assets_6a7d5a68b7a9c4204a73488f/physics_6a7d5a68b7a9c4204a73488f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { + "min": [ + -0.05736098948899794, + -0.05680731570464559, + 0.0005744913214584813 + ], "max": [ 0.056637940637301654, - 0.0893412216421132, - 0.05680731570464559 - ], - "min": [ - -0.05754729823686851, - 0.0005744913214584813, - -0.05726665782391995 + 0.05710641018766647, + 0.08932904625900107 ], "size": [ - 0.11418523887417016, - 0.08876673032065471, - 0.11407397352856555 - ] + 0.1139989301262996, + 0.11391372589231205, + 0.08875455493754258 + ], + "units": "m" }, "description": "D00690 Salt_Storage_Jar", "name": "D00690 Salt_Storage_Jar", "object_type": "rigid_bodies", - "total_mass": 0.43 + "total_mass": 0.4299999922513962, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00690", "parts": [ { "bounds": { - "center": [ - -0.00029705866472795606, - 0.038614989891357254, - -8.768515544943511e-05 + "min": [ + -0.057232057966757566, + -0.05680731570464559, + 0.0005744913214584813 ], "max": [ 0.056637940637301654, - 0.07665548846125603, - 0.05680731570464559 + 0.05698268601554446, + 0.07665548846125603 ], - "min": [ - -0.057232057966757566, - 0.0005744913214584813, - -0.05698268601554446 - ] + "size": [ + 0.11386999860405922, + 0.11379000172019005, + 0.07608099713979755 + ], + "units": "m" }, "center_of_mass": [ -0.0009624209487810731, @@ -59,7 +65,7 @@ 0.00046693687909282744, 0.0005618552677333355 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "ceramic_or_glass", "name": "D00690 Salt_Storage_Jar", "physics_type": "rigid", @@ -67,25 +73,28 @@ "object_name": "D00690 Salt_Storage_Jar", "part_name": "D00690 Salt_Storage_Jar" }, - "volume": 0.00014583333084980648 + "volume": 0.00014583333084980648, + "source_prim_path": "/World/textured_mesh_6a7d5a68b7a9c4204a73488f/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0004553012915768685, - 0.08324486378941345, - -0.00026176911366595015 + "min": [ + -0.05736098948899794, + -0.05658300282121418, + 0.07717427733305345 ], "max": [ - 0.05663669565371477, - 0.0893412216421132, - 0.05674311959658805 + 0.05646320219713127, + 0.05710641018766647, + 0.08932904625900107 ], - "min": [ - -0.05754729823686851, - 0.07714850593671371, - -0.05726665782391995 - ] + "size": [ + 0.1138241916861292, + 0.11368941300888065, + 0.01215476892594762 + ], + "units": "m" }, "center_of_mass": [ -0.0003165102971252054, @@ -100,7 +109,7 @@ 6.55754265608266e-05, 0.0001291328080696985 ], - "mass": 0.08, + "mass": 0.07999999821186066, "material": "wood", "name": "D00690 Salt_Storage_Jar", "physics_type": "rigid", @@ -108,10 +117,27 @@ "object_name": "D00690 Salt_Storage_Jar", "part_name": "D00690 Salt_Storage_Jar" }, - "volume": 0.00011428571173122952 + "volume": 0.00011428571173122952, + "source_prim_path": "/World/textured_mesh_6a7d5a68b7a9c4204a73488f/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c02e08d55645db6e5992a1d5b44d8daa8427055c1878d03d47b43c94440048b5" + }, + "usd_path": "batch29/D00690_Salt_Storage_Jar/IsaacSim_assets_6a7d5a68b7a9c4204a73488f/IsaacSim_asset_6a7d5a68b7a9c4204a73488f.usd", + "usd_sha256": "c77ec162e73c7c531c7754d221f8748f26d31814c16c28438a26586c6548f2f2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -129,25 +155,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.11418523887417016, - 0.08876673032065471, - 0.11407397352856555 - ] + 0.1139989301262996, + 0.11391372589231205, + 0.08875455493754258 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c77ec162e73c7c531c7754d221f8748f26d31814c16c28438a26586c6548f2f2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.43 + "value_kg": 0.4299999922513962, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c77ec162e73c7c531c7754d221f8748f26d31814c16c28438a26586c6548f2f2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4299999922513962, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 35, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c77ec162e73c7c531c7754d221f8748f26d31814c16c28438a26586c6548f2f2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 35, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c77ec162e73c7c531c7754d221f8748f26d31814c16c28438a26586c6548f2f2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00710 Saucepaning Pan/IsaacSim_assets_6a7d6cf3b7a9c4204a751bec/physics_6a7d6cf3b7a9c4204a751bec.json b/batch29/D00710 Saucepaning Pan/IsaacSim_assets_6a7d6cf3b7a9c4204a751bec/physics_6a7d6cf3b7a9c4204a751bec.json index db06ad0fd6126a94936f33680aacf489cfee1bd1..0a7f5a8b7bc8b457a11a481727ffb1ebbe2fc02a 100644 --- a/batch29/D00710 Saucepaning Pan/IsaacSim_assets_6a7d6cf3b7a9c4204a751bec/physics_6a7d6cf3b7a9c4204a751bec.json +++ b/batch29/D00710 Saucepaning Pan/IsaacSim_assets_6a7d6cf3b7a9c4204a751bec/physics_6a7d6cf3b7a9c4204a751bec.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2102220058441162, - 0.08113684924319386, - 0.0783659964799881 - ], "min": [ -0.10358300060033798, - 0.0017198498902644133, - -0.07845500111579895 + -0.0783659964799881, + 0.0017198498902644133 + ], + "max": [ + 0.2102220058441162, + 0.07845500111579895, + 0.08113684924319386 ], "size": [ 0.3138050064444542, - 0.07941699935292945, - 0.15682099759578705 - ] + 0.15682099759578705, + 0.07941699935292945 + ], + "units": "m" }, "description": "D00710 Saucepaning_Pan", "name": "D00710 Saucepaning_Pan", "object_type": "rigid_bodies", - "total_mass": 1.0 + "total_mass": 1.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00710", "parts": [ { "bounds": { - "center": [ - 0.053319502621889114, - 0.04142834956672914, - -4.4502317905426025e-05 + "min": [ + -0.10358300060033798, + -0.0783659964799881, + 0.0017198498902644133 ], "max": [ 0.2102220058441162, - 0.08113684924319386, - 0.0783659964799881 + 0.07845500111579895, + 0.08113684924319386 ], - "min": [ - -0.10358300060033798, - 0.0017198498902644133, - -0.07845500111579895 - ] + "size": [ + 0.3138050064444542, + 0.15682099759578705, + 0.07941699935292945 + ], + "units": "m" }, "center_of_mass": [ 0.01017701905220747, @@ -67,10 +73,27 @@ "object_name": "D00710 Saucepaning_Pan", "part_name": "D00710 Saucepaning_Pan" }, - "volume": 0.0001282051282051282 + "volume": 0.0001282051282051282, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "706d7e7d3fc6db37544567d9a7fb3bc37017753f51397ab5f72f55ec2b1565e1" + }, + "usd_path": "batch29/D00710 Saucepaning Pan/IsaacSim_assets_6a7d6cf3b7a9c4204a751bec/IsaacSim_asset_6a7d6cf3b7a9c4204a751bec.usd", + "usd_sha256": "a29e6cbee39e823771df81fc0020edd39e03e046df9bdedf9c5a637ddad8c50c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.3138050064444542, - 0.07941699935292945, - 0.15682099759578705 - ] + 0.15682099759578705, + 0.07941699935292945 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a29e6cbee39e823771df81fc0020edd39e03e046df9bdedf9c5a637ddad8c50c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0 + "value_kg": 1.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a29e6cbee39e823771df81fc0020edd39e03e046df9bdedf9c5a637ddad8c50c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a29e6cbee39e823771df81fc0020edd39e03e046df9bdedf9c5a637ddad8c50c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a29e6cbee39e823771df81fc0020edd39e03e046df9bdedf9c5a637ddad8c50c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00725_Shallot/IsaacSim_assets_6a7c61b2b7a9c4204a4c7d7d/physics_6a7c61b2b7a9c4204a4c7d7d.json b/batch29/D00725_Shallot/IsaacSim_assets_6a7c61b2b7a9c4204a4c7d7d/physics_6a7c61b2b7a9c4204a4c7d7d.json index 4d1e466f28e6c47223ddf6e960f477059cf030db..524753311342ab8bb2226ea8a1d1f06cf878ad5a 100644 --- a/batch29/D00725_Shallot/IsaacSim_assets_6a7c61b2b7a9c4204a4c7d7d/physics_6a7c61b2b7a9c4204a4c7d7d.json +++ b/batch29/D00725_Shallot/IsaacSim_assets_6a7c61b2b7a9c4204a4c7d7d/physics_6a7c61b2b7a9c4204a4c7d7d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03755300119519234, - 0.08373499661684036, - 0.028901999816298485 - ], "min": [ -0.03098900057375431, - 7.000000096013537e-06, - -0.039719998836517334 + -0.028901999816298485, + 7.000000096013537e-06 + ], + "max": [ + 0.03755300119519234, + 0.039719998836517334, + 0.08373499661684036 ], "size": [ 0.06854200176894665, - 0.08372799661674435, - 0.06862199865281582 - ] + 0.06862199865281582, + 0.08372799661674435 + ], + "units": "m" }, "description": "D00725 Shallot", "name": "D00725 Shallot", "object_type": "rigid_bodies", - "total_mass": 0.013 + "total_mass": 0.013000000268220901, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00725", "parts": [ { "bounds": { - "center": [ - 0.003282000310719013, - 0.04187099830846819, - -0.005408999510109425 + "min": [ + -0.03098900057375431, + -0.028901999816298485, + 7.000000096013537e-06 ], "max": [ 0.03755300119519234, - 0.08373499661684036, - 0.028901999816298485 + 0.039719998836517334, + 0.08373499661684036 ], - "min": [ - -0.03098900057375431, - 7.000000096013537e-06, - -0.039719998836517334 - ] + "size": [ + 0.06854200176894665, + 0.06862199865281582, + 0.08372799661674435 + ], + "units": "m" }, "center_of_mass": [ 0.003973230253905058, @@ -59,7 +65,7 @@ 7.242713309096871e-06, 7.3698520282050595e-06 ], - "mass": 0.013, + "mass": 0.013000000268220901, "material": "plastic", "name": "D00725 Shallot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00725 Shallot", "part_name": "D00725 Shallot" }, - "volume": 1.3000000268220902e-05 + "volume": 1.3000000268220902e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d4144d32b9101781c0990dbf63f3faa2503e28c3cc40425e5de694c4eee2faef" + }, + "usd_path": "batch29/D00725_Shallot/IsaacSim_assets_6a7c61b2b7a9c4204a4c7d7d/IsaacSim_asset_6a7c61b2b7a9c4204a4c7d7d.usd", + "usd_sha256": "23129601e387dc8e17853b1e07b8b64563d36fe7a116f157a0e4a1dfe318a3cf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.06854200176894665, - 0.08372799661674435, - 0.06862199865281582 - ] + 0.06862199865281582, + 0.08372799661674435 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "23129601e387dc8e17853b1e07b8b64563d36fe7a116f157a0e4a1dfe318a3cf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.013 + "value_kg": 0.013000000268220901, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "23129601e387dc8e17853b1e07b8b64563d36fe7a116f157a0e4a1dfe318a3cf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.013000000268220901, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "23129601e387dc8e17853b1e07b8b64563d36fe7a116f157a0e4a1dfe318a3cf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "23129601e387dc8e17853b1e07b8b64563d36fe7a116f157a0e4a1dfe318a3cf", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00738_Smartphone/IsaacSim_assets_6a7c24eab56a872fd78ad0f5/physics_6a7c24eab56a872fd78ad0f5.json b/batch29/D00738_Smartphone/IsaacSim_assets_6a7c24eab56a872fd78ad0f5/physics_6a7c24eab56a872fd78ad0f5.json index d8cf3f793b058462e6d121ef318195ae5a31d9d0..38dc37ff1d849f710ba0eb928c3a69c29280f189 100644 --- a/batch29/D00738_Smartphone/IsaacSim_assets_6a7c24eab56a872fd78ad0f5/physics_6a7c24eab56a872fd78ad0f5.json +++ b/batch29/D00738_Smartphone/IsaacSim_assets_6a7c24eab56a872fd78ad0f5/physics_6a7c24eab56a872fd78ad0f5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.005135000217705965, - 0.15825257450342178, - 0.040991999208927155 - ], "min": [ -0.007170000113546848, - 0.0008245748620083759, - -0.038019001483917236 + -0.040991999208927155, + 0.0008245748620083759 + ], + "max": [ + 0.005135000217705965, + 0.038019001483917236, + 0.15825257450342178 ], "size": [ 0.012305000331252813, - 0.1574279996414134, - 0.07901100069284439 - ] + 0.07901100069284439, + 0.1574279996414134 + ], + "units": "m" }, "description": "D00738 Smartphone", "name": "D00738 Smartphone", "object_type": "rigid_bodies", - "total_mass": 0.22 + "total_mass": 0.2199999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00738", "parts": [ { "bounds": { - "center": [ - -0.0010174999479204416, - 0.07953857468271508, - 0.001486498862504959 + "min": [ + -0.007170000113546848, + -0.040991999208927155, + 0.0008245748620083759 ], "max": [ 0.005135000217705965, - 0.15825257450342178, - 0.040991999208927155 + 0.038019001483917236, + 0.15825257450342178 ], - "min": [ - -0.007170000113546848, - 0.0008245748620083759, - -0.038019001483917236 - ] + "size": [ + 0.012305000331252813, + 0.07901100069284439, + 0.1574279996414134 + ], + "units": "m" }, "center_of_mass": [ -0.00011174358951393515, @@ -59,7 +65,7 @@ 0.00043089332757517695, 0.0005331458523869514 ], - "mass": 0.22, + "mass": 0.2199999988079071, "material": "ceramic_or_glass", "name": "D00738 Smartphone", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00738 Smartphone", "part_name": "D00738 Smartphone" }, - "volume": 9.565217339474222e-05 + "volume": 9.565217339474222e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7f95745ea273c72056b144c0afd43c3426895dda7e06d80d7b9d45e4056f8c2d" + }, + "usd_path": "batch29/D00738_Smartphone/IsaacSim_assets_6a7c24eab56a872fd78ad0f5/IsaacSim_asset_6a7c24eab56a872fd78ad0f5.usd", + "usd_sha256": "8378fa64a798882fece8971aebbd77d260a9d2a1c323fd32091945b6454e6904", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.012305000331252813, - 0.1574279996414134, - 0.07901100069284439 - ] + 0.07901100069284439, + 0.1574279996414134 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8378fa64a798882fece8971aebbd77d260a9d2a1c323fd32091945b6454e6904", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.22 + "value_kg": 0.2199999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8378fa64a798882fece8971aebbd77d260a9d2a1c323fd32091945b6454e6904", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2199999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8378fa64a798882fece8971aebbd77d260a9d2a1c323fd32091945b6454e6904", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8378fa64a798882fece8971aebbd77d260a9d2a1c323fd32091945b6454e6904", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00742_Soy_Sauce/IsaacSim_assets_6a7d5346b7a9c4204a71ab7a/physics_6a7d5346b7a9c4204a71ab7a.json b/batch29/D00742_Soy_Sauce/IsaacSim_assets_6a7d5346b7a9c4204a71ab7a/physics_6a7d5346b7a9c4204a71ab7a.json index 1f597296eb69add4fae9ec74c309ef70674526ee..4712738aaa402cf684b4195cc0478b499fdc8614 100644 --- a/batch29/D00742_Soy_Sauce/IsaacSim_assets_6a7d5346b7a9c4204a71ab7a/physics_6a7d5346b7a9c4204a71ab7a.json +++ b/batch29/D00742_Soy_Sauce/IsaacSim_assets_6a7d5346b7a9c4204a71ab7a/physics_6a7d5346b7a9c4204a71ab7a.json @@ -6,70 +6,256 @@ "body0": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_04", "body1": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_00", "joint_path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/Joints/joint_bottle_body__cap_ring", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__cap_ring", + "path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/Joints/joint_bottle_body__cap_ring", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_04" + ], + "body1_targets": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_00" + ], + "authored_usd": { + "id": "joint_bottle_body__cap_ring", + "source_prim_path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/Joints/joint_bottle_body__cap_ring", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_04" + ], + "body1": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_00" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_00", "body1": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_01", "joint_path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/Joints/joint_cap_ring__spout_cap", - "type": "fixed" + "type": "fixed", + "id": "joint_cap_ring__spout_cap", + "path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/Joints/joint_cap_ring__spout_cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_01" + ], + "authored_usd": { + "id": "joint_cap_ring__spout_cap", + "source_prim_path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/Joints/joint_cap_ring__spout_cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_00" + ], + "body1": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_04", "body1": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_02", "joint_path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/Joints/joint_bottle_body__bottle_base", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__bottle_base", + "path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/Joints/joint_bottle_body__bottle_base", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_04" + ], + "body1_targets": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_02" + ], + "authored_usd": { + "id": "joint_bottle_body__bottle_base", + "source_prim_path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/Joints/joint_bottle_body__bottle_base", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_04" + ], + "body1": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_04", "body1": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_03", "joint_path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/Joints/joint_bottle_body__label", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__label", + "path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/Joints/joint_bottle_body__label", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_04" + ], + "body1_targets": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_03" + ], + "authored_usd": { + "id": "joint_bottle_body__label", + "source_prim_path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/Joints/joint_bottle_body__label", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_04" + ], + "body1": [ + "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_03" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02837200090289116, - 0.14100700616836548, - 0.026991000398993492 - ], "min": [ -0.026805000379681587, - 9.000000318337698e-06, - -0.028731999918818474 + -0.026991000398993492, + 9.000000318337698e-06 + ], + "max": [ + 0.02837200090289116, + 0.028731999918818474, + 0.14100700616836548 ], "size": [ 0.055177001282572746, - 0.14099800616804714, - 0.055723000317811966 - ] + 0.055723000317811966, + 0.14099800616804714 + ], + "units": "m" }, "description": "D00742 Soy_Sauce", "name": "D00742 Soy_Sauce", "object_type": "rigid_bodies", - "total_mass": 0.447 + "total_mass": 0.44699999201111495, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00742", "parts": [ { "bounds": { - "center": [ - 0.0008584996685385704, - 0.11277500167489052, - -0.0009425003081560135 + "min": [ + -0.018494000658392906, + -0.018590999767184258, + 0.1064390018582344 ], "max": [ 0.020210999995470047, - 0.11911100149154663, - 0.018590999767184258 + 0.020476000383496284, + 0.11911100149154663 ], - "min": [ - -0.018494000658392906, - 0.1064390018582344, - -0.020476000383496284 - ] + "size": [ + 0.03870500065386295, + 0.03906700015068054, + 0.012671999633312225 + ], + "units": "m" }, "center_of_mass": [ -0.00269857095554471, @@ -84,7 +270,7 @@ 7.878959991103329e-07, 1.011154040497786e-06 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "plastic", "name": "D00742 Soy_Sauce", "physics_type": "rigid", @@ -92,25 +278,28 @@ "object_name": "D00742 Soy_Sauce", "part_name": "D00742 Soy_Sauce" }, - "volume": 4.545454443855719e-06 + "volume": 4.545454443855719e-06, + "source_prim_path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00240200012922287, - 0.129744004458189, - -0.0009349994361400604 + "min": [ + -0.025743000209331512, + -0.0193060003221035, + 0.11848100274801254 ], "max": [ 0.020938999950885773, - 0.14100700616836548, - 0.0193060003221035 + 0.02117599919438362, + 0.14100700616836548 ], - "min": [ - -0.025743000209331512, - 0.11848100274801254, - -0.02117599919438362 - ] + "size": [ + 0.046682000160217285, + 0.04048199951648712, + 0.022526003420352936 + ], + "units": "m" }, "center_of_mass": [ -0.00600380077958107, @@ -125,7 +314,7 @@ 9.150106052402407e-06, 9.369900908495765e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "plastic", "name": "D00742 Soy_Sauce", "physics_type": "rigid", @@ -133,25 +322,28 @@ "object_name": "D00742 Soy_Sauce", "part_name": "D00742 Soy_Sauce" }, - "volume": 9.090908887711438e-06 + "volume": 9.090908887711438e-06, + "source_prim_path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0007354998961091042, - 0.002661499975602055, - -0.001011500135064125 + "min": [ + -0.026200000196695328, + -0.026006000116467476, + 9.000000318337698e-06 ], "max": [ 0.027670999988913536, - 0.005313999950885773, - 0.026006000116467476 + 0.028029000386595726, + 0.005313999950885773 ], - "min": [ - -0.026200000196695328, - 9.000000318337698e-06, - -0.028029000386595726 - ] + "size": [ + 0.053871000185608864, + 0.0540350005030632, + 0.005304999950567435 + ], + "units": "m" }, "center_of_mass": [ -0.003819733392447233, @@ -166,7 +358,7 @@ 1.7875307094072923e-05, 2.4130442398018204e-05 ], - "mass": 0.08, + "mass": 0.07999999821186066, "material": "ceramic_or_glass", "name": "D00742 Soy_Sauce", "physics_type": "rigid", @@ -174,25 +366,28 @@ "object_name": "D00742 Soy_Sauce", "part_name": "D00742 Soy_Sauce" }, - "volume": 3.199999928474426e-05 + "volume": 3.199999928474426e-05, + "source_prim_path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0025005005300045013, - 0.053908499889075756, - 0.019126000348478556 + "min": [ + -0.024087000638246536, + -0.026991000398993492, + 0.02745000086724758 ], "max": [ 0.019085999578237534, - 0.08036699891090393, - 0.026991000398993492 + -0.01126100029796362, + 0.08036699891090393 ], - "min": [ - -0.024087000638246536, - 0.02745000086724758, - 0.01126100029796362 - ] + "size": [ + 0.04317300021648407, + 0.015730000101029873, + 0.05291699804365635 + ], + "units": "m" }, "center_of_mass": [ -0.00043083177297376096, @@ -207,7 +402,7 @@ 1.7286806723859627e-06, 1.8184350665251259e-06 ], - "mass": 0.002, + "mass": 0.0020000000949949026, "material": "wood", "name": "D00742 Soy_Sauce", "physics_type": "rigid", @@ -215,25 +410,28 @@ "object_name": "D00742 Soy_Sauce", "part_name": "D00742 Soy_Sauce" }, - "volume": 2.5000001187436284e-06 + "volume": 2.5000001187436284e-06, + "source_prim_path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0007835002616047859, - 0.05613249819725752, - -0.001002499833703041 + "min": [ + -0.026805000379681587, + -0.02672700025141239, + 0.003957999870181084 ], "max": [ 0.02837200090289116, - 0.10830699652433395, - 0.02672700025141239 + 0.028731999918818474, + 0.10830699652433395 ], - "min": [ - -0.026805000379681587, - 0.003957999870181084, - -0.028731999918818474 - ] + "size": [ + 0.055177001282572746, + 0.055459000170230865, + 0.10434899665415287 + ], + "units": "m" }, "center_of_mass": [ 0.0007614236092194915, @@ -248,7 +446,7 @@ 0.00036158773582428694, 0.00036221061600372195 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "ceramic_or_glass", "name": "D00742 Soy_Sauce", "physics_type": "rigid", @@ -256,10 +454,27 @@ "object_name": "D00742 Soy_Sauce", "part_name": "D00742 Soy_Sauce" }, - "volume": 0.0001399999976158142 + "volume": 0.0001399999976158142, + "source_prim_path": "/World/textured_mesh_6a7d5346b7a9c4204a71ab7a/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ed8f371fd37b4789f3760d090cce19a76fb4bbc7c62ffbe2ae48ed430ee2b9f1" + }, + "usd_path": "batch29/D00742_Soy_Sauce/IsaacSim_assets_6a7d5346b7a9c4204a71ab7a/IsaacSim_asset_6a7d5346b7a9c4204a71ab7a.usd", + "usd_sha256": "0823ccc392b89c088828b27b5ec54b3f9ffeb33b45299a63cb6ca9bd2f1f9865", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -278,24 +493,58 @@ "up_axis": "Z", "bounds_m": [ 0.055177001282572746, - 0.14099800616804714, - 0.055723000317811966 - ] + 0.055723000317811966, + 0.14099800616804714 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0823ccc392b89c088828b27b5ec54b3f9ffeb33b45299a63cb6ca9bd2f1f9865", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.447 + "value_kg": 0.44699999201111495, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0823ccc392b89c088828b27b5ec54b3f9ffeb33b45299a63cb6ca9bd2f1f9865", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.44699999201111495, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 89, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0823ccc392b89c088828b27b5ec54b3f9ffeb33b45299a63cb6ca9bd2f1f9865", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 89, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 4 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0823ccc392b89c088828b27b5ec54b3f9ffeb33b45299a63cb6ca9bd2f1f9865", + "scope": "authored_usd_joint_schema", + "joint_count": 4, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00764_Spice_Jar/IsaacSim_assets_6a7d5620b7a9c4204a72ca7e/physics_6a7d5620b7a9c4204a72ca7e.json b/batch29/D00764_Spice_Jar/IsaacSim_assets_6a7d5620b7a9c4204a72ca7e/physics_6a7d5620b7a9c4204a72ca7e.json index 97de74e843f7062cc696569452c7360b0ac33274..299a0436f7cc568c0636125126d5da2047becc7e 100644 --- a/batch29/D00764_Spice_Jar/IsaacSim_assets_6a7d5620b7a9c4204a72ca7e/physics_6a7d5620b7a9c4204a72ca7e.json +++ b/batch29/D00764_Spice_Jar/IsaacSim_assets_6a7d5620b7a9c4204a72ca7e/physics_6a7d5620b7a9c4204a72ca7e.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a7d5620b7a9c4204a72ca7e/part_02", "body1": "/World/textured_mesh_6a7d5620b7a9c4204a72ca7e/part_03", "joint_path": "/World/textured_mesh_6a7d5620b7a9c4204a72ca7e/Joints/joint_glass_jar_body__screw_cap", - "type": "fixed" + "type": "fixed", + "id": "joint_glass_jar_body__screw_cap", + "path": "/World/textured_mesh_6a7d5620b7a9c4204a72ca7e/Joints/joint_glass_jar_body__screw_cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7d5620b7a9c4204a72ca7e/part_02" + ], + "body1_targets": [ + "/World/textured_mesh_6a7d5620b7a9c4204a72ca7e/part_03" + ], + "authored_usd": { + "id": "joint_glass_jar_body__screw_cap", + "source_prim_path": "/World/textured_mesh_6a7d5620b7a9c4204a72ca7e/Joints/joint_glass_jar_body__screw_cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7d5620b7a9c4204a72ca7e/part_02" + ], + "body1": [ + "/World/textured_mesh_6a7d5620b7a9c4204a72ca7e/part_03" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02867400087416172, - 0.10232769674621522, - 0.028505999594926834 - ], "min": [ -0.028849000111222267, - 0.00040069991518976167, - -0.02887599915266037 + -0.028505999594926834, + 0.00040069991518976167 + ], + "max": [ + 0.02867400087416172, + 0.02887599915266037, + 0.10232769674621522 ], "size": [ 0.05752300098538399, - 0.10192699683102546, - 0.057381998747587204 - ] + 0.057381998747587204, + 0.10192699683102546 + ], + "units": "m" }, "description": "D00764 Spice_Jar", "name": "D00764 Spice_Jar", "object_type": "rigid_bodies", - "total_mass": 0.163 + "total_mass": 0.16300000622868538, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00764", "parts": [ { "bounds": { - "center": [ - -8.749961853027344e-05, - 0.041374698284926126, - -0.00018499977886676788 + "min": [ + -0.028849000111222267, + -0.028505999594926834, + 0.00040069991518976167 ], "max": [ 0.02867400087416172, - 0.08234869665466249, - 0.028505999594926834 + 0.02887599915266037, + 0.08234869665466249 ], - "min": [ - -0.028849000111222267, - 0.00040069991518976167, - -0.02887599915266037 - ] + "size": [ + 0.05752300098538399, + 0.057381998747587204, + 0.08194799673947273 + ], + "units": "m" }, "center_of_mass": [ -0.0006469239597208798, @@ -66,7 +117,7 @@ 0.0001330526574747637, 0.0001334557746304199 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "ceramic_or_glass", "name": "D00764 Spice_Jar", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00764 Spice_Jar", "part_name": "D00764 Spice_Jar" }, - "volume": 6.000000238418579e-05 + "volume": 6.000000238418579e-05, + "source_prim_path": "/World/textured_mesh_6a7d5620b7a9c4204a72ca7e/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0001104995608329773, - 0.09160120016895235, - -0.0002055000513792038 + "min": [ + -0.028682999312877655, + -0.028183000162243843, + 0.08087470359168947 ], "max": [ 0.0284620001912117, - 0.10232769674621522, - 0.028183000162243843 + 0.02859400026500225, + 0.10232769674621522 ], - "min": [ - -0.028682999312877655, - 0.08087470359168947, - -0.02859400026500225 - ] + "size": [ + 0.057144999504089355, + 0.056777000427246094, + 0.021452993154525757 + ], + "units": "m" }, "center_of_mass": [ -5.637334470520727e-05, @@ -107,7 +161,7 @@ 3.0009550755494274e-06, 5.1210058700235095e-06 ], - "mass": 0.013, + "mass": 0.013000000268220901, "material": "plastic", "name": "D00764 Spice_Jar", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00764 Spice_Jar", "part_name": "D00764 Spice_Jar" }, - "volume": 1.3000000268220902e-05 + "volume": 1.3000000268220902e-05, + "source_prim_path": "/World/textured_mesh_6a7d5620b7a9c4204a72ca7e/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2b4994bdc622ae1c3a6b9fcea13ab0d51be72f1e16fea7911c225d08c81b7fc0" + }, + "usd_path": "batch29/D00764_Spice_Jar/IsaacSim_assets_6a7d5620b7a9c4204a72ca7e/IsaacSim_asset_6a7d5620b7a9c4204a72ca7e.usd", + "usd_sha256": "683e5d497215b1c1a9acede5534b6a17d2925dc16b30004156801ceae73a90f7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.05752300098538399, - 0.10192699683102546, - 0.057381998747587204 - ] + 0.057381998747587204, + 0.10192699683102546 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "683e5d497215b1c1a9acede5534b6a17d2925dc16b30004156801ceae73a90f7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.163 + "value_kg": 0.16300000622868538, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "683e5d497215b1c1a9acede5534b6a17d2925dc16b30004156801ceae73a90f7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.16300000622868538, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 31, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "683e5d497215b1c1a9acede5534b6a17d2925dc16b30004156801ceae73a90f7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 31, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "683e5d497215b1c1a9acede5534b6a17d2925dc16b30004156801ceae73a90f7", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00767_Endive/IsaacSim_assets_6a7c313cb7a9c4204a4770d6/physics_6a7c313cb7a9c4204a4770d6.json b/batch29/D00767_Endive/IsaacSim_assets_6a7c313cb7a9c4204a4770d6/physics_6a7c313cb7a9c4204a4770d6.json index 789c02adedf86db17ebdf52a7dcb91300db1ff7b..990ac7085a87b88628cb15a91f0337ad044e7339 100644 --- a/batch29/D00767_Endive/IsaacSim_assets_6a7c313cb7a9c4204a4770d6/physics_6a7c313cb7a9c4204a4770d6.json +++ b/batch29/D00767_Endive/IsaacSim_assets_6a7c313cb7a9c4204a4770d6/physics_6a7c313cb7a9c4204a4770d6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05790400132536888, - 0.05818700045347214, - 0.033757999539375305 - ], "min": [ -0.08060500025749207, - -1.9999999949504854e-06, - -0.029904000461101532 + -0.033757999539375305, + -1.9999999949504854e-06 + ], + "max": [ + 0.05790400132536888, + 0.029904000461101532, + 0.05818700045347214 ], "size": [ 0.13850900158286095, - 0.05818900045346709, - 0.06366200000047684 - ] + 0.06366200000047684, + 0.05818900045346709 + ], + "units": "m" }, "description": "D00767 Endive", "name": "D00767 Endive", "object_type": "rigid_bodies", - "total_mass": 0.22 + "total_mass": 0.2199999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00767", "parts": [ { "bounds": { - "center": [ - -0.011350499466061592, - 0.029092500226738593, - 0.0019269995391368866 + "min": [ + -0.08060500025749207, + -0.033757999539375305, + -1.9999999949504854e-06 ], "max": [ 0.05790400132536888, - 0.05818700045347214, - 0.033757999539375305 + 0.029904000461101532, + 0.05818700045347214 ], - "min": [ - -0.08060500025749207, - -1.9999999949504854e-06, - -0.029904000461101532 - ] + "size": [ + 0.13850900158286095, + 0.06366200000047684, + 0.05818900045346709 + ], + "units": "m" }, "center_of_mass": [ -0.008397480472922325, @@ -59,7 +65,7 @@ 0.00024148689408320934, 0.00024853399372659624 ], - "mass": 0.22, + "mass": 0.2199999988079071, "material": "wood", "name": "D00767 Endive", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00767 Endive", "part_name": "D00767 Endive" }, - "volume": 0.0002749999985098839 + "volume": 0.0002749999985098839, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ed107a83ed38823c791ee288ea37beccf157bfe54d274dafee0c31cafddb5541" + }, + "usd_path": "batch29/D00767_Endive/IsaacSim_assets_6a7c313cb7a9c4204a4770d6/IsaacSim_asset_6a7c313cb7a9c4204a4770d6.usd", + "usd_sha256": "5b32d559e5183574a6db970b25c1b0a99524ebbba4b57492db34ea2a8fb3858c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.13850900158286095, - 0.05818900045346709, - 0.06366200000047684 - ] + 0.06366200000047684, + 0.05818900045346709 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5b32d559e5183574a6db970b25c1b0a99524ebbba4b57492db34ea2a8fb3858c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.22 + "value_kg": 0.2199999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5b32d559e5183574a6db970b25c1b0a99524ebbba4b57492db34ea2a8fb3858c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2199999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5b32d559e5183574a6db970b25c1b0a99524ebbba4b57492db34ea2a8fb3858c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5b32d559e5183574a6db970b25c1b0a99524ebbba4b57492db34ea2a8fb3858c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch29/D00768_Radicchio/IsaacSim_assets_6a7d5e9fb7a9c4204a73d0dc/physics_6a7d5e9fb7a9c4204a73d0dc.json b/batch29/D00768_Radicchio/IsaacSim_assets_6a7d5e9fb7a9c4204a73d0dc/physics_6a7d5e9fb7a9c4204a73d0dc.json index 80d3628a9815c94eb136d4ee8374ec67a3c52376..d3add728829f001e4c28e97507c8aab17692975c 100644 --- a/batch29/D00768_Radicchio/IsaacSim_assets_6a7d5e9fb7a9c4204a73d0dc/physics_6a7d5e9fb7a9c4204a73d0dc.json +++ b/batch29/D00768_Radicchio/IsaacSim_assets_6a7d5e9fb7a9c4204a73d0dc/physics_6a7d5e9fb7a9c4204a73d0dc.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0456399992108345, - 0.08851539716124535, - 0.0461370013654232 - ], "min": [ -0.04515400156378746, - 0.0005123999208080932, - -0.0477989986538887 + -0.0461370013654232, + 0.0005123999208080932 + ], + "max": [ + 0.0456399992108345, + 0.0477989986538887, + 0.08851539716124535 ], "size": [ 0.09079400077462196, - 0.08800299724043725, - 0.0939360000193119 - ] + 0.0939360000193119, + 0.08800299724043725 + ], + "units": "m" }, "description": "D00768 Radicchio", "name": "D00768 Radicchio", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.30000001192092896, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00768", "parts": [ { "bounds": { - "center": [ - 0.00024299882352352142, - 0.04451389854102672, - -0.0008309986442327499 + "min": [ + -0.04515400156378746, + -0.0461370013654232, + 0.0005123999208080932 ], "max": [ 0.0456399992108345, - 0.08851539716124535, - 0.0461370013654232 + 0.0477989986538887, + 0.08851539716124535 ], - "min": [ - -0.04515400156378746, - 0.0005123999208080932, - -0.0477989986538887 - ] + "size": [ + 0.09079400077462196, + 0.0939360000193119, + 0.08800299724043725 + ], + "units": "m" }, "center_of_mass": [ 0.00014467429718934, @@ -59,7 +65,7 @@ 0.00025188736617565155, 0.0002593891404103488 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "light_wood_or_paper", "name": "D00768 Radicchio", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00768 Radicchio", "part_name": "D00768 Radicchio" }, - "volume": 0.0009090909452149363 + "volume": 0.0009090909452149363, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d039491221b3eefe8170a4515fb1253dba1b016ecac1250b96f7ee2b41bf4aad" + }, + "usd_path": "batch29/D00768_Radicchio/IsaacSim_assets_6a7d5e9fb7a9c4204a73d0dc/IsaacSim_asset_6a7d5e9fb7a9c4204a73d0dc.usd", + "usd_sha256": "4417c9fa58daf54c826e2e8d5ab715f5d14d312d045bec6cdcc56dad094cf14b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.09079400077462196, - 0.08800299724043725, - 0.0939360000193119 - ] + 0.0939360000193119, + 0.08800299724043725 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4417c9fa58daf54c826e2e8d5ab715f5d14d312d045bec6cdcc56dad094cf14b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.30000001192092896, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4417c9fa58daf54c826e2e8d5ab715f5d14d312d045bec6cdcc56dad094cf14b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.30000001192092896, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4417c9fa58daf54c826e2e8d5ab715f5d14d312d045bec6cdcc56dad094cf14b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4417c9fa58daf54c826e2e8d5ab715f5d14d312d045bec6cdcc56dad094cf14b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00026 Black Pot/IsaacSim_assets_69f1f13559057a931058c70a/physics_69f1f13559057a931058c70a.json b/batch3/D00026 Black Pot/IsaacSim_assets_69f1f13559057a931058c70a/physics_69f1f13559057a931058c70a.json index a58ac6956e31900f1ce67bd44ff8ea53d2762b8b..e6d5b501b74cc0794a6c6fe9b6a0cc779af5b1eb 100644 --- a/batch3/D00026 Black Pot/IsaacSim_assets_69f1f13559057a931058c70a/physics_69f1f13559057a931058c70a.json +++ b/batch3/D00026 Black Pot/IsaacSim_assets_69f1f13559057a931058c70a/physics_69f1f13559057a931058c70a.json @@ -124,13 +124,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "0bb938469c7b6b8dd1f219ff2996fc3c21c4dad5a1484ace18f9b32fb9efc24f" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "40dba3264dd41cebbe0547302d176bc2f61d1cddbddaa661e21935395a309081" }, "usd_path": "batch3/D00026 Black Pot/IsaacSim_assets_69f1f13559057a931058c70a/IsaacSim_asset_69f1f13559057a931058c70a.usd", - "usd_sha256": "9dda6e894d15ed6c10d2470390999b625fd6d6fedb9b44de62829d7e6a134c00", + "usd_sha256": "1d3cd646450b06be20c0ab50bf123ff354a307e47a2020506ae0a39cdb8a3979", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -157,9 +157,9 @@ 0.2221199944615364, 0.17967299283191096 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9dda6e894d15ed6c10d2470390999b625fd6d6fedb9b44de62829d7e6a134c00", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d3cd646450b06be20c0ab50bf123ff354a307e47a2020506ae0a39cdb8a3979", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -168,9 +168,9 @@ "status": "verified", "confidence": "high", "value_kg": 3.700000047683716, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9dda6e894d15ed6c10d2470390999b625fd6d6fedb9b44de62829d7e6a134c00", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d3cd646450b06be20c0ab50bf123ff354a307e47a2020506ae0a39cdb8a3979", "scope": "authored_usd_mass_consistency", "part_sum_kg": 3.700000047683716, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -179,9 +179,9 @@ "status": "verified", "confidence": "high", "shape_count": 64, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9dda6e894d15ed6c10d2470390999b625fd6d6fedb9b44de62829d7e6a134c00", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d3cd646450b06be20c0ab50bf123ff354a307e47a2020506ae0a39cdb8a3979", "scope": "authored_usd_collision_schema", "enabled_shape_count": 64, "approximations": [ @@ -193,18 +193,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9dda6e894d15ed6c10d2470390999b625fd6d6fedb9b44de62829d7e6a134c00", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d3cd646450b06be20c0ab50bf123ff354a307e47a2020506ae0a39cdb8a3979", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "1d3cd646450b06be20c0ab50bf123ff354a307e47a2020506ae0a39cdb8a3979", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:42.461058+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "89a697e93f32781c34c2fb7301d29cdf164f00167ec830d1ddadf6f2717bcbab", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00119 Cereal/IsaacSim_assets_69f2040e59057a93105a8143/physics_69f2040e59057a93105a8143.json b/batch3/D00119 Cereal/IsaacSim_assets_69f2040e59057a93105a8143/physics_69f2040e59057a93105a8143.json index 59a3adb9d40317144ce28dc462d54b0c455d0d90..ddee8ca9ee7fcc90d86f8f500d1774e55ecdcd6d 100644 --- a/batch3/D00119 Cereal/IsaacSim_assets_69f2040e59057a93105a8143/physics_69f2040e59057a93105a8143.json +++ b/batch3/D00119 Cereal/IsaacSim_assets_69f2040e59057a93105a8143/physics_69f2040e59057a93105a8143.json @@ -17,7 +17,52 @@ "rest_pose_state": "unknown", "score": 0.85, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_main_granola_cluster__surface_granola_clump", + "path": "/World/textured_mesh_69f2040e59057a93105a8143/Joints/joint_main_granola_cluster__surface_granola_clump", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_6" + ], + "body1_targets": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_0" + ], + "authored_usd": { + "id": "joint_main_granola_cluster__surface_granola_clump", + "source_prim_path": "/World/textured_mesh_69f2040e59057a93105a8143/Joints/joint_main_granola_cluster__surface_granola_clump", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_6" + ], + "body1": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_0" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -34,7 +79,52 @@ "rest_pose_state": "unknown", "score": 0.85, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_main_granola_cluster__small_oat_flake", + "path": "/World/textured_mesh_69f2040e59057a93105a8143/Joints/joint_main_granola_cluster__small_oat_flake", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_6" + ], + "body1_targets": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_1" + ], + "authored_usd": { + "id": "joint_main_granola_cluster__small_oat_flake", + "source_prim_path": "/World/textured_mesh_69f2040e59057a93105a8143/Joints/joint_main_granola_cluster__small_oat_flake", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_6" + ], + "body1": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -51,7 +141,52 @@ "rest_pose_state": "unknown", "score": 0.88, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_main_granola_cluster__large_oat_flake", + "path": "/World/textured_mesh_69f2040e59057a93105a8143/Joints/joint_main_granola_cluster__large_oat_flake", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_6" + ], + "body1_targets": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_2" + ], + "authored_usd": { + "id": "joint_main_granola_cluster__large_oat_flake", + "source_prim_path": "/World/textured_mesh_69f2040e59057a93105a8143/Joints/joint_main_granola_cluster__large_oat_flake", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_6" + ], + "body1": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -68,7 +203,52 @@ "rest_pose_state": "unknown", "score": 0.82, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_main_granola_cluster__small_cereal_chip", + "path": "/World/textured_mesh_69f2040e59057a93105a8143/Joints/joint_main_granola_cluster__small_cereal_chip", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_6" + ], + "body1_targets": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_3" + ], + "authored_usd": { + "id": "joint_main_granola_cluster__small_cereal_chip", + "source_prim_path": "/World/textured_mesh_69f2040e59057a93105a8143/Joints/joint_main_granola_cluster__small_cereal_chip", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_6" + ], + "body1": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_3" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -85,7 +265,52 @@ "rest_pose_state": "unknown", "score": 0.82, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_main_granola_cluster__side_oat_fragment", + "path": "/World/textured_mesh_69f2040e59057a93105a8143/Joints/joint_main_granola_cluster__side_oat_fragment", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_6" + ], + "body1_targets": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_4" + ], + "authored_usd": { + "id": "joint_main_granola_cluster__side_oat_fragment", + "source_prim_path": "/World/textured_mesh_69f2040e59057a93105a8143/Joints/joint_main_granola_cluster__side_oat_fragment", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_6" + ], + "body1": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_4" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -102,52 +327,103 @@ "rest_pose_state": "unknown", "score": 0.85, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_main_granola_cluster__elongated_cereal_flake", + "path": "/World/textured_mesh_69f2040e59057a93105a8143/Joints/joint_main_granola_cluster__elongated_cereal_flake", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_6" + ], + "body1_targets": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_5" + ], + "authored_usd": { + "id": "joint_main_granola_cluster__elongated_cereal_flake", + "source_prim_path": "/World/textured_mesh_69f2040e59057a93105a8143/Joints/joint_main_granola_cluster__elongated_cereal_flake", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_6" + ], + "body1": [ + "/World/textured_mesh_69f2040e59057a93105a8143/part_5" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 7, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.020087, - 0.0206, - 0.021189 - ], "min": [ - -0.021327, - -0.021233, - 3e-05 + -0.021327000111341476, + -0.021230999380350113, + 2.9000000722589903e-05 + ], + "max": [ + 0.020093999803066254, + 0.020628999918699265, + 0.0211970005184412 ], "size": [ - 0.041414, - 0.041832999999999995, - 0.021159 - ] + 0.04142099991440773, + 0.04185999929904938, + 0.02116800051771861 + ], + "units": "m" }, "description": "A small rigid granola cluster made from bonded oat and cereal fragments. Simulation assumes all visible ingredient pieces are fixed together as a brittle organic snack with no articulation.", "name": "surface granola clump", "object_type": "rigid_bodies", - "total_mass": 0.02 + "total_mass": 0.020000000949949026, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00119", "parts": [ { "bounds": { - "center": [ - -0.014982, - -0.013492, - 0.016401 + "min": [ + -0.018285000696778297, + -0.01724199950695038, + 0.011895000003278255 ], "max": [ - -0.011701, - -0.009728, - 0.020833 + -0.01170200016349554, + -0.009712000377476215, + 0.020831000059843063 ], - "min": [ - -0.018263, - -0.017255, - 0.01197 - ] + "size": [ + 0.006583000533282757, + 0.007529999129474163, + 0.008936000056564808 + ], + "units": "m" }, "center_of_mass": [ -0.014967223646206083, @@ -162,7 +438,7 @@ 3.062079841958357e-09, 5.451535615950111e-09 ], - "mass": 0.0006, + "mass": 0.0006000000284984708, "material": "dry_oat_granola_composite", "name": "surface granola clump", "physics_type": "rigid", @@ -170,25 +446,28 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 9.9602224086829e-08 + "volume": 9.9602224086829e-08, + "source_prim_path": "/World/textured_mesh_69f2040e59057a93105a8143/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.015307, - 0.012976, - 0.014575 + "min": [ + -0.01860800012946129, + 0.008930999785661697, + 0.01053099986165762 ], "max": [ - -0.012006, - 0.01705, - 0.018609 + -0.012014999985694885, + 0.017051000148057938, + 0.018609000369906425 ], - "min": [ - -0.018607, - 0.008902, - 0.010541 - ] + "size": [ + 0.006593000143766403, + 0.00812000036239624, + 0.008078000508248806 + ], + "units": "m" }, "center_of_mass": [ -0.015183906034054069, @@ -203,7 +482,7 @@ 2.565560118708786e-09, 4.003178459698377e-09 ], - "mass": 0.00045, + "mass": 0.00044999999227002263, "material": "rolled_oat_flake", "name": "small oat flake", "physics_type": "rigid", @@ -211,25 +490,28 @@ "object_name": "part_1", "part_name": "part_1" }, - "volume": 9.953641310118302e-08 + "volume": 9.953641310118302e-08, + "source_prim_path": "/World/textured_mesh_69f2040e59057a93105a8143/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.008259, - 0.013515, - 0.017496 + "min": [ + 0.004379999823868275, + 0.009990000165998936, + 0.01435299962759018 ], "max": [ - 0.012139, - 0.017041, - 0.020649 + 0.012147000059485435, + 0.017052000388503075, + 0.020648999139666557 ], - "min": [ - 0.004378, - 0.009989, - 0.014343 - ] + "size": [ + 0.007767000235617161, + 0.007062000222504139, + 0.006295999512076378 + ], + "units": "m" }, "center_of_mass": [ 0.008450963290053575, @@ -244,7 +526,7 @@ 3.2065338389844313e-09, 4.22646688396666e-09 ], - "mass": 0.00075, + "mass": 0.000750000006519258, "material": "rolled_oat_flake", "name": "large oat flake", "physics_type": "rigid", @@ -252,25 +534,28 @@ "object_name": "part_2", "part_name": "part_2" }, - "volume": 1.2009242090644778e-07 + "volume": 1.2009242090644778e-07, + "source_prim_path": "/World/textured_mesh_69f2040e59057a93105a8143/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.002026, - 0.018211, - 0.014907 + "min": [ + -0.006113000214099884, + 0.016527000814676285, + 0.010754000395536423 ], "max": [ - 0.002054, - 0.019908, - 0.01906 + 0.0020550000481307507, + 0.019897999241948128, + 0.01905299909412861 ], - "min": [ - -0.006106, - 0.016515, - 0.010754 - ] + "size": [ + 0.008168000262230635, + 0.003370998427271843, + 0.008298998698592186 + ], + "units": "m" }, "center_of_mass": [ -0.002061138513605396, @@ -285,7 +570,7 @@ 9.702104660398506e-10, 1.775515368209345e-09 ], - "mass": 0.00025, + "mass": 0.0002500000118743628, "material": "dry_cereal_flake", "name": "small cereal chip", "physics_type": "rigid", @@ -293,25 +578,28 @@ "object_name": "part_3", "part_name": "part_3" }, - "volume": 8.349861405648303e-08 + "volume": 8.349861405648303e-08, + "source_prim_path": "/World/textured_mesh_69f2040e59057a93105a8143/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.020096, - -0.002264, - 0.014096 + "min": [ + -0.021317999809980392, + -0.007278000004589558, + 0.009626000188291073 ], "max": [ - -0.018874, - 0.002756, - 0.018572 + -0.018876999616622925, + 0.002761000068858266, + 0.018564999103546143 ], - "min": [ - -0.021317, - -0.007283, - 0.00962 - ] + "size": [ + 0.0024410001933574677, + 0.010039000073447824, + 0.00893899891525507 + ], + "units": "m" }, "center_of_mass": [ -0.02028512627269066, @@ -326,7 +614,7 @@ 2.2798271398371886e-09, 3.887702746743251e-09 ], - "mass": 0.0004, + "mass": 0.00039999998989515007, "material": "dry_oat_granola_composite", "name": "side oat fragment", "physics_type": "rigid", @@ -334,25 +622,28 @@ "object_name": "part_4", "part_name": "part_4" }, - "volume": 8.992585211280303e-08 + "volume": 8.992585211280303e-08, + "source_prim_path": "/World/textured_mesh_69f2040e59057a93105a8143/part_4", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.017501, - 0.006069, - 0.015387 + "min": [ + 0.014936000108718872, + 0.0009190000128000975, + 0.011617000214755535 ], "max": [ - 0.020066, - 0.011221, - 0.019158 + 0.020065000280737877, + 0.011222000233829021, + 0.019154999405145645 ], - "min": [ - 0.014936, - 0.000917, - 0.011617 - ] + "size": [ + 0.005129000172019005, + 0.010303000221028924, + 0.00753799919039011 + ], + "units": "m" }, "center_of_mass": [ 0.01753769322309204, @@ -367,7 +658,7 @@ 3.1719621898942325e-09, 4.446828033419272e-09 ], - "mass": 0.00055, + "mass": 0.0005499999970197678, "material": "dry_cereal_flake", "name": "elongated cereal flake", "physics_type": "rigid", @@ -375,25 +666,28 @@ "object_name": "part_5", "part_name": "part_5" }, - "volume": 1.0739222896266247e-07 + "volume": 1.0739222896266247e-07, + "source_prim_path": "/World/textured_mesh_69f2040e59057a93105a8143/part_5", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00062, - -0.000316, - 0.01061 + "min": [ + -0.021327000111341476, + -0.021230999380350113, + 2.9000000722589903e-05 ], "max": [ - 0.020087, - 0.0206, - 0.021189 + 0.020093999803066254, + 0.020628999918699265, + 0.0211970005184412 ], - "min": [ - -0.021327, - -0.021233, - 3e-05 - ] + "size": [ + 0.04142099991440773, + 0.04185999929904938, + 0.02116800051771861 + ], + "units": "m" }, "center_of_mass": [ -0.0003500581508453513, @@ -408,7 +702,7 @@ 2.295215811601283e-06, 3.497344876033933e-06 ], - "mass": 0.017, + "mass": 0.017000000923871994, "material": "honey_bound_oat_granola", "name": "main granola cluster", "physics_type": "rigid", @@ -416,10 +710,27 @@ "object_name": "part_6", "part_name": "part_6" }, - "volume": 2.5035893194677356e-05 + "volume": 2.5035893194677356e-05, + "source_prim_path": "/World/textured_mesh_69f2040e59057a93105a8143/part_6", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5702dd2d3b8e309c8d8507c588a968289f74562cedf0a3bf6529bddd0648f1e1" + }, + "usd_path": "batch3/D00119 Cereal/IsaacSim_assets_69f2040e59057a93105a8143/IsaacSim_asset_69f2040e59057a93105a8143.usd", + "usd_sha256": "85ecd36445eaf9f456e674bcb4bff2bf3409c7561d45bae983ecc8a66cbbf79d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -435,25 +746,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.041414, - 0.041832999999999995, - 0.021159 - ] + 0.04142099991440773, + 0.04185999929904938, + 0.02116800051771861 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85ecd36445eaf9f456e674bcb4bff2bf3409c7561d45bae983ecc8a66cbbf79d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.02 + "value_kg": 0.020000000949949026, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85ecd36445eaf9f456e674bcb4bff2bf3409c7561d45bae983ecc8a66cbbf79d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.020000000949949026, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 7 + "status": "verified", + "confidence": "high", + "shape_count": 199, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85ecd36445eaf9f456e674bcb4bff2bf3409c7561d45bae983ecc8a66cbbf79d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 199, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 6 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85ecd36445eaf9f456e674bcb4bff2bf3409c7561d45bae983ecc8a66cbbf79d", + "scope": "authored_usd_joint_schema", + "joint_count": 6, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "85ecd36445eaf9f456e674bcb4bff2bf3409c7561d45bae983ecc8a66cbbf79d", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:10:59.636914+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "07687597c9207f5b841716f2a888e8db56c90e9099cbed42b51f4d80980d6beb", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00147 Coffee/IsaacSim_assets_69f209db59057a93105afbda/physics_69f209db59057a93105afbda.json b/batch3/D00147 Coffee/IsaacSim_assets_69f209db59057a93105afbda/physics_69f209db59057a93105afbda.json index 4b50892489958fe7efe3cf250933883aeeb97550..d56cfa79862d2b796fdb745018726ed0f986f34a 100644 --- a/batch3/D00147 Coffee/IsaacSim_assets_69f209db59057a93105afbda/physics_69f209db59057a93105afbda.json +++ b/batch3/D00147 Coffee/IsaacSim_assets_69f209db59057a93105afbda/physics_69f209db59057a93105afbda.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.061068, - 0.040564, - 0.079347 - ], "min": [ - -0.049655, - -0.040035, - -2.2e-05 + -0.05002199858427048, + -0.04025699943304062, + -3.7000001611886546e-05 + ], + "max": [ + 0.06105799973011017, + 0.040686000138521194, + 0.0794299989938736 ], "size": [ - 0.11072299999999999, - 0.080599, - 0.079369 - ] + 0.11107999831438065, + 0.08094299957156181, + 0.07946699899548548 + ], + "units": "m" }, "description": "Matte stoneware coffee mug with an integral handle and no articulated mechanisms. Simulated as a single rigid ceramic body carrying its contents.", "name": "mug body with handle", "object_type": "rigid_bodies", - "total_mass": 0.48 + "total_mass": 0.47999998927116394, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00147", "parts": [ { "bounds": { - "center": [ - 0.005707, - 0.000264, - 0.039662 + "min": [ + -0.05002199858427048, + -0.04025699943304062, + -3.7000001611886546e-05 ], "max": [ - 0.061068, - 0.040564, - 0.079347 + 0.06105799973011017, + 0.040686000138521194, + 0.0794299989938736 ], - "min": [ - -0.049655, - -0.040035, - -2.2e-05 - ] + "size": [ + 0.11107999831438065, + 0.08094299957156181, + 0.07946699899548548 + ], + "units": "m" }, "center_of_mass": [ -0.0041082421622608365, @@ -59,7 +65,7 @@ 0.00046394118294522537, 0.0005173030382533997 ], - "mass": 0.48, + "mass": 0.47999998927116394, "material": "matte_glazed_stoneware_ceramic", "name": "mug body with handle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 0.00044512673579906025 + "volume": 0.00044512673579906025, + "source_prim_path": "/World/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "74c3759f921cfae1f7f1961d41293e14bcef542d7bd3248d16bbd59f136726ec" + }, + "usd_path": "batch3/D00147 Coffee/IsaacSim_assets_69f209db59057a93105afbda/IsaacSim_asset_69f209db59057a93105afbda.usd", + "usd_sha256": "2026cc982bdf5c86bb03edd923ec74b85a9754aa4972bd482feff1c81fad4769", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.11072299999999999, - 0.080599, - 0.079369 - ] + 0.11107999831438065, + 0.08094299957156181, + 0.07946699899548548 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2026cc982bdf5c86bb03edd923ec74b85a9754aa4972bd482feff1c81fad4769", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.48 + "value_kg": 0.47999998927116394, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2026cc982bdf5c86bb03edd923ec74b85a9754aa4972bd482feff1c81fad4769", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.47999998927116394, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2026cc982bdf5c86bb03edd923ec74b85a9754aa4972bd482feff1c81fad4769", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2026cc982bdf5c86bb03edd923ec74b85a9754aa4972bd482feff1c81fad4769", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "2026cc982bdf5c86bb03edd923ec74b85a9754aa4972bd482feff1c81fad4769", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:03.173232+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "45421fd4b913b5755b62d3056b52ac250d01022802fa8a3567cb8e5d69a11b91", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00215 Countertop/IsaacSim_assets_69f81e59d09344200f1202b1/physics_69f81e59d09344200f1202b1.json b/batch3/D00215 Countertop/IsaacSim_assets_69f81e59d09344200f1202b1/physics_69f81e59d09344200f1202b1.json index 735b559f2d6b10fbbadbc66111d2bb06d5d0a0f8..2af58ef01c6d368d4230ee3b4f82c6d24229d401 100644 --- a/batch3/D00215 Countertop/IsaacSim_assets_69f81e59d09344200f1202b1/physics_69f81e59d09344200f1202b1.json +++ b/batch3/D00215 Countertop/IsaacSim_assets_69f81e59d09344200f1202b1/physics_69f81e59d09344200f1202b1.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "c2a0891a3ca1437780540eae41797e81674f5e08c2f1a8cd7d3e36fda0346eca" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "100e24a9d5a0c784d2bf8a73fe1ac0f295b4fb91b59c38f32dc68ff220e6b361" }, "usd_path": "batch3/D00215 Countertop/IsaacSim_assets_69f81e59d09344200f1202b1/IsaacSim_asset_69f81e59d09344200f1202b1.usd", - "usd_sha256": "24e84b1184f672e5b85e90fd9da6c87cc78991f8d841998610f39548585b3f91", + "usd_sha256": "53fe2246f318ef9acde63f81f8f8d042ce3d1311e37ceabb25de47a22b3e1a83", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -113,9 +113,9 @@ 0.9780429899692535, 0.0915440002863761 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "24e84b1184f672e5b85e90fd9da6c87cc78991f8d841998610f39548585b3f91", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53fe2246f318ef9acde63f81f8f8d042ce3d1311e37ceabb25de47a22b3e1a83", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "value_kg": 205.0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "24e84b1184f672e5b85e90fd9da6c87cc78991f8d841998610f39548585b3f91", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53fe2246f318ef9acde63f81f8f8d042ce3d1311e37ceabb25de47a22b3e1a83", "scope": "authored_usd_mass_consistency", "part_sum_kg": 205.0, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -135,9 +135,9 @@ "status": "verified", "confidence": "high", "shape_count": 20, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "24e84b1184f672e5b85e90fd9da6c87cc78991f8d841998610f39548585b3f91", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53fe2246f318ef9acde63f81f8f8d042ce3d1311e37ceabb25de47a22b3e1a83", "scope": "authored_usd_collision_schema", "enabled_shape_count": 20, "approximations": [ @@ -149,18 +149,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "24e84b1184f672e5b85e90fd9da6c87cc78991f8d841998610f39548585b3f91", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53fe2246f318ef9acde63f81f8f8d042ce3d1311e37ceabb25de47a22b3e1a83", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "53fe2246f318ef9acde63f81f8f8d042ce3d1311e37ceabb25de47a22b3e1a83", + "supplemental_accepted": true, + "planned_test_count": 11, + "result_count": 11, + "passed": 11, + "skipped": 0, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:02.095645+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "501886eac753b10c4bcec9e02286e892fcda115ab5496c7f9c2eff4a4d09a697", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00270 Dish Bowl Plate/IsaacSim_assets_69f236f259057a93105ede00/physics_69f236f259057a93105ede00.json b/batch3/D00270 Dish Bowl Plate/IsaacSim_assets_69f236f259057a93105ede00/physics_69f236f259057a93105ede00.json index 4837ce2a599a3c8d9acb14bfc4500636d84595f4..62794cfed262157078acdd3e6b91b366671396fc 100644 --- a/batch3/D00270 Dish Bowl Plate/IsaacSim_assets_69f236f259057a93105ede00/physics_69f236f259057a93105ede00.json +++ b/batch3/D00270 Dish Bowl Plate/IsaacSim_assets_69f236f259057a93105ede00/physics_69f236f259057a93105ede00.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05935399979352951, - 0.059415001422166824, - 0.052636999636888504 - ], "min": [ -0.05956900119781494, -0.05942299962043762, -9.999999974752427e-07 ], + "max": [ + 0.05935399979352951, + 0.059415001422166824, + 0.052636999636888504 + ], "size": [ 0.11892300099134445, 0.11883800104260445, 0.05263799963688598 - ] + ], + "units": "m" }, "description": "A small round ceramic or stoneware bowl with a concave interior, rounded rim, and small foot ring. Finishes vary from glossy white and speckled gray to matte black and terracotta.", "name": "D00270 Small Ceramic Bowl", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.44999998807907104, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00270", "parts": [ { "bounds": { - "center": [ - 1.2729397574928415e-05, - -1.812630333758813e-05, - 0.025442655510766726 + "min": [ + -0.05956900119781494, + -0.05942299962043762, + -9.999999974752427e-07 ], "max": [ 0.05935399979352951, 0.059415001422166824, 0.052636999636888504 ], - "min": [ - -0.05956900119781494, - -0.05942299962043762, - -9.999999974752427e-07 - ] + "size": [ + 0.11892300099134445, + 0.11883800104260445, + 0.05263799963688598 + ], + "units": "m" }, "center_of_mass": [ 3.139157765860644e-05, @@ -59,7 +65,7 @@ 0.0005808959290713508, 0.000946156958645202 ], - "mass": 0.45, + "mass": 0.44999998807907104, "material": "glazed_ceramic_stoneware", "name": "D00270 Dish Bowl Plate", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00270 Dish Bowl Plate", "part_name": "D00270 Dish Bowl Plate" }, - "volume": 9.980559845757764e-05 + "volume": 9.980559845757764e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "04e0756e85788dcafe584caee421ccb4ed745350eabcb37da794126f4ddfeff3" + }, + "usd_path": "batch3/D00270 Dish Bowl Plate/IsaacSim_assets_69f236f259057a93105ede00/IsaacSim_asset_69f236f259057a93105ede00.usd", + "usd_sha256": "3a1d166084257be6218b3d6b70f027e3fa1902b460e3cef6292ae7a6e8cca618", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -89,22 +112,56 @@ 0.11892300099134445, 0.11883800104260445, 0.05263799963688598 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a1d166084257be6218b3d6b70f027e3fa1902b460e3cef6292ae7a6e8cca618", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.44999998807907104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a1d166084257be6218b3d6b70f027e3fa1902b460e3cef6292ae7a6e8cca618", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.44999998807907104, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a1d166084257be6218b3d6b70f027e3fa1902b460e3cef6292ae7a6e8cca618", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a1d166084257be6218b3d6b70f027e3fa1902b460e3cef6292ae7a6e8cca618", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00278 Dish Towel/IsaacSim_assets_69f23a1a59057a93105f3b65/physics_69f23a1a59057a93105f3b65.json b/batch3/D00278 Dish Towel/IsaacSim_assets_69f23a1a59057a93105f3b65/physics_69f23a1a59057a93105f3b65.json index 57f304a97e46af79601804019735e2f57a175eca..cf2626b0c61515ed158187f3db5342255aa90ab0 100644 --- a/batch3/D00278 Dish Towel/IsaacSim_assets_69f23a1a59057a93105f3b65/physics_69f23a1a59057a93105f3b65.json +++ b/batch3/D00278 Dish Towel/IsaacSim_assets_69f23a1a59057a93105f3b65/physics_69f23a1a59057a93105f3b65.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1144459992647171, - 0.15637299418449402, - 0.04734399914741516 - ], "min": [ -0.14401499927043915, -0.18007299304008484, -4.600000102072954e-05 ], + "max": [ + 0.1144459992647171, + 0.15637299418449402, + 0.04734399914741516 + ], "size": [ 0.25846099853515625, 0.33644598722457886, 0.04738999914843589 - ] + ], + "units": "m" }, "description": "A folded rectangular cotton cloth shown in assorted woven textures and colors, with stitched hems and soft wrinkled surfaces. The material appears matte, fibrous, and slightly compressible.", "name": "D00278 Dish Towel", "object_type": "rigid_bodies", - "total_mass": 0.12 + "total_mass": 0.11999999731779099, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00278", "parts": [ { "bounds": { - "center": [ - -0.004375771604813921, - -0.004097842441207472, - 0.020155587844422916 + "min": [ + -0.14401499927043915, + -0.18007299304008484, + -4.600000102072954e-05 ], "max": [ 0.1144459992647171, 0.15637299418449402, 0.04734399914741516 ], - "min": [ - -0.14401499927043915, - -0.18007299304008484, - -4.600000102072954e-05 - ] + "size": [ + 0.25846099853515625, + 0.33644598722457886, + 0.04738999914843589 + ], + "units": "m" }, "center_of_mass": [ -0.011975882837396748, @@ -59,7 +65,7 @@ 0.001089125556979106, 0.0016705070671234367 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "cotton_textile_fabric", "name": "D00278 Dish Towel", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00278 Dish Towel", "part_name": "D00278 Dish Towel" }, - "volume": 0.003535696359064368 + "volume": 0.003535696359064368, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1a063f6eadf59642a4bb2dccc60b75e5cf431ec66de7d577fa7e059b0ece0275" + }, + "usd_path": "batch3/D00278 Dish Towel/IsaacSim_assets_69f23a1a59057a93105f3b65/IsaacSim_asset_69f23a1a59057a93105f3b65.usd", + "usd_sha256": "983a41fd69816cc4f9508b97943822ee05da95250e9239be0e7fc09a8bd8c0fe", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -89,22 +112,56 @@ 0.25846099853515625, 0.33644598722457886, 0.04738999914843589 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "983a41fd69816cc4f9508b97943822ee05da95250e9239be0e7fc09a8bd8c0fe", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.12 + "value_kg": 0.11999999731779099, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "983a41fd69816cc4f9508b97943822ee05da95250e9239be0e7fc09a8bd8c0fe", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11999999731779099, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 63, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "983a41fd69816cc4f9508b97943822ee05da95250e9239be0e7fc09a8bd8c0fe", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 63, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "983a41fd69816cc4f9508b97943822ee05da95250e9239be0e7fc09a8bd8c0fe", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00321 Fries/IsaacSim_assets_69f2d483bee65dffd7a449e9/physics_69f2d483bee65dffd7a449e9.json b/batch3/D00321 Fries/IsaacSim_assets_69f2d483bee65dffd7a449e9/physics_69f2d483bee65dffd7a449e9.json index b95a4b03434f69bb446832fb9ca5cc9039042c33..6a865e32167b668ec84afeb40c246aa58ac22c47 100644 --- a/batch3/D00321 Fries/IsaacSim_assets_69f2d483bee65dffd7a449e9/physics_69f2d483bee65dffd7a449e9.json +++ b/batch3/D00321 Fries/IsaacSim_assets_69f2d483bee65dffd7a449e9/physics_69f2d483bee65dffd7a449e9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.049716, - 0.011098, - 0.014333 - ], "min": [ - -0.044615, - -0.010497, - 8e-06 + -0.04463500156998634, + -0.010502000339329243, + -4.999999873689376e-06 + ], + "max": [ + 0.04974199831485748, + 0.011098000220954418, + 0.01433200016617775 ], "size": [ - 0.094331, - 0.021595, - 0.014325000000000001 - ] + 0.09437699988484383, + 0.02160000056028366, + 0.014337000166051439 + ], + "units": "m" }, "description": "A single fried potato stick modeled as a loose rigid organic food item. It has no articulation; simulation assumes a low-mass, rough/oily porous solid.", "name": "fried potato stick", "object_type": "rigid_bodies", - "total_mass": 0.016 + "total_mass": 0.01600000075995922, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00321", "parts": [ { "bounds": { - "center": [ - 0.002551, - 0.000301, - 0.00717 + "min": [ + -0.04463500156998634, + -0.010502000339329243, + -4.999999873689376e-06 ], "max": [ - 0.049716, - 0.011098, - 0.014333 + 0.04974199831485748, + 0.011098000220954418, + 0.01433200016617775 ], - "min": [ - -0.044615, - -0.010497, - 8e-06 - ] + "size": [ + 0.09437699988484383, + 0.02160000056028366, + 0.014337000166051439 + ], + "units": "m" }, "center_of_mass": [ 0.0007710255627035701, @@ -59,7 +65,7 @@ 1.1695862203281314e-05, 1.1956142183669176e-05 ], - "mass": 0.016, + "mass": 0.01600000075995922, "material": "fried_potato", "name": "fried potato stick", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 1.990935955961075e-05 + "volume": 1.990935955961075e-05, + "source_prim_path": "/World/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ccc7f45e8c853e4e61785ba58039c481b759352827cc5b573a5c4609ea4071ef" + }, + "usd_path": "batch3/D00321 Fries/IsaacSim_assets_69f2d483bee65dffd7a449e9/IsaacSim_asset_69f2d483bee65dffd7a449e9.usd", + "usd_sha256": "ab128f1cd8f46560d8530922d3b2b689fa9d7af91af3493f7886afebdb19e01a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.094331, - 0.021595, - 0.014325000000000001 - ] + 0.09437699988484383, + 0.02160000056028366, + 0.014337000166051439 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ab128f1cd8f46560d8530922d3b2b689fa9d7af91af3493f7886afebdb19e01a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.016 + "value_kg": 0.01600000075995922, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ab128f1cd8f46560d8530922d3b2b689fa9d7af91af3493f7886afebdb19e01a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.01600000075995922, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 33, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ab128f1cd8f46560d8530922d3b2b689fa9d7af91af3493f7886afebdb19e01a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 33, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ab128f1cd8f46560d8530922d3b2b689fa9d7af91af3493f7886afebdb19e01a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00364 Grapefruit Avoca/IsaacSim_assets_69f5bed6431507ff7cef84b2/physics_69f5bed6431507ff7cef84b2.json b/batch3/D00364 Grapefruit Avoca/IsaacSim_assets_69f5bed6431507ff7cef84b2/physics_69f5bed6431507ff7cef84b2.json index 5c300ff0beacd909916bf3f745b0ae7c654afd48..69ca47d8a8eb24acce2347f5c55ac76e3c72f610 100644 --- a/batch3/D00364 Grapefruit Avoca/IsaacSim_assets_69f5bed6431507ff7cef84b2/physics_69f5bed6431507ff7cef84b2.json +++ b/batch3/D00364 Grapefruit Avoca/IsaacSim_assets_69f5bed6431507ff7cef84b2/physics_69f5bed6431507ff7cef84b2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03982299938797951, - 0.039861999452114105, - 0.09724599868059158 - ], "min": [ - -0.0401340015232563, - -0.03955100104212761, - -8.399999933317304e-05 + -0.05274700000882149, + -0.05288900062441826, + 1.9999999949504854e-06 + ], + "max": [ + 0.05279200151562691, + 0.05282299965620041, + 0.11377199739217758 ], "size": [ - 0.07995700091123581, - 0.07941300049424171, - 0.09732999867992476 - ] + 0.1055390015244484, + 0.10571200028061867, + 0.11376999739218263 + ], + "units": "m" }, "description": "A round green citrus fruit with a rough, dimpled rind and scattered brown surface blemishes. It has a waxy organic peel and a small stem scar at the top.", "name": "D00364 Green Citrus Fruit", "object_type": "rigid_bodies", - "total_mass": 0.85 + "total_mass": 0.8500000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00364", "parts": [ { "bounds": { - "center": [ - 6.907216139387486e-05, - 9.943202268262792e-05, - 0.04649187135211773 + "min": [ + -0.05274700000882149, + -0.05288900062441826, + 1.9999999949504854e-06 ], "max": [ - 0.03982299938797951, - 0.039861999452114105, - 0.09724599868059158 + 0.05279200151562691, + 0.05282299965620041, + 0.11377199739217758 ], - "min": [ - -0.0401340015232563, - -0.03955100104212761, - -8.399999933317304e-05 - ] + "size": [ + 0.1055390015244484, + 0.10571200028061867, + 0.11376999739218263 + ], + "units": "m" }, "center_of_mass": [ 0.00015759529632292977, @@ -59,7 +65,7 @@ 0.0010815718273958523, 0.001087414103805489 ], - "mass": 0.85, + "mass": 0.8500000238418579, "material": "organic_citrus_rind", "name": "D00364 Grapefruit Avoca", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00364 Grapefruit Avoca", "part_name": "D00364 Grapefruit Avoca" }, - "volume": 0.0006992666566985745 + "volume": 0.0006992666566985745, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a0a5e05be8ed41a85c1bf2e4df9fcbd5afc3077899adc6e6eaf194f9d4de4687" + }, + "usd_path": "batch3/D00364 Grapefruit Avoca/IsaacSim_assets_69f5bed6431507ff7cef84b2/IsaacSim_asset_69f5bed6431507ff7cef84b2.usd", + "usd_sha256": "546de7d5cf23756ca829089ebcbe1ed8a7cd1031199f6fe4cd81cef557ef3679", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.07995700091123581, - 0.07941300049424171, - 0.09732999867992476 - ] + 0.1055390015244484, + 0.10571200028061867, + 0.11376999739218263 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "546de7d5cf23756ca829089ebcbe1ed8a7cd1031199f6fe4cd81cef557ef3679", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.85 + "value_kg": 0.8500000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "546de7d5cf23756ca829089ebcbe1ed8a7cd1031199f6fe4cd81cef557ef3679", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8500000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 88, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "546de7d5cf23756ca829089ebcbe1ed8a7cd1031199f6fe4cd81cef557ef3679", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 88, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "546de7d5cf23756ca829089ebcbe1ed8a7cd1031199f6fe4cd81cef557ef3679", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00368 Green Bowl/IsaacSim_assets_69f5bfde431507ff7cefde2b/physics_69f5bfde431507ff7cefde2b.json b/batch3/D00368 Green Bowl/IsaacSim_assets_69f5bfde431507ff7cefde2b/physics_69f5bfde431507ff7cefde2b.json index d48069e9c44b63c49b277fd2e1cd3eebb0fc1e2c..258503488135d410b868d564ecb5b90808b2522f 100644 --- a/batch3/D00368 Green Bowl/IsaacSim_assets_69f5bfde431507ff7cefde2b/physics_69f5bfde431507ff7cefde2b.json +++ b/batch3/D00368 Green Bowl/IsaacSim_assets_69f5bfde431507ff7cefde2b/physics_69f5bfde431507ff7cefde2b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.068743996322155, - 0.06920500099658966, - 0.07406000047922134 - ], "min": [ -0.06909000128507614, -0.06859699636697769, -3.999999989900971e-06 ], + "max": [ + 0.068743996322155, + 0.06920500099658966, + 0.07406000047922134 + ], "size": [ 0.13783399760723114, 0.13780199736356735, 0.07406400047921124 - ] + ], + "units": "m" }, "description": "A set of small glazed ceramic bowls in green and teal tones, with rounded hollow bodies, raised foot rings, and smooth glossy or lightly speckled finishes. Some bowls have subtly irregular handmade rims, surface texture, or small worn/chipped glaze areas.", "name": "D00368 Green Bowl", "object_type": "rigid_bodies", - "total_mass": 0.42 + "total_mass": 0.41999998688697815, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00368", "parts": [ { "bounds": { - "center": [ - -1.1067488018121722e-05, - 0.00020381311274953275, - 0.03646185770910603 + "min": [ + -0.06909000128507614, + -0.06859699636697769, + -3.999999989900971e-06 ], "max": [ 0.068743996322155, 0.06920500099658966, 0.07406000047922134 ], - "min": [ - -0.06909000128507614, - -0.06859699636697769, - -3.999999989900971e-06 - ] + "size": [ + 0.13783399760723114, + 0.13780199736356735, + 0.07406400047921124 + ], + "units": "m" }, "center_of_mass": [ -5.619545692906471e-06, @@ -59,7 +65,7 @@ 0.0008148721504874321, 0.001209168387015328 ], - "mass": 0.42, + "mass": 0.41999998688697815, "material": "glazed_ceramic", "name": "D00368 Green Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00368 Green Bowl", "part_name": "D00368 Green Bowl" }, - "volume": 0.00019291363858735884 + "volume": 0.00019291363858735884, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "952b424b3912f91efa3b1fef413728c8877b16b8f922f54f24d1cf1145579c07" + }, + "usd_path": "batch3/D00368 Green Bowl/IsaacSim_assets_69f5bfde431507ff7cefde2b/IsaacSim_asset_69f5bfde431507ff7cefde2b.usd", + "usd_sha256": "e84ef0f204ea0172e95d5030100add4b4631103beaa0875780efed005dabcf17", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -89,22 +112,56 @@ 0.13783399760723114, 0.13780199736356735, 0.07406400047921124 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e84ef0f204ea0172e95d5030100add4b4631103beaa0875780efed005dabcf17", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.42 + "value_kg": 0.41999998688697815, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e84ef0f204ea0172e95d5030100add4b4631103beaa0875780efed005dabcf17", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.41999998688697815, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e84ef0f204ea0172e95d5030100add4b4631103beaa0875780efed005dabcf17", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e84ef0f204ea0172e95d5030100add4b4631103beaa0875780efed005dabcf17", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00449 Kitchen Knife/IsaacSim_assets_69f5d3ef431507ff7cf68873/physics_69f5d3ef431507ff7cf68873.json b/batch3/D00449 Kitchen Knife/IsaacSim_assets_69f5d3ef431507ff7cf68873/physics_69f5d3ef431507ff7cf68873.json index 8a7082e9bf9109cdedbaa6792421c158f18a67c4..82ce55acf1bd9863dc32dc29403a3b7131e6b420 100644 --- a/batch3/D00449 Kitchen Knife/IsaacSim_assets_69f5d3ef431507ff7cf68873/physics_69f5d3ef431507ff7cf68873.json +++ b/batch3/D00449 Kitchen Knife/IsaacSim_assets_69f5d3ef431507ff7cf68873/physics_69f5d3ef431507ff7cf68873.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14316700398921967, - 0.02097400091588497, - 0.02092299982905388 - ], "min": [ - -0.19470499455928802, - -0.03310500085353851, - -3.5000000934815034e-05 + -0.019247999414801598, + -0.2003750056028366, + 3.000000106112566e-06 + ], + "max": [ + 0.029371000826358795, + 0.14020900428295135, + 0.021355999633669853 ], "size": [ - 0.3378719985485077, - 0.054079001769423485, - 0.020957999829988694 - ] + 0.04861900024116039, + 0.34058400988578796, + 0.02135299963356374 + ], + "units": "m" }, "description": "A chef’s knife with a brushed stainless-steel blade, a brown wooden handle, and round brass rivets. The blade is broad and tapered with a sharp pointed tip, while the handle is smoothly contoured and slightly rounded.", "name": "D00449 Kitchen Knife", "object_type": "rigid_bodies", - "total_mass": 0.22 + "total_mass": 0.2199999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00449", "parts": [ { "bounds": { - "center": [ - -0.015435986911255617, - -0.00031887222267744305, - 0.010737508258371043 + "min": [ + -0.019247999414801598, + -0.2003750056028366, + 3.000000106112566e-06 ], "max": [ - 0.14316700398921967, - 0.02097400091588497, - 0.02092299982905388 + 0.029371000826358795, + 0.14020900428295135, + 0.021355999633669853 ], - "min": [ - -0.19470499455928802, - -0.03310500085353851, - -3.5000000934815034e-05 - ] + "size": [ + 0.04861900024116039, + 0.34058400988578796, + 0.02135299963356374 + ], + "units": "m" }, "center_of_mass": [ 0.0009102180723882356, @@ -59,7 +65,7 @@ 0.0013296463775374484, 0.0013509732445340622 ], - "mass": 0.22, + "mass": 0.2199999988079071, "material": "stainless_steel", "name": "D00449 Kitchen Knife", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00449 Kitchen Knife", "part_name": "D00449 Kitchen Knife" }, - "volume": 0.0001710358787439431 + "volume": 0.0001710358787439431, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ed40bcc929f2be1ffe055cc52e164ffff22eb3e64ebaa84df780fdc4a1e7252f" + }, + "usd_path": "batch3/D00449 Kitchen Knife/IsaacSim_assets_69f5d3ef431507ff7cf68873/IsaacSim_asset_69f5d3ef431507ff7cf68873.usd", + "usd_sha256": "457681f0efa1cfc66e85e3c4555b40b12e5706dac2ed642ca47b58167f23189b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3378719985485077, - 0.054079001769423485, - 0.020957999829988694 - ] + 0.04861900024116039, + 0.34058400988578796, + 0.02135299963356374 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "457681f0efa1cfc66e85e3c4555b40b12e5706dac2ed642ca47b58167f23189b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.22 + "value_kg": 0.2199999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "457681f0efa1cfc66e85e3c4555b40b12e5706dac2ed642ca47b58167f23189b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2199999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "457681f0efa1cfc66e85e3c4555b40b12e5706dac2ed642ca47b58167f23189b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "457681f0efa1cfc66e85e3c4555b40b12e5706dac2ed642ca47b58167f23189b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00452 Kitchen Knives/IsaacSim_assets_69f5d53e431507ff7cf6f1ab/physics_69f5d53e431507ff7cf6f1ab.json b/batch3/D00452 Kitchen Knives/IsaacSim_assets_69f5d53e431507ff7cf6f1ab/physics_69f5d53e431507ff7cf6f1ab.json index d2df0c388e0b4170d82c51a1ca7efe842f20cbde..9e675afa698efdfc964a1083ecc56aea9b3d9ad5 100644 --- a/batch3/D00452 Kitchen Knives/IsaacSim_assets_69f5d53e431507ff7cf6f1ab/physics_69f5d53e431507ff7cf6f1ab.json +++ b/batch3/D00452 Kitchen Knives/IsaacSim_assets_69f5d53e431507ff7cf6f1ab/physics_69f5d53e431507ff7cf6f1ab.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0904180034995079, - 0.11644899845123291, - 0.015762999653816223 - ], "min": [ - -0.14895200729370117, - -0.12308599799871445, - -0.0001500000071246177 + -0.017160000279545784, + -0.19394099712371826, + -3.000000106112566e-06 + ], + "max": [ + 0.02714500017464161, + 0.13707900047302246, + 0.015786999836564064 ], "size": [ - 0.23937001079320908, - 0.23953499644994736, - 0.01591299966094084 - ] + 0.04430500045418739, + 0.3310199975967407, + 0.015789999836670177 + ], + "units": "m" }, "description": "A chef's knife with a brushed stainless steel blade, full tang, and dark wooden handle scales secured by metal rivets.", "name": "D00452 Kitchen Knives", "object_type": "rigid_bodies", - "total_mass": 0.24 + "total_mass": 0.23999999463558197, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00452", "parts": [ { "bounds": { - "center": [ - -0.016070842819741367, - 0.00689406127926323, - 0.00810030591660289 + "min": [ + -0.017160000279545784, + -0.19394099712371826, + -3.000000106112566e-06 ], "max": [ - 0.0904180034995079, - 0.11644899845123291, - 0.015762999653816223 + 0.02714500017464161, + 0.13707900047302246, + 0.015786999836564064 ], - "min": [ - -0.14895200729370117, - -0.12308599799871445, - -0.0001500000071246177 - ] + "size": [ + 0.04430500045418739, + 0.3310199975967407, + 0.015789999836670177 + ], + "units": "m" }, "center_of_mass": [ 0.00115021878325123, @@ -59,7 +65,7 @@ 0.00126027080048498, 0.0012825551819063167 ], - "mass": 0.24, + "mass": 0.23999999463558197, "material": "stainless_steel", "name": "D00452 Kitchen Knives", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00452 Kitchen Knives", "part_name": "D00452 Kitchen Knives" }, - "volume": 0.00011688013469181531 + "volume": 0.00011688013469181531, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "81668ac660486c69083a9014162bbb4ffc24f568dea5676cd48ebdc5ac2e26a0" + }, + "usd_path": "batch3/D00452 Kitchen Knives/IsaacSim_assets_69f5d53e431507ff7cf6f1ab/IsaacSim_asset_69f5d53e431507ff7cf6f1ab.usd", + "usd_sha256": "d2324a794a101b3f7ea47af21705e5876cd0a8057a1744a280770897c2fee71b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.23937001079320908, - 0.23953499644994736, - 0.01591299966094084 - ] + 0.04430500045418739, + 0.3310199975967407, + 0.015789999836670177 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d2324a794a101b3f7ea47af21705e5876cd0a8057a1744a280770897c2fee71b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.24 + "value_kg": 0.23999999463558197, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d2324a794a101b3f7ea47af21705e5876cd0a8057a1744a280770897c2fee71b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.23999999463558197, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d2324a794a101b3f7ea47af21705e5876cd0a8057a1744a280770897c2fee71b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d2324a794a101b3f7ea47af21705e5876cd0a8057a1744a280770897c2fee71b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00721 Servingula/IsaacSim_assets_69fddca38102b48e9a21013e/physics_69fddca38102b48e9a21013e.json b/batch3/D00721 Servingula/IsaacSim_assets_69fddca38102b48e9a21013e/physics_69fddca38102b48e9a21013e.json index 46bf60d7d714d8332bf8fba895b676096fe45ac1..9d50522ece7669317f3a6db06a4bdb3902a9b4b2 100644 --- a/batch3/D00721 Servingula/IsaacSim_assets_69fddca38102b48e9a21013e/physics_69fddca38102b48e9a21013e.json +++ b/batch3/D00721 Servingula/IsaacSim_assets_69fddca38102b48e9a21013e/physics_69fddca38102b48e9a21013e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04159219190478325, - 0.03896211460232735, - 0.14031237363815308 - ], "min": [ - -0.041815243661403656, - 0.0, - -0.1862703412771225 + -0.041815001517534256, + -0.14027799665927887, + 1.2000000424450263e-05 + ], + "max": [ + 0.04158499836921692, + 0.18630899488925934, + 0.03897000104188919 ], "size": [ - 0.0834074355661869, - 0.03896211460232735, - 0.3265827149152756 - ] + 0.08339999988675117, + 0.3265869915485382, + 0.03895800104146474 + ], + "units": "m" }, "description": "A tarnished copper ladle with a shallow rounded bowl, long narrow curved handle, and decorative looped end. The surface is metallic rose-brown with visible patina, scratches, and worn areas.", "name": "D00721 Copper Ladle", "object_type": "rigid_bodies", - "total_mass": 0.16 + "total_mass": 0.1599999964237213, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00721", "parts": [ { "bounds": { - "center": [ - -0.00016279961836459676, - 0.021479938612362828, - 0.02198239627867531 + "min": [ + -0.041815001517534256, + -0.14027799665927887, + 1.2000000424450263e-05 ], "max": [ - 0.04159219190478325, - 0.03896211460232735, - 0.14031237363815308 + 0.04158499836921692, + 0.18630899488925934, + 0.03897000104188919 ], - "min": [ - -0.041815243661403656, - 0.0, - -0.1862703412771225 - ] + "size": [ + 0.08339999988675117, + 0.3265869915485382, + 0.03895800104146474 + ], + "units": "m" }, "center_of_mass": [ 2.9697020462547395e-05, @@ -59,7 +65,7 @@ 0.0018109899442398493, 0.0018404689177658191 ], - "mass": 0.16, + "mass": 0.1599999964237213, "material": "tarnished_copper_bronze_metal", "name": "D00721 Servingula", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00721 Servingula", "part_name": "D00721 Servingula" }, - "volume": 4.8778846394528804e-05 + "volume": 4.8778846394528804e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "72eaeae684a60a7a062be3341da385a6bce158a63f5e630d5a73bdcc7d66525a" + }, + "usd_path": "batch3/D00721 Servingula/IsaacSim_assets_69fddca38102b48e9a21013e/IsaacSim_asset_69fddca38102b48e9a21013e.usd", + "usd_sha256": "7991d4145e05cbc1e00420d9dc982123bf28ae70b17da9cdb248eeef42b906e6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.0834074355661869, - 0.03896211460232735, - 0.3265827149152756 - ] + 0.08339999988675117, + 0.3265869915485382, + 0.03895800104146474 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7991d4145e05cbc1e00420d9dc982123bf28ae70b17da9cdb248eeef42b906e6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.16 + "value_kg": 0.1599999964237213, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7991d4145e05cbc1e00420d9dc982123bf28ae70b17da9cdb248eeef42b906e6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.1599999964237213, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 15, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7991d4145e05cbc1e00420d9dc982123bf28ae70b17da9cdb248eeef42b906e6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 15, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7991d4145e05cbc1e00420d9dc982123bf28ae70b17da9cdb248eeef42b906e6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00749 Spat Spoon/IsaacSim_assets_69fde31e8102b48e9a31ec92/physics_69fde31e8102b48e9a31ec92.json b/batch3/D00749 Spat Spoon/IsaacSim_assets_69fde31e8102b48e9a31ec92/physics_69fde31e8102b48e9a31ec92.json index 8b89105c1dbba62667dbc2899dba0215f34220da..a4ca9d74d8fa375f36d2b90eacfa39342c551c35 100644 --- a/batch3/D00749 Spat Spoon/IsaacSim_assets_69fde31e8102b48e9a31ec92/physics_69fde31e8102b48e9a31ec92.json +++ b/batch3/D00749 Spat Spoon/IsaacSim_assets_69fde31e8102b48e9a31ec92/physics_69fde31e8102b48e9a31ec92.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0408206544816494, - 0.040248360484838486, - 0.22198864817619324 - ], "min": [ - -0.040902718901634216, - 0.0, - -0.14356064796447754 + -0.04091599956154823, + -0.22210800647735596, + -1.1000000085914508e-05 + ], + "max": [ + 0.04082300141453743, + 0.1435610055923462, + 0.04024599865078926 ], "size": [ - 0.08172337338328362, - 0.040248360484838486, - 0.3655492961406708 - ] + 0.08173900097608566, + 0.36566901206970215, + 0.040256998650875175 + ], + "units": "m" }, "description": "A stainless-steel spoon with a rounded reflective bowl and a light wooden handle. The handle has visible grain, rounded edges, and metal rivets fastening it to the steel tang.", "name": "D00749 Wood-Handled Serving Spoon", "object_type": "rigid_bodies", - "total_mass": 0.065 + "total_mass": 0.06499999761581421, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00749", "parts": [ { "bounds": { - "center": [ - -2.0252263947457185e-05, - 0.015460288026579904, - 0.006678314624661577 + "min": [ + -0.04091599956154823, + -0.22210800647735596, + -1.1000000085914508e-05 ], "max": [ - 0.0408206544816494, - 0.040248360484838486, - 0.22198864817619324 + 0.04082300141453743, + 0.1435610055923462, + 0.04024599865078926 ], - "min": [ - -0.040902718901634216, - 0.0, - -0.14356064796447754 - ] + "size": [ + 0.08173900097608566, + 0.36566901206970215, + 0.040256998650875175 + ], + "units": "m" }, "center_of_mass": [ -1.8232641506100944e-05, @@ -59,7 +65,7 @@ 0.000526597874494576, 0.0005390384072908444 ], - "mass": 0.065, + "mass": 0.06499999761581421, "material": "wood", "name": "D00749 Spat Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00749 Spat Spoon", "part_name": "D00749 Spat Spoon" }, - "volume": 0.0005141773495757672 + "volume": 0.0005141773495757672, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "81de030953629c969a54b416616959034cae778f0c65d4259755fdbf40d6bd4d" + }, + "usd_path": "batch3/D00749 Spat Spoon/IsaacSim_assets_69fde31e8102b48e9a31ec92/IsaacSim_asset_69fde31e8102b48e9a31ec92.usd", + "usd_sha256": "a3eec3ab1c38df57029713a1a0b5cbf785a28849029c700cc6a8f3821631a631", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.08172337338328362, - 0.040248360484838486, - 0.3655492961406708 - ] + 0.08173900097608566, + 0.36566901206970215, + 0.040256998650875175 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a3eec3ab1c38df57029713a1a0b5cbf785a28849029c700cc6a8f3821631a631", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.065 + "value_kg": 0.06499999761581421, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a3eec3ab1c38df57029713a1a0b5cbf785a28849029c700cc6a8f3821631a631", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.06499999761581421, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a3eec3ab1c38df57029713a1a0b5cbf785a28849029c700cc6a8f3821631a631", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a3eec3ab1c38df57029713a1a0b5cbf785a28849029c700cc6a8f3821631a631", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00753 Spatula Spoon/IsaacSim_assets_69f65cdf7f5104dbf26b3d81/physics_69f65cdf7f5104dbf26b3d81.json b/batch3/D00753 Spatula Spoon/IsaacSim_assets_69f65cdf7f5104dbf26b3d81/physics_69f65cdf7f5104dbf26b3d81.json index 56542c305d9be708a79a3b2d3f045ee1eb51cea2..1a45fc248d7bf6085a744a695a09b53a1233cdf9 100644 --- a/batch3/D00753 Spatula Spoon/IsaacSim_assets_69f65cdf7f5104dbf26b3d81/physics_69f65cdf7f5104dbf26b3d81.json +++ b/batch3/D00753 Spatula Spoon/IsaacSim_assets_69f65cdf7f5104dbf26b3d81/physics_69f65cdf7f5104dbf26b3d81.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.22785699367523193, - 0.05158799886703491, - 0.03406599909067154 - ], "min": [ - -0.15872099995613098, - -0.05169700086116791, - -2.9000000722589903e-05 + -0.03240400180220604, + -0.13306400179862976, + 9.000000318337698e-06 + ], + "max": [ + 0.032319001853466034, + 0.1789270043373108, + 0.01919499970972538 ], "size": [ - 0.3865779936313629, - 0.10328499972820282, - 0.03409499909139413 - ] + 0.06472300365567207, + 0.31199100613594055, + 0.019185999709407042 + ], + "units": "m" }, "description": "A polished stainless-steel serving spoon with a broad shallow bowl, slender curved neck, and cylindrical metal handle. The surface is smooth, reflective silver metal with rounded edges.", "name": "D00753 Spatula Spoon", "object_type": "rigid_bodies", - "total_mass": 0.13 + "total_mass": 0.12999999523162842, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00753", "parts": [ { "bounds": { - "center": [ - -0.004218394705752184, - 0.00012075890648411666, - 0.015105989014867125 + "min": [ + -0.03240400180220604, + -0.13306400179862976, + 9.000000318337698e-06 ], "max": [ - 0.22785699367523193, - 0.05158799886703491, - 0.03406599909067154 + 0.032319001853466034, + 0.1789270043373108, + 0.01919499970972538 ], - "min": [ - -0.15872099995613098, - -0.05169700086116791, - -2.9000000722589903e-05 - ] + "size": [ + 0.06472300365567207, + 0.31199100613594055, + 0.019185999709407042 + ], + "units": "m" }, "center_of_mass": [ 9.141884744292876e-06, @@ -59,7 +65,7 @@ 0.0008240852432985352, 0.000842136276922588 ], - "mass": 0.13, + "mass": 0.12999999523162842, "material": "stainless_steel", "name": "D00753 Spatula Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00753 Spatula Spoon", "part_name": "D00753 Spatula Spoon" }, - "volume": 0.00018868669035959444 + "volume": 0.00018868669035959444, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d8a69b2e254f864d6878934efcf5382a3c22311fbee5073082b7d15a84ec95d1" + }, + "usd_path": "batch3/D00753 Spatula Spoon/IsaacSim_assets_69f65cdf7f5104dbf26b3d81/IsaacSim_asset_69f65cdf7f5104dbf26b3d81.usd", + "usd_sha256": "de80ee9c43cf7f4eb994786de41afcb56fd3c44b4e81d1286bf75c093a16ff45", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3865779936313629, - 0.10328499972820282, - 0.03409499909139413 - ] + 0.06472300365567207, + 0.31199100613594055, + 0.019185999709407042 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de80ee9c43cf7f4eb994786de41afcb56fd3c44b4e81d1286bf75c093a16ff45", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.13 + "value_kg": 0.12999999523162842, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de80ee9c43cf7f4eb994786de41afcb56fd3c44b4e81d1286bf75c093a16ff45", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.12999999523162842, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de80ee9c43cf7f4eb994786de41afcb56fd3c44b4e81d1286bf75c093a16ff45", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de80ee9c43cf7f4eb994786de41afcb56fd3c44b4e81d1286bf75c093a16ff45", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00781 Spoon Rest/IsaacSim_assets_69f666f27f5104dbf275b0e8/physics_69f666f27f5104dbf275b0e8.json b/batch3/D00781 Spoon Rest/IsaacSim_assets_69f666f27f5104dbf275b0e8/physics_69f666f27f5104dbf275b0e8.json index dbb9dd832a5ecad22cc3f502dde50ff676caadcf..351247313ea035855bd63e263df135ef7c9ec892 100644 --- a/batch3/D00781 Spoon Rest/IsaacSim_assets_69f666f27f5104dbf275b0e8/physics_69f666f27f5104dbf275b0e8.json +++ b/batch3/D00781 Spoon Rest/IsaacSim_assets_69f666f27f5104dbf275b0e8/physics_69f666f27f5104dbf275b0e8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11718200147151947, - 0.048597998917102814, - 0.02091600000858307 - ], "min": [ - -0.07615000009536743, - -0.048082999885082245, - 2.700000004551839e-05 + -0.08481299877166748, + -0.04943900182843208, + -7.500000356230885e-05 + ], + "max": [ + 0.13617399334907532, + 0.04948300123214722, + 0.033636000007390976 ], "size": [ - 0.1933320015668869, - 0.09668099880218506, - 0.02088900000853755 - ] + 0.2209869921207428, + 0.0989220030605793, + 0.033711000010953285 + ], + "units": "m" }, "description": "A shallow spoon-shaped rest with a rounded concave bowl and a long raised curved handle. The pictured variants include polished or brushed metal, wood, ceramic, glass, and matte black cast-metal finishes.", "name": "D00781 Spoon Rest", "object_type": "rigid_bodies", - "total_mass": 0.18 + "total_mass": 0.18000000715255737, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00781", "parts": [ { "bounds": { - "center": [ - -0.0021687650534952785, - 0.00025583764249179536, - 0.007867067067698017 + "min": [ + -0.08481299877166748, + -0.04943900182843208, + -7.500000356230885e-05 ], "max": [ - 0.11718200147151947, - 0.048597998917102814, - 0.02091600000858307 + 0.13617399334907532, + 0.04948300123214722, + 0.033636000007390976 ], - "min": [ - -0.07615000009536743, - -0.048082999885082245, - 2.700000004551839e-05 - ] + "size": [ + 0.2209869921207428, + 0.0989220030605793, + 0.033711000010953285 + ], + "units": "m" }, "center_of_mass": [ 0.0031943546844286495, @@ -59,7 +65,7 @@ 0.0005622032721004926, 0.0006424078246210007 ], - "mass": 0.18, + "mass": 0.18000000715255737, "material": "stainless_steel", "name": "D00781 Spoon Rest", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00781 Spoon Rest", "part_name": "D00781 Spoon Rest" }, - "volume": 0.0001546054990268061 + "volume": 0.0001546054990268061, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "260197b3d0ee65a78ba58f7fb0ec9c70d68a3e575975427e3eba7fb558432491" + }, + "usd_path": "batch3/D00781 Spoon Rest/IsaacSim_assets_69f666f27f5104dbf275b0e8/IsaacSim_asset_69f666f27f5104dbf275b0e8.usd", + "usd_sha256": "c036e841dfde490dcafe5d371ce6cd1989a7bb6e3c98230a64e6bdd0fc452bc9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1933320015668869, - 0.09668099880218506, - 0.02088900000853755 - ] + 0.2209869921207428, + 0.0989220030605793, + 0.033711000010953285 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c036e841dfde490dcafe5d371ce6cd1989a7bb6e3c98230a64e6bdd0fc452bc9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.18 + "value_kg": 0.18000000715255737, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c036e841dfde490dcafe5d371ce6cd1989a7bb6e3c98230a64e6bdd0fc452bc9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.18000000715255737, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 35, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c036e841dfde490dcafe5d371ce6cd1989a7bb6e3c98230a64e6bdd0fc452bc9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 35, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c036e841dfde490dcafe5d371ce6cd1989a7bb6e3c98230a64e6bdd0fc452bc9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00785 Spoon W/IsaacSim_assets_69fde40a8102b48e9a345380/physics_69fde40a8102b48e9a345380.json b/batch3/D00785 Spoon W/IsaacSim_assets_69fde40a8102b48e9a345380/physics_69fde40a8102b48e9a345380.json index 07fcb5691d0de80749b52e6f3616b23ff8cba8c1..fbde30d7e3db3d644b990b37db9c6def0e5bf905 100644 --- a/batch3/D00785 Spoon W/IsaacSim_assets_69fde40a8102b48e9a345380/physics_69fde40a8102b48e9a345380.json +++ b/batch3/D00785 Spoon W/IsaacSim_assets_69fde40a8102b48e9a345380/physics_69fde40a8102b48e9a345380.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.109710693359375, - 0.023426365107297897, - 0.024153033271431923 - ], "min": [ - -0.06538673490285873, - 0.0, - -0.024352647364139557 + -0.06537999957799911, + -0.024150000885128975, + -1.9999999949504854e-06 + ], + "max": [ + 0.10973399877548218, + 0.024351000785827637, + 0.0234179999679327 ], "size": [ - 0.17509742826223373, - 0.023426365107297897, - 0.04850568063557148 - ] + 0.1751139983534813, + 0.04850100167095661, + 0.02341999996792765 + ], + "units": "m" }, "description": "A tarnished silver-colored metal spoon with a shallow oval bowl and a long, slightly curved handle. The polished surface is scratched and features raised rim detailing.", "name": "D00785 Silver Dessert Spoon", "object_type": "rigid_bodies", - "total_mass": 0.045 + "total_mass": 0.04500000178813934, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00785", "parts": [ { "bounds": { - "center": [ - 0.0015293125000013879, - 0.008567229063851784, - -1.4623497575395017e-05 + "min": [ + -0.06537999957799911, + -0.024150000885128975, + -1.9999999949504854e-06 ], "max": [ - 0.109710693359375, - 0.023426365107297897, - 0.024153033271431923 + 0.10973399877548218, + 0.024351000785827637, + 0.0234179999679327 ], - "min": [ - -0.06538673490285873, - 0.0, - -0.024352647364139557 - ] + "size": [ + 0.1751139983534813, + 0.04850100167095661, + 0.02341999996792765 + ], + "units": "m" }, "center_of_mass": [ 0.00612137774184419, @@ -59,7 +65,7 @@ 7.457398236894143e-05, 7.810023482019339e-05 ], - "mass": 0.045, + "mass": 0.04500000178813934, "material": "polished_stainless_steel", "name": "D00785 Spoon W", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00785 Spoon W", "part_name": "D00785 Spoon W" }, - "volume": 5.327175207717422e-05 + "volume": 5.327175207717422e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "832abf5bafc937c31841a363f915667c7477fbd911a1158d89b8dd19ac40ef67" + }, + "usd_path": "batch3/D00785 Spoon W/IsaacSim_assets_69fde40a8102b48e9a345380/IsaacSim_asset_69fde40a8102b48e9a345380.usd", + "usd_sha256": "9e7786fc4cc0d0f5a54929e49cb0a44888e6427243f2850135c1d089a07392d9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.17509742826223373, - 0.023426365107297897, - 0.04850568063557148 - ] + 0.1751139983534813, + 0.04850100167095661, + 0.02341999996792765 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e7786fc4cc0d0f5a54929e49cb0a44888e6427243f2850135c1d089a07392d9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.045 + "value_kg": 0.04500000178813934, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e7786fc4cc0d0f5a54929e49cb0a44888e6427243f2850135c1d089a07392d9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04500000178813934, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 13, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e7786fc4cc0d0f5a54929e49cb0a44888e6427243f2850135c1d089a07392d9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 13, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9e7786fc4cc0d0f5a54929e49cb0a44888e6427243f2850135c1d089a07392d9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00787 Spoon Wk/IsaacSim_assets_69fde5af8102b48e9a38b14c/physics_69fde5af8102b48e9a38b14c.json b/batch3/D00787 Spoon Wk/IsaacSim_assets_69fde5af8102b48e9a38b14c/physics_69fde5af8102b48e9a38b14c.json index bf66d23012a057fc365b20eb39f187d1cbba50ec..895b38dbfe5824c3c58d980ef999103d610d229f 100644 --- a/batch3/D00787 Spoon Wk/IsaacSim_assets_69fde5af8102b48e9a38b14c/physics_69fde5af8102b48e9a38b14c.json +++ b/batch3/D00787 Spoon Wk/IsaacSim_assets_69fde5af8102b48e9a38b14c/physics_69fde5af8102b48e9a38b14c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1161591038107872, - 0.015813559293746948, - 0.024429403245449066 - ], "min": [ - -0.06662796437740326, - 0.0, - -0.02449110895395279 + -0.06662499904632568, + -0.02442000061273575, + 1.08690834555826e-19 + ], + "max": [ + 0.11615899950265884, + 0.024476999416947365, + 0.01580600067973137 ], "size": [ - 0.18278706818819046, - 0.015813559293746948, - 0.048920512199401855 - ] + 0.18278399854898453, + 0.04889700002968311, + 0.01580600067973137 + ], + "units": "m" }, "description": "A polished stainless steel spoon with an oval concave bowl and a long rounded handle. The surface is smooth silver metal with softly rolled edges and a slight brushed sheen.", "name": "D00787 Black Dessert Spoon", "object_type": "rigid_bodies", - "total_mass": 0.035 + "total_mass": 0.03500000014901161, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00787", "parts": [ { "bounds": { - "center": [ - 0.0014475498691495664, - 0.005811804378539807, - -3.205261001940804e-05 + "min": [ + -0.06662499904632568, + -0.02442000061273575, + 1.08690834555826e-19 ], "max": [ - 0.1161591038107872, - 0.015813559293746948, - 0.024429403245449066 + 0.11615899950265884, + 0.024476999416947365, + 0.01580600067973137 ], - "min": [ - -0.06662796437740326, - 0.0, - -0.02449110895395279 - ] + "size": [ + 0.18278399854898453, + 0.04889700002968311, + 0.01580600067973137 + ], + "units": "m" }, "center_of_mass": [ 0.006761152887315103, @@ -59,7 +65,7 @@ 6.0470748975270945e-05, 6.348283812863926e-05 ], - "mass": 0.035, + "mass": 0.03500000014901161, "material": "stainless_steel", "name": "D00787 Spoon Wk", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00787 Spoon Wk", "part_name": "D00787 Spoon Wk" }, - "volume": 4.477063162586345e-05 + "volume": 4.477063162586345e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6643665e1a7df05d220e87196f1949355ecf8e19d059f27c0add7a30908ff5f4" + }, + "usd_path": "batch3/D00787 Spoon Wk/IsaacSim_assets_69fde5af8102b48e9a38b14c/IsaacSim_asset_69fde5af8102b48e9a38b14c.usd", + "usd_sha256": "0f4f08b8a0f66a3e4afb1763980746fcd7fddcf7372693e314ee2a5aad862fc8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.18278706818819046, - 0.015813559293746948, - 0.048920512199401855 - ] + 0.18278399854898453, + 0.04889700002968311, + 0.01580600067973137 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f4f08b8a0f66a3e4afb1763980746fcd7fddcf7372693e314ee2a5aad862fc8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.035 + "value_kg": 0.03500000014901161, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f4f08b8a0f66a3e4afb1763980746fcd7fddcf7372693e314ee2a5aad862fc8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.03500000014901161, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 7, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f4f08b8a0f66a3e4afb1763980746fcd7fddcf7372693e314ee2a5aad862fc8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 7, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f4f08b8a0f66a3e4afb1763980746fcd7fddcf7372693e314ee2a5aad862fc8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00788 Spoon Wooden/IsaacSim_assets_69fde5db8102b48e9a3928ca/physics_69fde5db8102b48e9a3928ca.json b/batch3/D00788 Spoon Wooden/IsaacSim_assets_69fde5db8102b48e9a3928ca/physics_69fde5db8102b48e9a3928ca.json index c612c51036c212b2d1fe4b492b1ce6772aaf4092..4b79071977c2d6c31505552aba2fa46ee50ac024 100644 --- a/batch3/D00788 Spoon Wooden/IsaacSim_assets_69fde5db8102b48e9a3928ca/physics_69fde5db8102b48e9a3928ca.json +++ b/batch3/D00788 Spoon Wooden/IsaacSim_assets_69fde5db8102b48e9a3928ca/physics_69fde5db8102b48e9a3928ca.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17987027764320374, - 0.02264551632106304, - 0.034491702914237976 - ], "min": [ - -0.11024418473243713, - 0.0, - -0.03463893383741379 + -0.11020900309085846, + -0.03449200093746185, + -0.00010299999848939478 + ], + "max": [ + 0.17989100515842438, + 0.03462899848818779, + 0.022646000608801842 ], "size": [ - 0.29011446237564087, - 0.02264551632106304, - 0.06913063675165176 - ] + 0.29010000824928284, + 0.06912099942564964, + 0.022749000607291237 + ], + "units": "m" }, "description": "A carved wooden spoon with a shallow oval bowl, tapered neck, and long rounded handle. The surface is smooth, varnished brown wood with visible natural grain.", "name": "D00788 Spoon Wooden", "object_type": "rigid_bodies", - "total_mass": 0.045 + "total_mass": 0.04500000178813934, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00788", "parts": [ { "bounds": { - "center": [ - 0.005786766011289122, - 0.011496027785991776, - -6.364686561343443e-05 + "min": [ + -0.11020900309085846, + -0.03449200093746185, + -0.00010299999848939478 ], "max": [ - 0.17987027764320374, - 0.02264551632106304, - 0.034491702914237976 + 0.17989100515842438, + 0.03462899848818779, + 0.022646000608801842 ], - "min": [ - -0.11024418473243713, - 0.0, - -0.03463893383741379 - ] + "size": [ + 0.29010000824928284, + 0.06912099942564964, + 0.022749000607291237 + ], + "units": "m" }, "center_of_mass": [ 0.007262876389580889, @@ -59,7 +65,7 @@ 0.00022103051542887996, 0.0002278070709487366 ], - "mass": 0.045, + "mass": 0.04500000178813934, "material": "varnished_hardwood", "name": "D00788 Spoon Wooden", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00788 Spoon Wooden", "part_name": "D00788 Spoon Wooden" }, - "volume": 0.00021827681790887 + "volume": 0.00021827681790887, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "249aaeee2b2b5bb22e5f9f4c725c4f37b046dee2358177163b548314396108a0" + }, + "usd_path": "batch3/D00788 Spoon Wooden/IsaacSim_assets_69fde5db8102b48e9a3928ca/IsaacSim_asset_69fde5db8102b48e9a3928ca.usd", + "usd_sha256": "b60da6e62fb6676f2595a8ec136e35d4e3d32913b90d575666055dc7778cb0f1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.29011446237564087, - 0.02264551632106304, - 0.06913063675165176 - ] + 0.29010000824928284, + 0.06912099942564964, + 0.022749000607291237 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b60da6e62fb6676f2595a8ec136e35d4e3d32913b90d575666055dc7778cb0f1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.045 + "value_kg": 0.04500000178813934, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b60da6e62fb6676f2595a8ec136e35d4e3d32913b90d575666055dc7778cb0f1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04500000178813934, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b60da6e62fb6676f2595a8ec136e35d4e3d32913b90d575666055dc7778cb0f1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b60da6e62fb6676f2595a8ec136e35d4e3d32913b90d575666055dc7778cb0f1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00790 Spooner/IsaacSim_assets_69fde6eb8102b48e9a3bb6e3/physics_69fde6eb8102b48e9a3bb6e3.json b/batch3/D00790 Spooner/IsaacSim_assets_69fde6eb8102b48e9a3bb6e3/physics_69fde6eb8102b48e9a3bb6e3.json index 194a61b661b5b2ca1065e76545e4c1a298fb98ab..520cef3572fb3c16d37a3f2c1c1cd5f36c1709fd 100644 --- a/batch3/D00790 Spooner/IsaacSim_assets_69fde6eb8102b48e9a3bb6e3/physics_69fde6eb8102b48e9a3bb6e3.json +++ b/batch3/D00790 Spooner/IsaacSim_assets_69fde6eb8102b48e9a3bb6e3/physics_69fde6eb8102b48e9a3bb6e3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07283984869718552, - 0.01547410897910595, - 0.02927744761109352 - ], "min": [ - -0.0559660829603672, - 0.0, - -0.02933298796415329 + -0.0559610016644001, + -0.029277000576257706, + -4.199999966658652e-05 + ], + "max": [ + 0.07283999770879745, + 0.029329000040888786, + 0.015464999713003635 ], "size": [ - 0.12880593165755272, - 0.01547410897910595, - 0.05861043557524681 - ] + 0.12880099937319756, + 0.05860600061714649, + 0.015506999712670222 + ], + "units": "m" }, "description": "A polished stainless-steel spoon with a shallow oval bowl, raised rim, and long curved handle. The surface is smooth, reflective silver metal with thin rolled edges.", "name": "D00790 Ceramic Spoon Rest", "object_type": "rigid_bodies", - "total_mass": 0.09 + "total_mass": 0.09000000357627869, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00790", "parts": [ { "bounds": { - "center": [ - -0.0027399173194554683, - 0.005427746568659694, - -2.648677397199548e-05 + "min": [ + -0.0559610016644001, + -0.029277000576257706, + -4.199999966658652e-05 ], "max": [ - 0.07283984869718552, - 0.01547410897910595, - 0.02927744761109352 + 0.07283999770879745, + 0.029329000040888786, + 0.015464999713003635 ], - "min": [ - -0.0559660829603672, - 0.0, - -0.02933298796415329 - ] + "size": [ + 0.12880099937319756, + 0.05860600061714649, + 0.015506999712670222 + ], + "units": "m" }, "center_of_mass": [ 0.005522821247260998, @@ -59,7 +65,7 @@ 8.958726280342989e-05, 0.00010100706289715332 ], - "mass": 0.09, + "mass": 0.09000000357627869, "material": "polished_stainless_steel", "name": "D00790 Spooner", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00790 Spooner", "part_name": "D00790 Spooner" }, - "volume": 5.5836697844535595e-05 + "volume": 5.5836697844535595e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f411dab4df67f0d922c15a03493a05a5f79325ff54f3b19ce338e77021e323d5" + }, + "usd_path": "batch3/D00790 Spooner/IsaacSim_assets_69fde6eb8102b48e9a3bb6e3/IsaacSim_asset_69fde6eb8102b48e9a3bb6e3.usd", + "usd_sha256": "7ab3f78aa808fe26a7045fe47c6c8ddb25d1d7de7d4c005228f49dc3fbaeebcd", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.12880593165755272, - 0.01547410897910595, - 0.05861043557524681 - ] + 0.12880099937319756, + 0.05860600061714649, + 0.015506999712670222 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ab3f78aa808fe26a7045fe47c6c8ddb25d1d7de7d4c005228f49dc3fbaeebcd", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.09 + "value_kg": 0.09000000357627869, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ab3f78aa808fe26a7045fe47c6c8ddb25d1d7de7d4c005228f49dc3fbaeebcd", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.09000000357627869, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ab3f78aa808fe26a7045fe47c6c8ddb25d1d7de7d4c005228f49dc3fbaeebcd", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7ab3f78aa808fe26a7045fe47c6c8ddb25d1d7de7d4c005228f49dc3fbaeebcd", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00861 The teaspoon/IsaacSim_assets_69fde8f38102b48e9a40a584/physics_69fde8f38102b48e9a40a584.json b/batch3/D00861 The teaspoon/IsaacSim_assets_69fde8f38102b48e9a40a584/physics_69fde8f38102b48e9a40a584.json index 22006baa00eb43e11bb249c0e146020b1a095d9d..cf9dd51d15b022ce1359241a4b39eea72dc6a3bc 100644 --- a/batch3/D00861 The teaspoon/IsaacSim_assets_69fde8f38102b48e9a40a584/physics_69fde8f38102b48e9a40a584.json +++ b/batch3/D00861 The teaspoon/IsaacSim_assets_69fde8f38102b48e9a40a584/physics_69fde8f38102b48e9a40a584.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06295077502727509, - 0.09684325009584427, - 0.09787864983081818 - ], "min": [ - -0.08265316486358643, - 0.0, - -0.07648728787899017 + -0.08263099938631058, + -0.09786099940538406, + -3.7999998312443495e-05 + ], + "max": [ + 0.06302700191736221, + 0.07649599760770798, + 0.09696199744939804 ], "size": [ - 0.1456039398908615, - 0.09684325009584427, - 0.17436593770980835 - ] + 0.1456580013036728, + 0.17435699701309204, + 0.09699999744771048 + ], + "units": "m" }, "description": "An unglazed terracotta ceramic teapot with a rounded body, short pouring spout, fitted lid, and knob. It has a tubular side handle with a darker wrapped grip and a rough speckled clay surface.", "name": "D00861 The Response", "object_type": "rigid_bodies", - "total_mass": 0.52 + "total_mass": 0.5199999809265137, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00861", "parts": [ { "bounds": { - "center": [ - 0.002558382074292375, - 0.04600225677626188, - -0.007780695831324541 + "min": [ + -0.08263099938631058, + -0.09786099940538406, + -3.7999998312443495e-05 ], "max": [ - 0.06295077502727509, - 0.09684325009584427, - 0.09787864983081818 + 0.06302700191736221, + 0.07649599760770798, + 0.09696199744939804 ], - "min": [ - -0.08265316486358643, - 0.0, - -0.07648728787899017 - ] + "size": [ + 0.1456580013036728, + 0.17435699701309204, + 0.09699999744771048 + ], + "units": "m" }, "center_of_mass": [ 0.00032918001185693865, @@ -59,7 +65,7 @@ 0.0009517695663054195, 0.0011522691794189088 ], - "mass": 0.52, + "mass": 0.5199999809265137, "material": "unglazed_terracotta_ceramic", "name": "D00861 The Response", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00861 The Response", "part_name": "D00861 The Response" }, - "volume": 0.000985601419197895 + "volume": 0.000985601419197895, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7ba4a808e3a41d647fb23475f1c2173705a0f53fddeb87b96ba768c1c06ee42f" + }, + "usd_path": "batch3/D00861 The teaspoon/IsaacSim_assets_69fde8f38102b48e9a40a584/IsaacSim_asset_69fde8f38102b48e9a40a584.usd", + "usd_sha256": "49ee23157455b9b8004bd83a4c5a9add8c2f1b8a5d81ac84e64a207def58ab16", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1456039398908615, - 0.09684325009584427, - 0.17436593770980835 - ] + 0.1456580013036728, + 0.17435699701309204, + 0.09699999744771048 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49ee23157455b9b8004bd83a4c5a9add8c2f1b8a5d81ac84e64a207def58ab16", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.52 + "value_kg": 0.5199999809265137, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49ee23157455b9b8004bd83a4c5a9add8c2f1b8a5d81ac84e64a207def58ab16", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5199999809265137, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49ee23157455b9b8004bd83a4c5a9add8c2f1b8a5d81ac84e64a207def58ab16", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49ee23157455b9b8004bd83a4c5a9add8c2f1b8a5d81ac84e64a207def58ab16", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00900 Utensils Spoon/IsaacSim_assets_69fdedbd8102b48e9a4c7705/physics_69fdedbd8102b48e9a4c7705.json b/batch3/D00900 Utensils Spoon/IsaacSim_assets_69fdedbd8102b48e9a4c7705/physics_69fdedbd8102b48e9a4c7705.json index aeb9e07fb635404453a0e3be889fce1768fc19b3..4de9e2380000569f71438634bc4307ab5c7c8f5f 100644 --- a/batch3/D00900 Utensils Spoon/IsaacSim_assets_69fdedbd8102b48e9a4c7705/physics_69fdedbd8102b48e9a4c7705.json +++ b/batch3/D00900 Utensils Spoon/IsaacSim_assets_69fdedbd8102b48e9a4c7705/physics_69fdedbd8102b48e9a4c7705.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07457393407821655, - 0.01928558759391308, - 0.021981297060847282 - ], "min": [ - -0.11302174627780914, - 0.0, - -0.0220908522605896 + -0.11303000152111053, + -0.0219579990953207, + -3.9999998989515007e-05 + ], + "max": [ + 0.07457300275564194, + 0.02208700031042099, + 0.019293000921607018 ], "size": [ - 0.1875956803560257, - 0.01928558759391308, - 0.04407214932143688 - ] + 0.18760300427675247, + 0.04404499940574169, + 0.019333000920596533 + ], + "units": "m" }, "description": "A brushed stainless-steel spoon with an elongated tapered handle and a shallow oval bowl. The surface is silver, reflective, and smoothly rounded at the rim and handle end.", "name": "D00900 Utensils Spoon", "object_type": "rigid_bodies", - "total_mass": 0.045 + "total_mass": 0.04500000178813934, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00900", "parts": [ { "bounds": { - "center": [ - -0.0010425046528593739, - 0.007233662801427796, - -6.483896016031526e-05 + "min": [ + -0.11303000152111053, + -0.0219579990953207, + -3.9999998989515007e-05 ], "max": [ - 0.07457393407821655, - 0.01928558759391308, - 0.021981297060847282 + 0.07457300275564194, + 0.02208700031042099, + 0.019293000921607018 ], - "min": [ - -0.11302174627780914, - 0.0, - -0.0220908522605896 - ] + "size": [ + 0.18760300427675247, + 0.04404499940574169, + 0.019333000920596533 + ], + "units": "m" }, "center_of_mass": [ -0.003424226042392185, @@ -59,7 +65,7 @@ 9.141397427983246e-05, 9.444605361240344e-05 ], - "mass": 0.045, + "mass": 0.04500000178813934, "material": "brushed_stainless_steel", "name": "D00900 Utensils Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00900 Utensils Spoon", "part_name": "D00900 Utensils Spoon" }, - "volume": 5.9753294271181704e-05 + "volume": 5.9753294271181704e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4f18a06a127e99caa05c0c9a9e86408cc4ac8b037e9d007436ac6376ecbb7bef" + }, + "usd_path": "batch3/D00900 Utensils Spoon/IsaacSim_assets_69fdedbd8102b48e9a4c7705/IsaacSim_asset_69fdedbd8102b48e9a4c7705.usd", + "usd_sha256": "8db82d31fd1a96dcc15d1de5f1c51163b46a6295e291f1b6f894d47770ed4e60", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1875956803560257, - 0.01928558759391308, - 0.04407214932143688 - ] + 0.18760300427675247, + 0.04404499940574169, + 0.019333000920596533 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8db82d31fd1a96dcc15d1de5f1c51163b46a6295e291f1b6f894d47770ed4e60", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.045 + "value_kg": 0.04500000178813934, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8db82d31fd1a96dcc15d1de5f1c51163b46a6295e291f1b6f894d47770ed4e60", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04500000178813934, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8db82d31fd1a96dcc15d1de5f1c51163b46a6295e291f1b6f894d47770ed4e60", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8db82d31fd1a96dcc15d1de5f1c51163b46a6295e291f1b6f894d47770ed4e60", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00923 Whis Wooden Spoon/IsaacSim_assets_69fdf0fa8102b48e9a54934b/physics_69fdf0fa8102b48e9a54934b.json b/batch3/D00923 Whis Wooden Spoon/IsaacSim_assets_69fdf0fa8102b48e9a54934b/physics_69fdf0fa8102b48e9a54934b.json index dabbf26895702646e391b4c2f4391055fc4379a6..00c8a71ff80eec9d46342b5ead59655298f1d1ee 100644 --- a/batch3/D00923 Whis Wooden Spoon/IsaacSim_assets_69fdf0fa8102b48e9a54934b/physics_69fdf0fa8102b48e9a54934b.json +++ b/batch3/D00923 Whis Wooden Spoon/IsaacSim_assets_69fdf0fa8102b48e9a54934b/physics_69fdf0fa8102b48e9a54934b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03382499888539314, - 0.18933799862861633, - 0.02178500033915043 - ], "min": [ - -0.03380399942398071, - -0.10808300226926804, - 0.0 + -0.03160199895501137, + -0.10727600008249283, + 3.999999989900971e-06 + ], + "max": [ + 0.03166399896144867, + 0.1935330033302307, + 0.023590000346302986 ], "size": [ - 0.06762899830937386, - 0.29742100089788437, - 0.02178500033915043 - ] + 0.06326599791646004, + 0.30080900341272354, + 0.023586000346313085 + ], + "units": "m" }, "description": "A light-colored wooden spoon with an oval concave bowl and a long rounded handle, showing visible wood grain and a smooth varnished finish.", "name": "D00923 Wooden Cooking Spoon", "object_type": "rigid_bodies", - "total_mass": 0.055 + "total_mass": 0.054999999701976776, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00923", "parts": [ { "bounds": { - "center": [ - -2.0521398435544278e-05, - 0.005810848692312089, - 0.011359763485739784 + "min": [ + -0.03160199895501137, + -0.10727600008249283, + 3.999999989900971e-06 ], "max": [ - 0.03382499888539314, - 0.18933799862861633, - 0.02178500033915043 + 0.03166399896144867, + 0.1935330033302307, + 0.023590000346302986 ], - "min": [ - -0.03380399942398071, - -0.10808300226926804, - 0.0 - ] + "size": [ + 0.06326599791646004, + 0.30080900341272354, + 0.023586000346313085 + ], + "units": "m" }, "center_of_mass": [ -4.503115633566872e-05, @@ -59,7 +65,7 @@ 0.0004588605491797139, 0.00046364355711241796 ], - "mass": 0.055, + "mass": 0.054999999701976776, "material": "varnished_hardwood", "name": "D00923 Whis Wooden Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00923 Whis Wooden Spoon", "part_name": "D00923 Whis Wooden Spoon" }, - "volume": 8.35352411582176e-05 + "volume": 8.35352411582176e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2d72ccd514cc96ddf8c7ec2f0c84e747270826bc41d4cd50ab95d465740d2301" + }, + "usd_path": "batch3/D00923 Whis Wooden Spoon/IsaacSim_assets_69fdf0fa8102b48e9a54934b/IsaacSim_asset_69fdf0fa8102b48e9a54934b.usd", + "usd_sha256": "c48f0bc4c362a594d588bff475c1eeb8fb86fc34de34722567945a148c09d6e1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.06762899830937386, - 0.29742100089788437, - 0.02178500033915043 - ] + 0.06326599791646004, + 0.30080900341272354, + 0.023586000346313085 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c48f0bc4c362a594d588bff475c1eeb8fb86fc34de34722567945a148c09d6e1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.055 + "value_kg": 0.054999999701976776, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c48f0bc4c362a594d588bff475c1eeb8fb86fc34de34722567945a148c09d6e1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.054999999701976776, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 14, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c48f0bc4c362a594d588bff475c1eeb8fb86fc34de34722567945a148c09d6e1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 14, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c48f0bc4c362a594d588bff475c1eeb8fb86fc34de34722567945a148c09d6e1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00949 Wooden/IsaacSim_assets_69fdf1e78102b48e9a56ddbf/physics_69fdf1e78102b48e9a56ddbf.json b/batch3/D00949 Wooden/IsaacSim_assets_69fdf1e78102b48e9a56ddbf/physics_69fdf1e78102b48e9a56ddbf.json index 930e080485d056c41b9186848bf7902955e9bb4a..c16ce90200294c400baad35e02e4bb795bc92566 100644 --- a/batch3/D00949 Wooden/IsaacSim_assets_69fdf1e78102b48e9a56ddbf/physics_69fdf1e78102b48e9a56ddbf.json +++ b/batch3/D00949 Wooden/IsaacSim_assets_69fdf1e78102b48e9a56ddbf/physics_69fdf1e78102b48e9a56ddbf.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1670421063899994, - 0.2817900478839874, - 0.03622371703386307 - ], "min": [ - -0.18551743030548096, - 0.0, - -0.039120521396398544 + -0.18550199270248413, + -0.03618599846959114, + -1.700000029813964e-05 + ], + "max": [ + 0.1669829934835434, + 0.03914099931716919, + 0.2817620038986206 ], "size": [ - 0.35255953669548035, - 0.2817900478839874, - 0.07534423843026161 - ] + 0.3524849861860275, + 0.07532699778676033, + 0.28177900389891875 + ], + "units": "m" }, "description": "A light varnished wooden horse figure with visible carved grain, segmented limbs, mane, tail, head, and round peg-like joints.", "name": "D00949 Articulated Wooden Horse Figure", "object_type": "rigid_bodies", - "total_mass": 2.8 + "total_mass": 2.799999952316284, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00949", "parts": [ { "bounds": { - "center": [ - -0.0023700237266918002, - 0.14678317027716942, - -0.00033882830178900807 + "min": [ + -0.18550199270248413, + -0.03618599846959114, + -1.700000029813964e-05 ], "max": [ - 0.1670421063899994, - 0.2817900478839874, - 0.03622371703386307 + 0.1669829934835434, + 0.03914099931716919, + 0.2817620038986206 ], - "min": [ - -0.18551743030548096, - 0.0, - -0.039120521396398544 - ] + "size": [ + 0.3524849861860275, + 0.07532699778676033, + 0.28177900389891875 + ], + "units": "m" }, "center_of_mass": [ 0.003523125898047038, @@ -59,7 +65,7 @@ 0.019930154429143407, 0.028952601337108756 ], - "mass": 2.8, + "mass": 2.799999952316284, "material": "varnished_wood", "name": "D00949 Wooden", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00949 Wooden", "part_name": "D00949 Wooden" }, - "volume": 0.0037675700174370397 + "volume": 0.0037675700174370397, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5a7a894e756df4aaa1141a92d3d422e4e4becf5a733a4fe1f714c6cec6108d8e" + }, + "usd_path": "batch3/D00949 Wooden/IsaacSim_assets_69fdf1e78102b48e9a56ddbf/IsaacSim_asset_69fdf1e78102b48e9a56ddbf.usd", + "usd_sha256": "45f59bf8fedfe722f699fe041ea8b6b1e28a11487addc67ce8419c065ff5eab8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.35255953669548035, - 0.2817900478839874, - 0.07534423843026161 - ] + 0.3524849861860275, + 0.07532699778676033, + 0.28177900389891875 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "45f59bf8fedfe722f699fe041ea8b6b1e28a11487addc67ce8419c065ff5eab8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.8 + "value_kg": 2.799999952316284, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "45f59bf8fedfe722f699fe041ea8b6b1e28a11487addc67ce8419c065ff5eab8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.799999952316284, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 62, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "45f59bf8fedfe722f699fe041ea8b6b1e28a11487addc67ce8419c065ff5eab8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 62, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "45f59bf8fedfe722f699fe041ea8b6b1e28a11487addc67ce8419c065ff5eab8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00963 Wooden Lid Cutting Board/IsaacSim_assets_69f766977f5104dbf271856c/physics_69f766977f5104dbf271856c.json b/batch3/D00963 Wooden Lid Cutting Board/IsaacSim_assets_69f766977f5104dbf271856c/physics_69f766977f5104dbf271856c.json index a39a7a360a1378923ffa85fa6ca58786c308647c..40617f656ddfad1817fbccd09ed8adcc1a132ff9 100644 --- a/batch3/D00963 Wooden Lid Cutting Board/IsaacSim_assets_69f766977f5104dbf271856c/physics_69f766977f5104dbf271856c.json +++ b/batch3/D00963 Wooden Lid Cutting Board/IsaacSim_assets_69f766977f5104dbf271856c/physics_69f766977f5104dbf271856c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1510010063648224, - 0.14873099327087402, - 0.04671100154519081 - ], "min": [ - -0.14754000306129456, - -0.14949999749660492, - -4.3000000005122274e-05 + -0.2018740028142929, + -0.14766600728034973, + -9.999999974752427e-07 + ], + "max": [ + 0.20437300205230713, + 0.15084700286388397, + 0.04338200017809868 ], "size": [ - 0.29854100942611694, - 0.29823099076747894, - 0.04675400154519593 - ] + 0.40624700486660004, + 0.2985130101442337, + 0.043383000178096154 + ], + "units": "m" }, "description": "A rectangular bamboo cutting board with rounded corners, warm blond wood grain, a recessed perimeter groove, and a small oblong finger slot. The surface appears laminated and smoothly finished.", "name": "D00963 Bamboo Cutting Board", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00963", "parts": [ { "bounds": { - "center": [ - 0.0013485104298221042, - 6.238576282382084e-05, - 0.017337583582664202 + "min": [ + -0.2018740028142929, + -0.14766600728034973, + -9.999999974752427e-07 ], "max": [ - 0.1510010063648224, - 0.14873099327087402, - 0.04671100154519081 + 0.20437300205230713, + 0.15084700286388397, + 0.04338200017809868 ], - "min": [ - -0.14754000306129456, - -0.14949999749660492, - -4.3000000005122274e-05 - ] + "size": [ + 0.40624700486660004, + 0.2985130101442337, + 0.043383000178096154 + ], + "units": "m" }, "center_of_mass": [ 0.001240697862381677, @@ -59,7 +65,7 @@ 0.01646611471457597, 0.02505613034530721 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "bamboo_wood", "name": "D00963 Wooden Lid Cutting Board", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00963 Wooden Lid Cutting Board", "part_name": "D00963 Wooden Lid Cutting Board" }, - "volume": 0.005171873440730129 + "volume": 0.005171873440730129, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e22bd9a78ee6e66364e359937ac6cb04a630dcc0bb957f1b5d265da95a3ec58b" + }, + "usd_path": "batch3/D00963 Wooden Lid Cutting Board/IsaacSim_assets_69f766977f5104dbf271856c/IsaacSim_asset_69f766977f5104dbf271856c.usd", + "usd_sha256": "f4b7bd820d701de61fd65d035d05d0f869e04f062bd49bd4097987619ae37cc3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.29854100942611694, - 0.29823099076747894, - 0.04675400154519593 - ] + 0.40624700486660004, + 0.2985130101442337, + 0.043383000178096154 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f4b7bd820d701de61fd65d035d05d0f869e04f062bd49bd4097987619ae37cc3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f4b7bd820d701de61fd65d035d05d0f869e04f062bd49bd4097987619ae37cc3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 24, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f4b7bd820d701de61fd65d035d05d0f869e04f062bd49bd4097987619ae37cc3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 24, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f4b7bd820d701de61fd65d035d05d0f869e04f062bd49bd4097987619ae37cc3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch3/D00982 Wooden Spoon W/IsaacSim_assets_69fdf2108102b48e9a57370c/physics_69fdf2108102b48e9a57370c.json b/batch3/D00982 Wooden Spoon W/IsaacSim_assets_69fdf2108102b48e9a57370c/physics_69fdf2108102b48e9a57370c.json index fcf8c126cebb576014a1afd93e7cb5f30d642807..2ab988114f6a1dea6f9f354f9e3e218304d9682a 100644 --- a/batch3/D00982 Wooden Spoon W/IsaacSim_assets_69fdf2108102b48e9a57370c/physics_69fdf2108102b48e9a57370c.json +++ b/batch3/D00982 Wooden Spoon W/IsaacSim_assets_69fdf2108102b48e9a57370c/physics_69fdf2108102b48e9a57370c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17429094016551971, - 0.028015809133648872, - 0.03598897531628609 - ], "min": [ - -0.10797116905450821, - 0.0, - -0.03606322407722473 + -0.10792399942874908, + -0.03596600145101547, + 1.700000029813964e-05 + ], + "max": [ + 0.17426900565624237, + 0.03606000170111656, + 0.028015999123454094 ], "size": [ - 0.2822621092200279, - 0.028015809133648872, - 0.07205219939351082 - ] + 0.28219300508499146, + 0.07202600315213203, + 0.027998999123155954 + ], + "units": "m" }, "description": "A light natural wooden spoon with an oval concave bowl, long tapered handle, rounded end, and small hanging hole. The surface is smooth with visible wood grain.", "name": "D00982 Wooden Cooking Spoon", "object_type": "rigid_bodies", - "total_mass": 0.042 + "total_mass": 0.041999999433755875, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00982", "parts": [ { "bounds": { - "center": [ - 0.0027203281109733934, - 0.011125114106886479, - -3.4038346248578605e-05 + "min": [ + -0.10792399942874908, + -0.03596600145101547, + 1.700000029813964e-05 ], "max": [ - 0.17429094016551971, - 0.028015809133648872, - 0.03598897531628609 + 0.17426900565624237, + 0.03606000170111656, + 0.028015999123454094 ], - "min": [ - -0.10797116905450821, - 0.0, - -0.03606322407722473 - ] + "size": [ + 0.28219300508499146, + 0.07202600315213203, + 0.027998999123155954 + ], + "units": "m" }, "center_of_mass": [ 0.0044026692745509875, @@ -59,7 +65,7 @@ 0.00020362041571087738, 0.00021134874238773758 ], - "mass": 0.042, + "mass": 0.041999999433755875, "material": "smooth_finished_hardwood", "name": "D00982 Wooden Spoon W", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00982 Wooden Spoon W", "part_name": "D00982 Wooden Spoon W" }, - "volume": 0.00026345200726511094 + "volume": 0.00026345200726511094, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "dc5cec4a73afaab7b1bdacd9ead34fa4cef995293d8781b171bd5ef4bf798b73" + }, + "usd_path": "batch3/D00982 Wooden Spoon W/IsaacSim_assets_69fdf2108102b48e9a57370c/IsaacSim_asset_69fdf2108102b48e9a57370c.usd", + "usd_sha256": "3fcd1f78c73c879ba4db61f0b0c1dc9129e4f20fa4fbac0afda15dc8abec679e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2822621092200279, - 0.028015809133648872, - 0.07205219939351082 - ] + 0.28219300508499146, + 0.07202600315213203, + 0.027998999123155954 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fcd1f78c73c879ba4db61f0b0c1dc9129e4f20fa4fbac0afda15dc8abec679e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.042 + "value_kg": 0.041999999433755875, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fcd1f78c73c879ba4db61f0b0c1dc9129e4f20fa4fbac0afda15dc8abec679e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.041999999433755875, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fcd1f78c73c879ba4db61f0b0c1dc9129e4f20fa4fbac0afda15dc8abec679e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fcd1f78c73c879ba4db61f0b0c1dc9129e4f20fa4fbac0afda15dc8abec679e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00124_Chickpea/IsaacSim_assets_6a828c75b7a9c4204ac60f3e/physics_6a828c75b7a9c4204ac60f3e.json b/batch30/D00124_Chickpea/IsaacSim_assets_6a828c75b7a9c4204ac60f3e/physics_6a828c75b7a9c4204ac60f3e.json index 6506380a38ae16b0d465a0672c31c27998903ed5..322cd7e232e6adf85861e8f069c374d1a2eff12d 100644 --- a/batch30/D00124_Chickpea/IsaacSim_assets_6a828c75b7a9c4204ac60f3e/physics_6a828c75b7a9c4204ac60f3e.json +++ b/batch30/D00124_Chickpea/IsaacSim_assets_6a828c75b7a9c4204ac60f3e/physics_6a828c75b7a9c4204ac60f3e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0029720000457018614, - 0.006940999999642372, - 0.0031610000878572464 - ], "min": [ -0.0033710000570863485, - 3.000000106112566e-06, - -0.003358999965712428 + -0.0031610000878572464, + 3.000000106112566e-06 + ], + "max": [ + 0.0029720000457018614, + 0.003358999965712428, + 0.006940999999642372 ], "size": [ 0.00634300010278821, - 0.0069379999995362596, - 0.0065200000535696745 - ] + 0.0065200000535696745, + 0.0069379999995362596 + ], + "units": "m" }, "description": "D00124 Chickpea", "name": "D00124 Chickpea", "object_type": "rigid_bodies", - "total_mass": 0.0003 + "total_mass": 0.0003000000142492354, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00124", "parts": [ { "bounds": { - "center": [ - -0.00019950000569224358, - 0.0034719999998742423, - -9.899993892759085e-05 + "min": [ + -0.0033710000570863485, + -0.0031610000878572464, + 3.000000106112566e-06 ], "max": [ 0.0029720000457018614, - 0.006940999999642372, - 0.0031610000878572464 + 0.003358999965712428, + 0.006940999999642372 ], - "min": [ - -0.0033710000570863485, - 3.000000106112566e-06, - -0.003358999965712428 - ] + "size": [ + 0.00634300010278821, + 0.0065200000535696745, + 0.0069379999995362596 + ], + "units": "m" }, "center_of_mass": [ -0.00010524375102249905, @@ -59,7 +65,7 @@ 1.2952939831833987e-09, 1.402206240008752e-09 ], - "mass": 0.0003, + "mass": 0.0003000000142492354, "material": "plastic", "name": "D00124 Chickpea", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00124 Chickpea", "part_name": "D00124 Chickpea" }, - "volume": 2.500000118743628e-07 + "volume": 2.500000118743628e-07, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "636dbbba30b62c7ac7b94550525e38b1344e95999316ca347134975361c8458d" + }, + "usd_path": "batch30/D00124_Chickpea/IsaacSim_assets_6a828c75b7a9c4204ac60f3e/IsaacSim_asset_6a828c75b7a9c4204ac60f3e.usd", + "usd_sha256": "b2f26e435acc046ca4e688e87c855bbc6f024eaaa823aaafdf651a8e42c1d3c3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,81 @@ "up_axis": "Z", "bounds_m": [ 0.00634300010278821, - 0.0069379999995362596, - 0.0065200000535696745 - ] + 0.0065200000535696745, + 0.0069379999995362596 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b2f26e435acc046ca4e688e87c855bbc6f024eaaa823aaafdf651a8e42c1d3c3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0003 + "value_kg": 0.0003000000142492354, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b2f26e435acc046ca4e688e87c855bbc6f024eaaa823aaafdf651a8e42c1d3c3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0003000000142492354, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b2f26e435acc046ca4e688e87c855bbc6f024eaaa823aaafdf651a8e42c1d3c3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b2f26e435acc046ca4e688e87c855bbc6f024eaaa823aaafdf651a8e42c1d3c3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "b2f26e435acc046ca4e688e87c855bbc6f024eaaa823aaafdf651a8e42c1d3c3", + "supplemental_accepted": false, + "planned_test_count": 12, + "result_count": 12, + "passed": 7, + "skipped": 1, + "failed": 4, + "issues": [ + "palatial_black_thumbnail:fail", + "presence:fail", + "preview_surface_renders:fail", + "semantic_labels_seg_labelled:fail", + "verified_native_thumbnail_missing" + ], + "warnings": [], + "completed_at": "2026-10-13T21:36:01.819648+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": null, + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00142 Egg Timer/IsaacSim_assets_6a7bbfedb56a872fd77d4630/physics_6a7bbfedb56a872fd77d4630.json b/batch30/D00142 Egg Timer/IsaacSim_assets_6a7bbfedb56a872fd77d4630/physics_6a7bbfedb56a872fd77d4630.json index bffe5c277a041f2ae7f4702bcc05c29f7fb462ff..24da02eda2ca6a001e279cd56df7605dfc61482d 100644 --- a/batch30/D00142 Egg Timer/IsaacSim_assets_6a7bbfedb56a872fd77d4630/physics_6a7bbfedb56a872fd77d4630.json +++ b/batch30/D00142 Egg Timer/IsaacSim_assets_6a7bbfedb56a872fd77d4630/physics_6a7bbfedb56a872fd77d4630.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03532699868083, - 0.0931759886443615, - 0.03564999997615814 - ], "min": [ -0.03547599911689758, - 0.00040398910641670054, - -0.03536299988627434 + -0.03564999997615814, + 0.00040398910641670054 + ], + "max": [ + 0.03532699868083, + 0.03536299988627434, + 0.0931759886443615 ], "size": [ 0.07080299779772758, - 0.0927719995379448, - 0.07101299986243248 - ] + 0.07101299986243248, + 0.0927719995379448 + ], + "units": "m" }, "description": "D00142 Egg Timer", "name": "D00142 Egg Timer", "object_type": "rigid_bodies", - "total_mass": 0.121 + "total_mass": 0.12099999934434891, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00142", "parts": [ { "bounds": { - "center": [ - -7.450021803379059e-05, - 0.0467899888753891, - 0.00014350004494190216 + "min": [ + -0.03547599911689758, + -0.03564999997615814, + 0.00040398910641670054 ], "max": [ 0.03532699868083, - 0.0931759886443615, - 0.03564999997615814 + 0.03536299988627434, + 0.0931759886443615 ], - "min": [ - -0.03547599911689758, - 0.00040398910641670054, - -0.03536299988627434 - ] + "size": [ + 0.07080299779772758, + 0.07101299986243248, + 0.0927719995379448 + ], + "units": "m" }, "center_of_mass": [ -4.311681550461799e-05, @@ -59,7 +65,7 @@ 8.805729157757014e-05, 8.847278513712808e-05 ], - "mass": 0.121, + "mass": 0.12099999934434891, "material": "metal", "name": "D00142 Egg Timer", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00142 Egg Timer", "part_name": "D00142 Egg Timer" }, - "volume": 1.551282042876268e-05 + "volume": 1.551282042876268e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a2b9683e4f57ae7d42da19c00b376f947012c236b86cba422bcf0163204f5675" + }, + "usd_path": "batch30/D00142 Egg Timer/IsaacSim_assets_6a7bbfedb56a872fd77d4630/IsaacSim_asset_6a7bbfedb56a872fd77d4630.usd", + "usd_sha256": "344e529a13ba40b4efc7f66bde205c181c4c5cd6bedeaa44ef633e604b3030ec", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,75 @@ "up_axis": "Z", "bounds_m": [ 0.07080299779772758, - 0.0927719995379448, - 0.07101299986243248 - ] + 0.07101299986243248, + 0.0927719995379448 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "344e529a13ba40b4efc7f66bde205c181c4c5cd6bedeaa44ef633e604b3030ec", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.121 + "value_kg": 0.12099999934434891, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "344e529a13ba40b4efc7f66bde205c181c4c5cd6bedeaa44ef633e604b3030ec", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.12099999934434891, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "344e529a13ba40b4efc7f66bde205c181c4c5cd6bedeaa44ef633e604b3030ec", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "344e529a13ba40b4efc7f66bde205c181c4c5cd6bedeaa44ef633e604b3030ec", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "344e529a13ba40b4efc7f66bde205c181c4c5cd6bedeaa44ef633e604b3030ec", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:11:00.708597+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "415fb82e16245063ffa2810429aa7d123fa7d1c1678e98d9cf071fe2f1fd9171", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00478 Knife Set/IsaacSim_assets_6a82bf76b7a9c4204acae31b/physics_6a82bf76b7a9c4204acae31b.json b/batch30/D00478 Knife Set/IsaacSim_assets_6a82bf76b7a9c4204acae31b/physics_6a82bf76b7a9c4204acae31b.json index 8adb612d9133b01fd7a5b6ca6d0a158ff4832637..a89f3d708857feaf2fc46a2fcbfe3de62681a014 100644 --- a/batch30/D00478 Knife Set/IsaacSim_assets_6a82bf76b7a9c4204acae31b/physics_6a82bf76b7a9c4204acae31b.json +++ b/batch30/D00478 Knife Set/IsaacSim_assets_6a82bf76b7a9c4204acae31b/physics_6a82bf76b7a9c4204acae31b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14669199287891388, - 0.02270505018532276, - 0.035307999700307846 - ], "min": [ -0.19234399497509003, - 0.0012040494475513697, - -0.02264299988746643 + -0.035307999700307846, + 0.0012040494475513697 + ], + "max": [ + 0.14669199287891388, + 0.02264299988746643, + 0.02270505018532276 ], "size": [ 0.3390359878540039, - 0.021501000737771392, - 0.05795099958777428 - ] + 0.05795099958777428, + 0.021501000737771392 + ], + "units": "m" }, "description": "D00478 Knife Set", "name": "D00478 Knife Set", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00478", "parts": [ { "bounds": { - "center": [ - -0.022826001048088074, - 0.011954549816437066, - 0.006332499906420708 + "min": [ + -0.19234399497509003, + -0.035307999700307846, + 0.0012040494475513697 ], "max": [ 0.14669199287891388, - 0.02270505018532276, - 0.035307999700307846 + 0.02264299988746643, + 0.02270505018532276 ], - "min": [ - -0.19234399497509003, - 0.0012040494475513697, - -0.02264299988746643 - ] + "size": [ + 0.3390359878540039, + 0.05795099958777428, + 0.021501000737771392 + ], + "units": "m" }, "center_of_mass": [ 0.016739223152399063, @@ -67,10 +73,27 @@ "object_name": "D00478 Knife Set", "part_name": "D00478 Knife Set" }, - "volume": 7.142857142857143e-05 + "volume": 7.142857142857143e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "04a7afa5d6f80c6dc860efe49bf0c07e8481e80bc0d46cdfc248ed9f002c0169" + }, + "usd_path": "batch30/D00478 Knife Set/IsaacSim_assets_6a82bf76b7a9c4204acae31b/IsaacSim_asset_6a82bf76b7a9c4204acae31b.usd", + "usd_sha256": "5536ed04720ccdfbbd4248ad9331de02b1e55b5e810bfcb2e8ca436b77ce9057", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.3390359878540039, - 0.021501000737771392, - 0.05795099958777428 - ] + 0.05795099958777428, + 0.021501000737771392 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5536ed04720ccdfbbd4248ad9331de02b1e55b5e810bfcb2e8ca436b77ce9057", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5536ed04720ccdfbbd4248ad9331de02b1e55b5e810bfcb2e8ca436b77ce9057", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5536ed04720ccdfbbd4248ad9331de02b1e55b5e810bfcb2e8ca436b77ce9057", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5536ed04720ccdfbbd4248ad9331de02b1e55b5e810bfcb2e8ca436b77ce9057", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00545 Mug Jar/IsaacSim_assets_6a82f654b7a9c4204ad3f81b/physics_6a82f654b7a9c4204ad3f81b.json b/batch30/D00545 Mug Jar/IsaacSim_assets_6a82f654b7a9c4204ad3f81b/physics_6a82f654b7a9c4204ad3f81b.json index dea058f648d654d6b49fa1d4e4dd13baaf375ddd..93e9218a5200014be555ab54fc5ca86451b19b53 100644 --- a/batch30/D00545 Mug Jar/IsaacSim_assets_6a82f654b7a9c4204ad3f81b/physics_6a82f654b7a9c4204ad3f81b.json +++ b/batch30/D00545 Mug Jar/IsaacSim_assets_6a82f654b7a9c4204ad3f81b/physics_6a82f654b7a9c4204ad3f81b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.054301999509334564, - 0.11543899029493332, - 0.033525001257658005 - ], "min": [ -0.037859998643398285, - 0.0006039896979928017, - -0.03419199958443642 + -0.033525001257658005, + 0.0006039896979928017 + ], + "max": [ + 0.054301999509334564, + 0.03419199958443642, + 0.11543899029493332 ], "size": [ 0.09216199815273285, - 0.11483500059694052, - 0.06771700084209442 - ] + 0.06771700084209442, + 0.11483500059694052 + ], + "units": "m" }, "description": "D00545 Mug Jar", "name": "D00545 Mug Jar", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00545", "parts": [ { "bounds": { - "center": [ - 0.00822100043296814, - 0.05802148999646306, - -0.00033349916338920593 + "min": [ + -0.037859998643398285, + -0.033525001257658005, + 0.0006039896979928017 ], "max": [ 0.054301999509334564, - 0.11543899029493332, - 0.033525001257658005 + 0.03419199958443642, + 0.11543899029493332 ], - "min": [ - -0.037859998643398285, - 0.0006039896979928017, - -0.03419199958443642 - ] + "size": [ + 0.09216199815273285, + 0.06771700084209442, + 0.11483500059694052 + ], + "units": "m" }, "center_of_mass": [ 0.0004168762534391135, @@ -59,7 +65,7 @@ 0.0004822810587938875, 0.0005413692560978234 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic_or_glass", "name": "D00545 Mug Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00545 Mug Jar", "part_name": "D00545 Mug Jar" }, - "volume": 0.0001600000023841858 + "volume": 0.0001600000023841858, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7dddaac579c3d7f51abdde42361226fffe2ef9d33b58831b5f4a0e14089e7ab1" + }, + "usd_path": "batch30/D00545 Mug Jar/IsaacSim_assets_6a82f654b7a9c4204ad3f81b/IsaacSim_asset_6a82f654b7a9c4204ad3f81b.usd", + "usd_sha256": "e37803c7f991b38d542709a77fa824113a8660c1c82e88631fc0efbe01135c71", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.09216199815273285, - 0.11483500059694052, - 0.06771700084209442 - ] + 0.06771700084209442, + 0.11483500059694052 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e37803c7f991b38d542709a77fa824113a8660c1c82e88631fc0efbe01135c71", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e37803c7f991b38d542709a77fa824113a8660c1c82e88631fc0efbe01135c71", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 33, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e37803c7f991b38d542709a77fa824113a8660c1c82e88631fc0efbe01135c71", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 33, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e37803c7f991b38d542709a77fa824113a8660c1c82e88631fc0efbe01135c71", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00557 Sugar Dispenser/IsaacSim_assets_6a828bbeb7a9c4204ac5ea89/physics_6a828bbeb7a9c4204ac5ea89.json b/batch30/D00557 Sugar Dispenser/IsaacSim_assets_6a828bbeb7a9c4204ac5ea89/physics_6a828bbeb7a9c4204ac5ea89.json index c397c98a003c5c90af7e75acb3ad3337e8645b9f..c9cd9547ea1a61c02220ce3c7ea3bfdfb65c0ae2 100644 --- a/batch30/D00557 Sugar Dispenser/IsaacSim_assets_6a828bbeb7a9c4204ac5ea89/physics_6a828bbeb7a9c4204ac5ea89.json +++ b/batch30/D00557 Sugar Dispenser/IsaacSim_assets_6a828bbeb7a9c4204ac5ea89/physics_6a828bbeb7a9c4204ac5ea89.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_00", "body1": "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_01", "joint_path": "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/Joints/joint_jar_body__dispenser_lid", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_body__dispenser_lid", + "path": "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/Joints/joint_jar_body__dispenser_lid", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_01" + ], + "authored_usd": { + "id": "joint_jar_body__dispenser_lid", + "source_prim_path": "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/Joints/joint_jar_body__dispenser_lid", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_00" + ], + "body1": [ + "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0004768781363964081 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0004768781363964081 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_01", "body1": "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_02", "joint_path": "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/Joints/joint_dispenser_lid__spout_flap", - "type": "fixed" + "type": "fixed", + "id": "joint_dispenser_lid__spout_flap", + "path": "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/Joints/joint_dispenser_lid__spout_flap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_02" + ], + "authored_usd": { + "id": "joint_dispenser_lid__spout_flap", + "source_prim_path": "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/Joints/joint_dispenser_lid__spout_flap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_01" + ], + "body1": [ + "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0004768781363964081 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0004768781363964081 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03577699884772301, - 0.1343148797750473, - 0.03497200086712837 - ], "min": [ -0.035613998770713806, - 0.0004978781216777861, - -0.03516799956560135 + -0.03497200086712837, + 0.0004978781216777861 + ], + "max": [ + 0.03577699884772301, + 0.03516799956560135, + 0.1343148797750473 ], "size": [ 0.07139099761843681, - 0.13381700165336952, - 0.07014000043272972 - ] + 0.07014000043272972, + 0.13381700165336952 + ], + "units": "m" }, "description": "D00557 Sugar Dispenser", "name": "D00557 Sugar Dispenser", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.3000000005122274, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00557", "parts": [ { "bounds": { - "center": [ - 8.150003850460052e-05, - 0.04657837774720974, - -9.799934923648834e-05 + "min": [ + -0.035613998770713806, + -0.03497200086712837, + 0.0004978781216777861 ], "max": [ 0.03577699884772301, - 0.0926588773727417, - 0.03497200086712837 + 0.03516799956560135, + 0.0926588773727417 ], - "min": [ - -0.035613998770713806, - 0.0004978781216777861, - -0.03516799956560135 - ] + "size": [ + 0.07139099761843681, + 0.07014000043272972, + 0.09216099925106391 + ], + "units": "m" }, "center_of_mass": [ 6.888870120747015e-05, @@ -80,25 +176,28 @@ "object_name": "D00557 Sugar Dispenser", "part_name": "D00557 Sugar Dispenser" }, - "volume": 0.0001 + "volume": 0.0001, + "source_prim_path": "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00013350136578083038, - 0.11167638003826141, - -0.00013650022447109222 + "min": [ + -0.033142998814582825, + -0.03263700008392334, + 0.08903788030147552 ], "max": [ 0.033410001546144485, - 0.1343148797750473, - 0.03263700008392334 + 0.032910000532865524, + 0.1343148797750473 ], - "min": [ - -0.033142998814582825, - 0.08903788030147552, - -0.032910000532865524 - ] + "size": [ + 0.06655300036072731, + 0.06554700061678886, + 0.04527699947357178 + ], + "units": "m" }, "center_of_mass": [ -0.00012814527144655585, @@ -113,7 +212,7 @@ 1.4543187717208639e-05, 1.9934384908992797e-05 ], - "mass": 0.048, + "mass": 0.04800000041723251, "material": "metal", "name": "D00557 Sugar Dispenser", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00557 Sugar Dispenser", "part_name": "D00557 Sugar Dispenser" }, - "volume": 6.000000052154064e-06 + "volume": 6.000000052154064e-06, + "source_prim_path": "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00011650030501186848, - 0.10822088271379471, - -0.0001655002124607563 + "min": [ + -0.007615999784320593, + -0.007981999777257442, + 0.1077948808670044 ], "max": [ 0.00784900039434433, - 0.10864688456058502, - 0.007981999777257442 + 0.008313000202178955, + 0.10864688456058502 ], - "min": [ - -0.007615999784320593, - 0.1077948808670044, - -0.008313000202178955 - ] + "size": [ + 0.015465000178664923, + 0.016294999979436398, + 0.0008520036935806274 + ], + "units": "m" }, "center_of_mass": [ 0.00010369929077569395, @@ -154,7 +256,7 @@ 3.1453563309469246e-08, 5.8946703518358845e-08 ], - "mass": 0.002, + "mass": 0.0020000000949949026, "material": "metal", "name": "D00557 Sugar Dispenser", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00557 Sugar Dispenser", "part_name": "D00557 Sugar Dispenser" }, - "volume": 2.500000118743628e-07 + "volume": 2.500000118743628e-07, + "source_prim_path": "/World/textured_mesh_6a828bbeb7a9c4204ac5ea89/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9f3682ae4406ad4a7fb789d551b16f249f210dfd4cc4d9c0a20dd55b85fe635e" + }, + "usd_path": "batch30/D00557 Sugar Dispenser/IsaacSim_assets_6a828bbeb7a9c4204ac5ea89/IsaacSim_asset_6a828bbeb7a9c4204ac5ea89.usd", + "usd_sha256": "fe3892c6355c4fb5285da7de4ffdac0f03eb5736379f8a6f0199de87953e909e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,58 @@ "up_axis": "Z", "bounds_m": [ 0.07139099761843681, - 0.13381700165336952, - 0.07014000043272972 - ] + 0.07014000043272972, + 0.13381700165336952 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe3892c6355c4fb5285da7de4ffdac0f03eb5736379f8a6f0199de87953e909e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.3000000005122274, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe3892c6355c4fb5285da7de4ffdac0f03eb5736379f8a6f0199de87953e909e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3000000005122274, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 65, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe3892c6355c4fb5285da7de4ffdac0f03eb5736379f8a6f0199de87953e909e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 65, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe3892c6355c4fb5285da7de4ffdac0f03eb5736379f8a6f0199de87953e909e", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00774_Baguette/IsaacSim_assets_6a7d5f30b7a9c4204a73df89/physics_6a7d5f30b7a9c4204a73df89.json b/batch30/D00774_Baguette/IsaacSim_assets_6a7d5f30b7a9c4204a73df89/physics_6a7d5f30b7a9c4204a73df89.json index fdfbce9457635054b8d3b9b23c3ebc3e36d01c7c..212b70b4f0c1d1d630a514de7b5f499178b9d8ec 100644 --- a/batch30/D00774_Baguette/IsaacSim_assets_6a7d5f30b7a9c4204a73df89/physics_6a7d5f30b7a9c4204a73df89.json +++ b/batch30/D00774_Baguette/IsaacSim_assets_6a7d5f30b7a9c4204a73df89/physics_6a7d5f30b7a9c4204a73df89.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.3101640045642853, - 0.09315957129001617, - 0.08666399866342545 - ], "min": [ -0.30972298979759216, - 0.00336957074023303, - -0.09691199660301208 + -0.08666399866342545, + 0.00336957074023303 + ], + "max": [ + 0.3101640045642853, + 0.09691199660301208, + 0.09315957129001617 ], "size": [ 0.6198869943618774, - 0.08979000054978314, - 0.18357599526643753 - ] + 0.18357599526643753, + 0.08979000054978314 + ], + "units": "m" }, "description": "D00774 Baguette", "name": "D00774 Baguette", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00774", "parts": [ { "bounds": { - "center": [ - 0.00022050738334655762, - 0.0482645710151246, - -0.00512399896979332 + "min": [ + -0.30972298979759216, + -0.08666399866342545, + 0.00336957074023303 ], "max": [ 0.3101640045642853, - 0.09315957129001617, - 0.08666399866342545 + 0.09691199660301208, + 0.09315957129001617 ], - "min": [ - -0.30972298979759216, - 0.00336957074023303, - -0.09691199660301208 - ] + "size": [ + 0.6198869943618774, + 0.18357599526643753, + 0.08979000054978314 + ], + "units": "m" }, "center_of_mass": [ 0.003094322979450226, @@ -67,10 +73,27 @@ "object_name": "D00774 Baguette", "part_name": "D00774 Baguette" }, - "volume": 0.0011792452830188679 + "volume": 0.0011792452830188679, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5ef27ed17c2e2b056d1a04c5a60db3467e1b9230ef74b84ba8ba3912c1a01fbe" + }, + "usd_path": "batch30/D00774_Baguette/IsaacSim_assets_6a7d5f30b7a9c4204a73df89/IsaacSim_asset_6a7d5f30b7a9c4204a73df89.usd", + "usd_sha256": "f1f2f74ffbf24fd7ee828841e3c49e80a56b2e9a95740937f1245b46048902f6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.6198869943618774, - 0.08979000054978314, - 0.18357599526643753 - ] + 0.18357599526643753, + 0.08979000054978314 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f1f2f74ffbf24fd7ee828841e3c49e80a56b2e9a95740937f1245b46048902f6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f1f2f74ffbf24fd7ee828841e3c49e80a56b2e9a95740937f1245b46048902f6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f1f2f74ffbf24fd7ee828841e3c49e80a56b2e9a95740937f1245b46048902f6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f1f2f74ffbf24fd7ee828841e3c49e80a56b2e9a95740937f1245b46048902f6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00776_Waffle/IsaacSim_assets_6a7d6b12b7a9c4204a74cde8/physics_6a7d6b12b7a9c4204a74cde8.json b/batch30/D00776_Waffle/IsaacSim_assets_6a7d6b12b7a9c4204a74cde8/physics_6a7d6b12b7a9c4204a74cde8.json index 0de2fd1522f5e8b2579673a47d8b9fb17bc35ed7..626c26c6bfa993d1ccfe29d9201780f44f56a1a7 100644 --- a/batch30/D00776_Waffle/IsaacSim_assets_6a7d6b12b7a9c4204a74cde8/physics_6a7d6b12b7a9c4204a74cde8.json +++ b/batch30/D00776_Waffle/IsaacSim_assets_6a7d6b12b7a9c4204a74cde8/physics_6a7d6b12b7a9c4204a74cde8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.059480998665094376, - 0.031878409907221794, - 0.05932899937033653 - ], "min": [ -0.05929400026798248, - 0.0006514100899721598, - -0.05946899950504303 + -0.05932899937033653, + 0.0006514100899721598 + ], + "max": [ + 0.059480998665094376, + 0.05946899950504303, + 0.031878409907221794 ], "size": [ 0.11877499893307686, - 0.031226999817249634, - 0.11879799887537956 - ] + 0.11879799887537956, + 0.031226999817249634 + ], + "units": "m" }, "description": "D00776 Waffle", "name": "D00776 Waffle", "object_type": "rigid_bodies", - "total_mass": 0.04 + "total_mass": 0.03999999910593033, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00776", "parts": [ { "bounds": { - "center": [ - 9.349919855594635e-05, - 0.016264909998596977, - -7.00000673532486e-05 + "min": [ + -0.05929400026798248, + -0.05932899937033653, + 0.0006514100899721598 ], "max": [ 0.059480998665094376, - 0.031878409907221794, - 0.05932899937033653 + 0.05946899950504303, + 0.031878409907221794 ], - "min": [ - -0.05929400026798248, - 0.0006514100899721598, - -0.05946899950504303 - ] + "size": [ + 0.11877499893307686, + 0.11879799887537956, + 0.031226999817249634 + ], + "units": "m" }, "center_of_mass": [ 0.00010711370123317465, @@ -59,7 +65,7 @@ 4.5639775635208935e-05, 8.492819324601442e-05 ], - "mass": 0.04, + "mass": 0.03999999910593033, "material": "wood", "name": "D00776 Waffle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00776 Waffle", "part_name": "D00776 Waffle" }, - "volume": 4.4444443451033696e-05 + "volume": 4.4444443451033696e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2e40e362f39dddaf2e35b221513186fa9842dbb3d83b5e464da0a7445cd365ba" + }, + "usd_path": "batch30/D00776_Waffle/IsaacSim_assets_6a7d6b12b7a9c4204a74cde8/IsaacSim_asset_6a7d6b12b7a9c4204a74cde8.usd", + "usd_sha256": "32ee8c0e4345949d1bfa44daf3f71cbb7fdd0ad3f9c8d37cee10a1f85710cc5f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.11877499893307686, - 0.031226999817249634, - 0.11879799887537956 - ] + 0.11879799887537956, + 0.031226999817249634 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32ee8c0e4345949d1bfa44daf3f71cbb7fdd0ad3f9c8d37cee10a1f85710cc5f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.04 + "value_kg": 0.03999999910593033, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32ee8c0e4345949d1bfa44daf3f71cbb7fdd0ad3f9c8d37cee10a1f85710cc5f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.03999999910593033, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 69, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32ee8c0e4345949d1bfa44daf3f71cbb7fdd0ad3f9c8d37cee10a1f85710cc5f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 69, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32ee8c0e4345949d1bfa44daf3f71cbb7fdd0ad3f9c8d37cee10a1f85710cc5f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00783_Onigiri/IsaacSim_assets_6a7d87d6b7a9c4204a787c0a/physics_6a7d87d6b7a9c4204a787c0a.json b/batch30/D00783_Onigiri/IsaacSim_assets_6a7d87d6b7a9c4204a787c0a/physics_6a7d87d6b7a9c4204a787c0a.json index c5482458ef4d5df73521c218d9de52507f2ff1e6..99aa60aeafca6df56b2bd7307e821a9c7b2f0f53 100644 --- a/batch30/D00783_Onigiri/IsaacSim_assets_6a7d87d6b7a9c4204a787c0a/physics_6a7d87d6b7a9c4204a787c0a.json +++ b/batch30/D00783_Onigiri/IsaacSim_assets_6a7d87d6b7a9c4204a787c0a/physics_6a7d87d6b7a9c4204a787c0a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03763899952173233, - 0.062127361074090004, - 0.018685000017285347 - ], "min": [ -0.035670001059770584, - 0.0003993592918050126, - -0.023628000169992447 + -0.018685000017285347, + 0.0003993592918050126 + ], + "max": [ + 0.03763899952173233, + 0.023628000169992447, + 0.062127361074090004 ], "size": [ 0.07330900058150291, - 0.06172800178228499, - 0.042313000187277794 - ] + 0.042313000187277794, + 0.06172800178228499 + ], + "units": "m" }, "description": "D00783 Onigiri", "name": "D00783 Onigiri", "object_type": "rigid_bodies", - "total_mass": 0.1 + "total_mass": 0.10000000149011612, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00783", "parts": [ { "bounds": { - "center": [ - 0.000984499230980873, - 0.03126336018294751, - -0.00247150007635355 + "min": [ + -0.035670001059770584, + -0.018685000017285347, + 0.0003993592918050126 ], "max": [ 0.03763899952173233, - 0.062127361074090004, - 0.018685000017285347 + 0.023628000169992447, + 0.062127361074090004 ], - "min": [ - -0.035670001059770584, - 0.0003993592918050126, - -0.023628000169992447 - ] + "size": [ + 0.07330900058150291, + 0.042313000187277794, + 0.06172800178228499 + ], + "units": "m" }, "center_of_mass": [ 0.0010069439886137843, @@ -59,7 +65,7 @@ 3.8560414395760745e-05, 4.956712291459553e-05 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "plastic", "name": "D00783 Onigiri", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00783 Onigiri", "part_name": "D00783 Onigiri" }, - "volume": 8.333333457509676e-05 + "volume": 8.333333457509676e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f784070d030682578172eff749f6b97ea97fbab290dd848a4e5fc47043bf9258" + }, + "usd_path": "batch30/D00783_Onigiri/IsaacSim_assets_6a7d87d6b7a9c4204a787c0a/IsaacSim_asset_6a7d87d6b7a9c4204a787c0a.usd", + "usd_sha256": "00236ef91300190b44c9e9dccbd56aaf83e3f9229e996d4a0ea1452c767cd108", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.07330900058150291, - 0.06172800178228499, - 0.042313000187277794 - ] + 0.042313000187277794, + 0.06172800178228499 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "00236ef91300190b44c9e9dccbd56aaf83e3f9229e996d4a0ea1452c767cd108", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.1 + "value_kg": 0.10000000149011612, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "00236ef91300190b44c9e9dccbd56aaf83e3f9229e996d4a0ea1452c767cd108", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.10000000149011612, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "00236ef91300190b44c9e9dccbd56aaf83e3f9229e996d4a0ea1452c767cd108", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "00236ef91300190b44c9e9dccbd56aaf83e3f9229e996d4a0ea1452c767cd108", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00786_Egg_Tart/IsaacSim_assets_6a7d6e94b7a9c4204a755063/physics_6a7d6e94b7a9c4204a755063.json b/batch30/D00786_Egg_Tart/IsaacSim_assets_6a7d6e94b7a9c4204a755063/physics_6a7d6e94b7a9c4204a755063.json index 0758201bc2b3a24167ebeaf9defb4e1d9c8287bd..c57c8d7b394f4928e915587700e2b22956d013ef 100644 --- a/batch30/D00786_Egg_Tart/IsaacSim_assets_6a7d6e94b7a9c4204a755063/physics_6a7d6e94b7a9c4204a755063.json +++ b/batch30/D00786_Egg_Tart/IsaacSim_assets_6a7d6e94b7a9c4204a755063/physics_6a7d6e94b7a9c4204a755063.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0381769984960556, - 0.028089658357203007, - 0.037227001041173935 - ], "min": [ -0.0359559990465641, - 0.0004056592082406496, - -0.03688500076532364 + -0.037227001041173935, + 0.0004056592082406496 + ], + "max": [ + 0.0381769984960556, + 0.03688500076532364, + 0.028089658357203007 ], "size": [ 0.0741329975426197, - 0.027683999148962357, - 0.07411200180649757 - ] + 0.07411200180649757, + 0.027683999148962357 + ], + "units": "m" }, "description": "D00786 Egg_Tart", "name": "D00786 Egg_Tart", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00786", "parts": [ { "bounds": { - "center": [ - 0.0011104997247457504, - 0.014247658782721828, - 0.000171000137925148 + "min": [ + -0.0359559990465641, + -0.037227001041173935, + 0.0004056592082406496 ], "max": [ 0.0381769984960556, - 0.028089658357203007, - 0.037227001041173935 + 0.03688500076532364, + 0.028089658357203007 ], - "min": [ - -0.0359559990465641, - 0.0004056592082406496, - -0.03688500076532364 - ] + "size": [ + 0.0741329975426197, + 0.07411200180649757, + 0.027683999148962357 + ], + "units": "m" }, "center_of_mass": [ 0.000997262541204691, @@ -59,7 +65,7 @@ 1.6288853657897562e-05, 2.7064295863965526e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "light_wood_or_paper", "name": "D00786 Egg_Tart", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00786 Egg_Tart", "part_name": "D00786 Egg_Tart" }, - "volume": 0.00016666666915019353 + "volume": 0.00016666666915019353, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4b999863aa52c82c22387ad58fc065c925fcfcc4c9ec807a32ff7cf8722376fb" + }, + "usd_path": "batch30/D00786_Egg_Tart/IsaacSim_assets_6a7d6e94b7a9c4204a755063/IsaacSim_asset_6a7d6e94b7a9c4204a755063.usd", + "usd_sha256": "0f1dc63dfaf33b823d0ad0cdf3292e54b670a0427e2b73705378680908fd4f71", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.0741329975426197, - 0.027683999148962357, - 0.07411200180649757 - ] + 0.07411200180649757, + 0.027683999148962357 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f1dc63dfaf33b823d0ad0cdf3292e54b670a0427e2b73705378680908fd4f71", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f1dc63dfaf33b823d0ad0cdf3292e54b670a0427e2b73705378680908fd4f71", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f1dc63dfaf33b823d0ad0cdf3292e54b670a0427e2b73705378680908fd4f71", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f1dc63dfaf33b823d0ad0cdf3292e54b670a0427e2b73705378680908fd4f71", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00791_Eclair/IsaacSim_assets_6a7d877fb7a9c4204a786e12/physics_6a7d877fb7a9c4204a786e12.json b/batch30/D00791_Eclair/IsaacSim_assets_6a7d877fb7a9c4204a786e12/physics_6a7d877fb7a9c4204a786e12.json index eea72e74bbf51296d60b87e4d4b2ab439f1ecf94..115257eef690e616c023de3d5d11b2cb8f116203 100644 --- a/batch30/D00791_Eclair/IsaacSim_assets_6a7d877fb7a9c4204a786e12/physics_6a7d877fb7a9c4204a786e12.json +++ b/batch30/D00791_Eclair/IsaacSim_assets_6a7d877fb7a9c4204a786e12/physics_6a7d877fb7a9c4204a786e12.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.023273000493645668, - 0.0385208074003458, - 0.06396500021219254 - ], "min": [ -0.02419300004839897, - 0.0006458091160084223, - -0.06565800309181213 + -0.06396500021219254, + 0.0006458091160084223 + ], + "max": [ + 0.023273000493645668, + 0.06565800309181213, + 0.0385208074003458 ], "size": [ 0.04746600054204464, - 0.03787499828433738, - 0.12962300330400467 - ] + 0.12962300330400467, + 0.03787499828433738 + ], + "units": "m" }, "description": "D00791 Eclair", "name": "D00791 Eclair", "object_type": "rigid_bodies", - "total_mass": 0.08 + "total_mass": 0.07999999821186066, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00791", "parts": [ { "bounds": { - "center": [ - -0.00045999977737665176, - 0.019583308258177112, - -0.0008465014398097992 + "min": [ + -0.02419300004839897, + -0.06396500021219254, + 0.0006458091160084223 ], "max": [ 0.023273000493645668, - 0.0385208074003458, - 0.06396500021219254 + 0.06565800309181213, + 0.0385208074003458 ], - "min": [ - -0.02419300004839897, - 0.0006458091160084223, - -0.06565800309181213 - ] + "size": [ + 0.04746600054204464, + 0.12962300330400467, + 0.03787499828433738 + ], + "units": "m" }, "center_of_mass": [ -0.0005534195224754512, @@ -59,7 +65,7 @@ 9.604915248928592e-05, 9.994175343308598e-05 ], - "mass": 0.08, + "mass": 0.07999999821186066, "material": "wood", "name": "D00791 Eclair", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00791 Eclair", "part_name": "D00791 Eclair" }, - "volume": 9.999999776482581e-05 + "volume": 9.999999776482581e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bb036ffc16087753d6effb80aa22ac84a1a7aefb77517ed72d75a79b01d45068" + }, + "usd_path": "batch30/D00791_Eclair/IsaacSim_assets_6a7d877fb7a9c4204a786e12/IsaacSim_asset_6a7d877fb7a9c4204a786e12.usd", + "usd_sha256": "c12d0e574b5dca91c0a7d97821d15f1830ef4c071531322189fea166cf576df7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.04746600054204464, - 0.03787499828433738, - 0.12962300330400467 - ] + 0.12962300330400467, + 0.03787499828433738 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c12d0e574b5dca91c0a7d97821d15f1830ef4c071531322189fea166cf576df7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.08 + "value_kg": 0.07999999821186066, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c12d0e574b5dca91c0a7d97821d15f1830ef4c071531322189fea166cf576df7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07999999821186066, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c12d0e574b5dca91c0a7d97821d15f1830ef4c071531322189fea166cf576df7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c12d0e574b5dca91c0a7d97821d15f1830ef4c071531322189fea166cf576df7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00794_Spray_Bottle/IsaacSim_assets_6a7d86e0b7a9c4204a785871/physics_6a7d86e0b7a9c4204a785871.json b/batch30/D00794_Spray_Bottle/IsaacSim_assets_6a7d86e0b7a9c4204a785871/physics_6a7d86e0b7a9c4204a785871.json index 45ef064e996fe7551314942c5676e4d2332fb713..9e3baba4e093e8ab45409750a3916fcb605c2687 100644 --- a/batch30/D00794_Spray_Bottle/IsaacSim_assets_6a7d86e0b7a9c4204a785871/physics_6a7d86e0b7a9c4204a785871.json +++ b/batch30/D00794_Spray_Bottle/IsaacSim_assets_6a7d86e0b7a9c4204a785871/physics_6a7d86e0b7a9c4204a785871.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04670000076293945, - 0.20059195905923843, - 0.03705799952149391 - ], "min": [ -0.05691000074148178, - 0.0009569516100782494, - -0.03719399869441986 + -0.03705799952149391, + 0.0009569516100782494 + ], + "max": [ + 0.04670000076293945, + 0.03719399869441986, + 0.20059195905923843 ], "size": [ 0.10361000150442123, - 0.19963500744916018, - 0.07425199821591377 - ] + 0.07425199821591377, + 0.19963500744916018 + ], + "units": "m" }, "description": "D00794 Spray_Bottle", "name": "D00794 Spray_Bottle", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00794", "parts": [ { "bounds": { - "center": [ - -0.005104999989271164, - 0.10077445533465834, - -6.799958646297455e-05 + "min": [ + -0.05691000074148178, + -0.03705799952149391, + 0.0009569516100782494 ], "max": [ 0.04670000076293945, - 0.20059195905923843, - 0.03705799952149391 + 0.03719399869441986, + 0.20059195905923843 ], - "min": [ - -0.05691000074148178, - 0.0009569516100782494, - -0.03719399869441986 - ] + "size": [ + 0.10361000150442123, + 0.07425199821591377, + 0.19963500744916018 + ], + "units": "m" }, "center_of_mass": [ 0.0014609743375331163, @@ -59,7 +65,7 @@ 0.0004197254020255059, 0.00045456134830601513 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "plastic", "name": "D00794 Spray_Bottle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00794 Spray_Bottle", "part_name": "D00794 Spray_Bottle" }, - "volume": 0.0001578947431162784 + "volume": 0.0001578947431162784, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "763d9e59123c63209c56a1ee671f2eb77d8e783ccbd61496c80cd47d81ca23a7" + }, + "usd_path": "batch30/D00794_Spray_Bottle/IsaacSim_assets_6a7d86e0b7a9c4204a785871/IsaacSim_asset_6a7d86e0b7a9c4204a785871.usd", + "usd_sha256": "b3b92cfeeb3e030fa674f5594c9712c841aad09c2d521f9d7a554c59a6e9e832", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.10361000150442123, - 0.19963500744916018, - 0.07425199821591377 - ] + 0.07425199821591377, + 0.19963500744916018 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b3b92cfeeb3e030fa674f5594c9712c841aad09c2d521f9d7a554c59a6e9e832", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b3b92cfeeb3e030fa674f5594c9712c841aad09c2d521f9d7a554c59a6e9e832", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b3b92cfeeb3e030fa674f5594c9712c841aad09c2d521f9d7a554c59a6e9e832", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b3b92cfeeb3e030fa674f5594c9712c841aad09c2d521f9d7a554c59a6e9e832", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00809 Steamer Container/IsaacSim_assets_6a7eae40b7a9c4204a9a2a77/physics_6a7eae40b7a9c4204a9a2a77.json b/batch30/D00809 Steamer Container/IsaacSim_assets_6a7eae40b7a9c4204a9a2a77/physics_6a7eae40b7a9c4204a9a2a77.json index 57fcc017995111d3fd79673146f264115dbc4a52..21605dd9adb7e34f8ea929374ad026135213c91f 100644 --- a/batch30/D00809 Steamer Container/IsaacSim_assets_6a7eae40b7a9c4204a9a2a77/physics_6a7eae40b7a9c4204a9a2a77.json +++ b/batch30/D00809 Steamer Container/IsaacSim_assets_6a7eae40b7a9c4204a9a2a77/physics_6a7eae40b7a9c4204a9a2a77.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07976000010967255, - 0.0551435612142086, - 0.07885400205850601 - ], "min": [ -0.07854200154542923, - 0.0007655600784346461, - -0.07935799658298492 + -0.07885400205850601, + 0.0007655600784346461 + ], + "max": [ + 0.07976000010967255, + 0.07935799658298492, + 0.0551435612142086 ], "size": [ 0.15830200165510178, - 0.05437800113577396, - 0.15821199864149094 - ] + 0.15821199864149094, + 0.05437800113577396 + ], + "units": "m" }, "description": "D00809 Steamer Container", "name": "D00809 Steamer Container", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00809", "parts": [ { "bounds": { - "center": [ - 0.0006089992821216583, - 0.027954560646321625, - -0.0002519972622394562 + "min": [ + -0.07854200154542923, + -0.07885400205850601, + 0.0007655600784346461 ], "max": [ 0.07976000010967255, - 0.0551435612142086, - 0.07885400205850601 + 0.07935799658298492, + 0.0551435612142086 ], - "min": [ - -0.07854200154542923, - 0.0007655600784346461, - -0.07935799658298492 - ] + "size": [ + 0.15830200165510178, + 0.15821199864149094, + 0.05437800113577396 + ], + "units": "m" }, "center_of_mass": [ 0.000541216169949621, @@ -59,7 +65,7 @@ 0.0003527372027747333, 0.0006100113387219608 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "light_wood_or_paper", "name": "D00809 Steamer Container", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00809 Steamer Container", "part_name": "D00809 Steamer Container" }, - "volume": 0.0005000000074505806 + "volume": 0.0005000000074505806, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5bae075709c34f6ee0688ff0faafb7ac975aac5de8a272e40ec2cc7c348688d6" + }, + "usd_path": "batch30/D00809 Steamer Container/IsaacSim_assets_6a7eae40b7a9c4204a9a2a77/IsaacSim_asset_6a7eae40b7a9c4204a9a2a77.usd", + "usd_sha256": "3fcf4a2dcab2951c16262d98dc80f60e34f84701a9350662a559129f6d53778c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.15830200165510178, - 0.05437800113577396, - 0.15821199864149094 - ] + 0.15821199864149094, + 0.05437800113577396 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fcf4a2dcab2951c16262d98dc80f60e34f84701a9350662a559129f6d53778c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fcf4a2dcab2951c16262d98dc80f60e34f84701a9350662a559129f6d53778c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fcf4a2dcab2951c16262d98dc80f60e34f84701a9350662a559129f6d53778c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3fcf4a2dcab2951c16262d98dc80f60e34f84701a9350662a559129f6d53778c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00818 Storage Container Bowl/IsaacSim_assets_6a7a9ba1b56a872fd7693be4/physics_6a7a9ba1b56a872fd7693be4.json b/batch30/D00818 Storage Container Bowl/IsaacSim_assets_6a7a9ba1b56a872fd7693be4/physics_6a7a9ba1b56a872fd7693be4.json index b2d4829898644ea4241ec958b7a490f1e8290ee9..f2b1abbb6f72dadd0530dce644fc6455b7f19d9b 100644 --- a/batch30/D00818 Storage Container Bowl/IsaacSim_assets_6a7a9ba1b56a872fd7693be4/physics_6a7a9ba1b56a872fd7693be4.json +++ b/batch30/D00818 Storage Container Bowl/IsaacSim_assets_6a7a9ba1b56a872fd7693be4/physics_6a7a9ba1b56a872fd7693be4.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07629799842834473, - 0.07115688174962997, - 0.07612700015306473 - ], "min": [ -0.07618200033903122, - 0.0008268799283541739, - -0.0759740024805069 + -0.07612700015306473, + 0.0008268799283541739 + ], + "max": [ + 0.07629799842834473, + 0.0759740024805069, + 0.07115688174962997 ], "size": [ 0.15247999876737595, - 0.0703300018212758, - 0.15210100263357162 - ] + 0.15210100263357162, + 0.0703300018212758 + ], + "units": "m" }, "description": "D00818 Storage Container Bowl", "name": "D00818 Storage Container Bowl", "object_type": "rigid_bodies", - "total_mass": 0.115 + "total_mass": 0.11500000208616257, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00818", "parts": [ { "bounds": { - "center": [ - 5.799904465675354e-05, - 0.035991880838992074, - 7.64988362789154e-05 + "min": [ + -0.07618200033903122, + -0.07612700015306473, + 0.0008268799283541739 ], "max": [ 0.07629799842834473, - 0.07115688174962997, - 0.07612700015306473 + 0.0759740024805069, + 0.07115688174962997 ], - "min": [ - -0.07618200033903122, - 0.0008268799283541739, - -0.0759740024805069 - ] + "size": [ + 0.15247999876737595, + 0.15210100263357162, + 0.0703300018212758 + ], + "units": "m" }, "center_of_mass": [ -0.00011670830281218514, @@ -59,7 +65,7 @@ 0.00022910762345418334, 0.00036522606387734413 ], - "mass": 0.115, + "mass": 0.11500000208616257, "material": "plastic", "name": "D00818 Storage Container Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00818 Storage Container Bowl", "part_name": "D00818 Storage Container Bowl" }, - "volume": 0.00011500000208616257 + "volume": 0.00011500000208616257, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "da2e64ae88f43e9a78cee05df392a56a9504c95175e89e99eba70c1a217ccd76" + }, + "usd_path": "batch30/D00818 Storage Container Bowl/IsaacSim_assets_6a7a9ba1b56a872fd7693be4/IsaacSim_asset_6a7a9ba1b56a872fd7693be4.usd", + "usd_sha256": "a1164d89062d593630f8cb01fffce6afb7c2eaa99787d2209743a71c85c0fb1f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.15247999876737595, - 0.0703300018212758, - 0.15210100263357162 - ] + 0.15210100263357162, + 0.0703300018212758 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a1164d89062d593630f8cb01fffce6afb7c2eaa99787d2209743a71c85c0fb1f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.115 + "value_kg": 0.11500000208616257, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a1164d89062d593630f8cb01fffce6afb7c2eaa99787d2209743a71c85c0fb1f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11500000208616257, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a1164d89062d593630f8cb01fffce6afb7c2eaa99787d2209743a71c85c0fb1f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a1164d89062d593630f8cb01fffce6afb7c2eaa99787d2209743a71c85c0fb1f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00831 Strawberry/IsaacSim_assets_6a7f069bb7a9c4204aa4163f/physics_6a7f069bb7a9c4204aa4163f.json b/batch30/D00831 Strawberry/IsaacSim_assets_6a7f069bb7a9c4204aa4163f/physics_6a7f069bb7a9c4204aa4163f.json index 92ee045fe6574dbb511f1511567c5fe3d8061370..c638945f02d8e4b1a0e25d572320380f1a04da9e 100644 --- a/batch30/D00831 Strawberry/IsaacSim_assets_6a7f069bb7a9c4204aa4163f/physics_6a7f069bb7a9c4204aa4163f.json +++ b/batch30/D00831 Strawberry/IsaacSim_assets_6a7f069bb7a9c4204aa4163f/physics_6a7f069bb7a9c4204aa4163f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.017351999878883362, - 0.0239985603839159, - 0.010971000418066978 - ], "min": [ -0.01196799986064434, - 0.00013656055671162903, - -0.011265000328421593 + -0.010971000418066978, + 0.00013656055671162903 + ], + "max": [ + 0.017351999878883362, + 0.011265000328421593, + 0.0239985603839159 ], "size": [ 0.029319999739527702, - 0.023861999827204272, - 0.02223600074648857 - ] + 0.02223600074648857, + 0.023861999827204272 + ], + "units": "m" }, "description": "D00831 Strawberry", "name": "D00831 Strawberry", "object_type": "rigid_bodies", - "total_mass": 0.02 + "total_mass": 0.019999999552965164, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00831", "parts": [ { "bounds": { - "center": [ - 0.0026920000091195107, - 0.012067560470313765, - -0.00014699995517730713 + "min": [ + -0.01196799986064434, + -0.010971000418066978, + 0.00013656055671162903 ], "max": [ 0.017351999878883362, - 0.0239985603839159, - 0.010971000418066978 + 0.011265000328421593, + 0.0239985603839159 ], - "min": [ - -0.01196799986064434, - 0.00013656055671162903, - -0.011265000328421593 - ] + "size": [ + 0.029319999739527702, + 0.02223600074648857, + 0.023861999827204272 + ], + "units": "m" }, "center_of_mass": [ 0.0012082718312740326, @@ -59,7 +65,7 @@ 1.271881842512812e-06, 1.2933601283293683e-06 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "plastic", "name": "D00831 Strawberry", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00831 Strawberry", "part_name": "D00831 Strawberry" }, - "volume": 2.1052631108384385e-05 + "volume": 2.1052631108384385e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "cef25c156a9be95a08e828e739971921b2d26c9923f79fdb9c7bbd62ec4cdd3f" + }, + "usd_path": "batch30/D00831 Strawberry/IsaacSim_assets_6a7f069bb7a9c4204aa4163f/IsaacSim_asset_6a7f069bb7a9c4204aa4163f.usd", + "usd_sha256": "a8dac9794f51a0a6893f2716c705a66ffa814d2d15e639a1dbc97c19b13f5b27", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.029319999739527702, - 0.023861999827204272, - 0.02223600074648857 - ] + 0.02223600074648857, + 0.023861999827204272 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a8dac9794f51a0a6893f2716c705a66ffa814d2d15e639a1dbc97c19b13f5b27", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.02 + "value_kg": 0.019999999552965164, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a8dac9794f51a0a6893f2716c705a66ffa814d2d15e639a1dbc97c19b13f5b27", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.019999999552965164, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 34, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a8dac9794f51a0a6893f2716c705a66ffa814d2d15e639a1dbc97c19b13f5b27", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 34, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a8dac9794f51a0a6893f2716c705a66ffa814d2d15e639a1dbc97c19b13f5b27", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00836 Sugar Container Jar/IsaacSim_assets_6a7d4591b7a9c4204a6cf144/physics_6a7d4591b7a9c4204a6cf144.json b/batch30/D00836 Sugar Container Jar/IsaacSim_assets_6a7d4591b7a9c4204a6cf144/physics_6a7d4591b7a9c4204a6cf144.json index 4e3bb2d81a8e4a8aaac23f9d1f9adc2bee51a647..c10a6401dc222236146959bd361fff613a0a4e72 100644 --- a/batch30/D00836 Sugar Container Jar/IsaacSim_assets_6a7d4591b7a9c4204a6cf144/physics_6a7d4591b7a9c4204a6cf144.json +++ b/batch30/D00836 Sugar Container Jar/IsaacSim_assets_6a7d4591b7a9c4204a6cf144/physics_6a7d4591b7a9c4204a6cf144.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a7d4591b7a9c4204a6cf144/part_0", "body1": "/World/textured_mesh_6a7d4591b7a9c4204a6cf144/part_1", "joint_path": "/World/textured_mesh_6a7d4591b7a9c4204a6cf144/Joints/joint_jar_body__jar_lid", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_body__jar_lid", + "path": "/World/textured_mesh_6a7d4591b7a9c4204a6cf144/Joints/joint_jar_body__jar_lid", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7d4591b7a9c4204a6cf144/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a7d4591b7a9c4204a6cf144/part_1" + ], + "authored_usd": { + "id": "joint_jar_body__jar_lid", + "source_prim_path": "/World/textured_mesh_6a7d4591b7a9c4204a6cf144/Joints/joint_jar_body__jar_lid", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7d4591b7a9c4204a6cf144/part_0" + ], + "body1": [ + "/World/textured_mesh_6a7d4591b7a9c4204a6cf144/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0005377791821956635 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0005377791821956635 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05319099873304367, - 0.13196177780628204, - 0.0533830001950264 - ], "min": [ -0.05372900143265724, - 0.000575779180508107, - -0.05360100045800209 + -0.0533830001950264, + 0.000575779180508107 + ], + "max": [ + 0.05319099873304367, + 0.05360100045800209, + 0.13196177780628204 ], "size": [ 0.10692000016570091, - 0.13138599862577394, - 0.10698400065302849 - ] + 0.10698400065302849, + 0.13138599862577394 + ], + "units": "m" }, "description": "D00836 Sugar Container Jar", "name": "D00836 Sugar Container Jar", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00836", "parts": [ { "bounds": { - "center": [ - -0.0002945009618997574, - 0.05341128175496124, - -0.00013850070536136627 + "min": [ + -0.05372900143265724, + -0.05331699922680855, + 0.000575779180508107 ], "max": [ 0.05313999950885773, - 0.10624678432941437, - 0.05331699922680855 + 0.05359400063753128, + 0.10624678432941437 ], - "min": [ - -0.05372900143265724, - 0.000575779180508107, - -0.05359400063753128 - ] + "size": [ + 0.10686900094151497, + 0.10691099986433983, + 0.10567100514890626 + ], + "units": "m" }, "center_of_mass": [ -0.000361830199835822, @@ -66,7 +117,7 @@ 0.0005615244153887033, 0.000561645079869777 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "ceramic_or_glass", "name": "D00836 Sugar Container Jar", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00836 Sugar Container Jar", "part_name": "D00836 Sugar Container Jar" }, - "volume": 0.0001399999976158142 + "volume": 0.0001399999976158142, + "source_prim_path": "/World/textured_mesh_6a7d4591b7a9c4204a6cf144/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00021200068295001984, - 0.11777127534151077, - -0.00010900013148784637 + "min": [ + -0.05361500009894371, + -0.0533830001950264, + 0.1035807728767395 ], "max": [ 0.05319099873304367, - 0.13196177780628204, - 0.0533830001950264 + 0.05360100045800209, + 0.13196177780628204 ], - "min": [ - -0.05361500009894371, - 0.1035807728767395, - -0.05360100045800209 - ] + "size": [ + 0.10680599883198738, + 0.10698400065302849, + 0.02838100492954254 + ], + "units": "m" }, "center_of_mass": [ -0.0002553599770180881, @@ -107,7 +161,7 @@ 0.000116515759145841, 0.00021261037909425795 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "metal", "name": "D00836 Sugar Container Jar", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00836 Sugar Container Jar", "part_name": "D00836 Sugar Container Jar" }, - "volume": 1.9108281014071907e-05 + "volume": 1.9108281014071907e-05, + "source_prim_path": "/World/textured_mesh_6a7d4591b7a9c4204a6cf144/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ae00589141e581618fee9f59ecd436a52262d42e60798a0899edf29c4d9dc8e6" + }, + "usd_path": "batch30/D00836 Sugar Container Jar/IsaacSim_assets_6a7d4591b7a9c4204a6cf144/IsaacSim_asset_6a7d4591b7a9c4204a6cf144.usd", + "usd_sha256": "61186367281d646550ece7e3172dd5b0bc1134bfb172f21a3cf599f5a5087c77", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.10692000016570091, - 0.13138599862577394, - 0.10698400065302849 - ] + 0.10698400065302849, + 0.13138599862577394 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "61186367281d646550ece7e3172dd5b0bc1134bfb172f21a3cf599f5a5087c77", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "61186367281d646550ece7e3172dd5b0bc1134bfb172f21a3cf599f5a5087c77", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "61186367281d646550ece7e3172dd5b0bc1134bfb172f21a3cf599f5a5087c77", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "61186367281d646550ece7e3172dd5b0bc1134bfb172f21a3cf599f5a5087c77", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00858 Jam Jar/IsaacSim_assets_6a7b792eb56a872fd77ab733/physics_6a7b792eb56a872fd77ab733.json b/batch30/D00858 Jam Jar/IsaacSim_assets_6a7b792eb56a872fd77ab733/physics_6a7b792eb56a872fd77ab733.json index b63306e0dc99fb4a94ebd717754811259ef94f9a..a5041d2442dfefbc1a231e7c6f3b19ad48620756 100644 --- a/batch30/D00858 Jam Jar/IsaacSim_assets_6a7b792eb56a872fd77ab733/physics_6a7b792eb56a872fd77ab733.json +++ b/batch30/D00858 Jam Jar/IsaacSim_assets_6a7b792eb56a872fd77ab733/physics_6a7b792eb56a872fd77ab733.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04025999829173088, - 0.0361270010471344, - 0.09393442422151566 - ], "min": [ -0.04033200070261955, -0.03607799857854843, 6.642192602157593e-05 ], + "max": [ + 0.04025999829173088, + 0.0361270010471344, + 0.09393442422151566 + ], "size": [ 0.08059199899435043, 0.07220499962568283, 0.09386800229549408 - ] + ], + "units": "m" }, "description": "D00858 Jam Jar", "name": "D00858 Jam Jar", "object_type": "rigid_bodies", - "total_mass": 0.6 + "total_mass": 0.6000000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00858", "parts": [ { "bounds": { - "center": [ - -3.600120544433594e-05, - 2.450123429298401e-05, - 0.047000423073768616 + "min": [ + -0.04033200070261955, + -0.03607799857854843, + 6.642192602157593e-05 ], "max": [ 0.04025999829173088, 0.0361270010471344, 0.09393442422151566 ], - "min": [ - -0.04033200070261955, - -0.03607799857854843, - 6.642192602157593e-05 - ] + "size": [ + 0.08059199899435043, + 0.07220499962568283, + 0.09386800229549408 + ], + "units": "m" }, "center_of_mass": [ 4.517727211350575e-05, @@ -59,7 +65,7 @@ 0.0006263467366807163, 0.0006284064729698002 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "plastic", "name": "D00858 Jam Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00858 Jam Jar", "part_name": "D00858 Jam Jar" }, - "volume": 0.0005000000198682149 + "volume": 0.0005000000198682149, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "617e0a3ad57463a96c952a06efa8770cbb846f682488f4fe8c79ee3aa7e51792" + }, + "usd_path": "batch30/D00858 Jam Jar/IsaacSim_assets_6a7b792eb56a872fd77ab733/IsaacSim_asset_6a7b792eb56a872fd77ab733.usd", + "usd_sha256": "370d9fba3673bee5cec9382df63f49269805c89329ae90b1a8b429c5ac2188e6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08059199899435043, 0.07220499962568283, 0.09386800229549408 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "370d9fba3673bee5cec9382df63f49269805c89329ae90b1a8b429c5ac2188e6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6 + "value_kg": 0.6000000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "370d9fba3673bee5cec9382df63f49269805c89329ae90b1a8b429c5ac2188e6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6000000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "370d9fba3673bee5cec9382df63f49269805c89329ae90b1a8b429c5ac2188e6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "370d9fba3673bee5cec9382df63f49269805c89329ae90b1a8b429c5ac2188e6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00869 Chocolate Fountain/IsaacSim_assets_6a7b7a6ab56a872fd77acf81/physics_6a7b7a6ab56a872fd77acf81.json b/batch30/D00869 Chocolate Fountain/IsaacSim_assets_6a7b7a6ab56a872fd77acf81/physics_6a7b7a6ab56a872fd77acf81.json index d31789531657ea2edb4448b3722c5ef7f77b963c..e1644175fb60310b99379665358818a145d87aa5 100644 --- a/batch30/D00869 Chocolate Fountain/IsaacSim_assets_6a7b7a6ab56a872fd77acf81/physics_6a7b7a6ab56a872fd77acf81.json +++ b/batch30/D00869 Chocolate Fountain/IsaacSim_assets_6a7b7a6ab56a872fd77acf81/physics_6a7b7a6ab56a872fd77acf81.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12798799574375153, - 0.13161499798297882, - 0.503476083278656 - ], "min": [ -0.1281459927558899, -0.2556479871273041, 0.0027191005647182465 ], + "max": [ + 0.12798799574375153, + 0.13161499798297882, + 0.503476083278656 + ], "size": [ 0.2561339884996414, 0.3872629851102829, 0.5007569827139378 - ] + ], + "units": "m" }, "description": "D00869 Chocolate Fountain", "name": "D00869 Chocolate Fountain", "object_type": "rigid_bodies", - "total_mass": 12.18 + "total_mass": 12.180000305175781, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00869", "parts": [ { "bounds": { - "center": [ - -7.899850606918335e-05, - -0.06201649457216263, - 0.2530975919216871 + "min": [ + -0.1281459927558899, + -0.2556479871273041, + 0.0027191005647182465 ], "max": [ 0.12798799574375153, 0.13161499798297882, 0.503476083278656 ], - "min": [ - -0.1281459927558899, - -0.2556479871273041, - 0.0027191005647182465 - ] + "size": [ + 0.2561339884996414, + 0.3872629851102829, + 0.5007569827139378 + ], + "units": "m" }, "center_of_mass": [ 0.0002606407506391406, @@ -59,7 +65,7 @@ 0.20573720335960388, 0.23225566744804382 ], - "mass": 12.18, + "mass": 12.180000305175781, "material": "metal", "name": "D00869 Chocolate Fountain", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00869 Chocolate Fountain", "part_name": "D00869 Chocolate Fountain" }, - "volume": 0.001624000040690104 + "volume": 0.001624000040690104, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "04911d5af7e87ed7ff91b387a65070e6614463ae41d6d7535b82927ceedd4fda" + }, + "usd_path": "batch30/D00869 Chocolate Fountain/IsaacSim_assets_6a7b7a6ab56a872fd77acf81/IsaacSim_asset_6a7b7a6ab56a872fd77acf81.usd", + "usd_sha256": "23032825acdf2f386db11d151323cfead10f40ca8db8898c46a5b820074800c3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.2561339884996414, 0.3872629851102829, 0.5007569827139378 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "23032825acdf2f386db11d151323cfead10f40ca8db8898c46a5b820074800c3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 12.18 + "value_kg": 12.180000305175781, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "23032825acdf2f386db11d151323cfead10f40ca8db8898c46a5b820074800c3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 12.180000305175781, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "23032825acdf2f386db11d151323cfead10f40ca8db8898c46a5b820074800c3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "23032825acdf2f386db11d151323cfead10f40ca8db8898c46a5b820074800c3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00870 Mustard Bottle/IsaacSim_assets_6a7b8093b56a872fd77b1a83/physics_6a7b8093b56a872fd77b1a83.json b/batch30/D00870 Mustard Bottle/IsaacSim_assets_6a7b8093b56a872fd77b1a83/physics_6a7b8093b56a872fd77b1a83.json index 934d4a476416a3001c388638039440a2ddfc7510..a8145235b4dacca1b98cd61538afc1954ae848d1 100644 --- a/batch30/D00870 Mustard Bottle/IsaacSim_assets_6a7b8093b56a872fd77b1a83/physics_6a7b8093b56a872fd77b1a83.json +++ b/batch30/D00870 Mustard Bottle/IsaacSim_assets_6a7b8093b56a872fd77b1a83/physics_6a7b8093b56a872fd77b1a83.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.041565001010894775, - 0.027759000658988953, - 0.19201074540615082 - ], "min": [ -0.04190700128674507, -0.027847999706864357, 0.0010317377746105194 ], + "max": [ + 0.041565001010894775, + 0.027759000658988953, + 0.19201074540615082 + ], "size": [ 0.08347200229763985, 0.05560700036585331, 0.1909790076315403 - ] + ], + "units": "m" }, "description": "D00870 Mustard Bottle", "name": "D00870 Mustard Bottle", "object_type": "rigid_bodies", - "total_mass": 0.37 + "total_mass": 0.3700000047683716, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00870", "parts": [ { "bounds": { - "center": [ - -0.000171000137925148, - -4.449952393770218e-05, - 0.09652124159038067 + "min": [ + -0.04190700128674507, + -0.027847999706864357, + 0.0010317377746105194 ], "max": [ 0.041565001010894775, 0.027759000658988953, 0.19201074540615082 ], - "min": [ - -0.04190700128674507, - -0.027847999706864357, - 0.0010317377746105194 - ] + "size": [ + 0.08347200229763985, + 0.05560700036585331, + 0.1909790076315403 + ], + "units": "m" }, "center_of_mass": [ -0.00019174597400706261, @@ -59,7 +65,7 @@ 0.0008028505253605545, 0.0008908797753974795 ], - "mass": 0.37, + "mass": 0.3700000047683716, "material": "plastic", "name": "D00870 Mustard Bottle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00870 Mustard Bottle", "part_name": "D00870 Mustard Bottle" }, - "volume": 0.00037000000476837156 + "volume": 0.00037000000476837156, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2fe57ec154f4234ce6efbc57854b65d1b4458752ce982008c7f294d26200d4bf" + }, + "usd_path": "batch30/D00870 Mustard Bottle/IsaacSim_assets_6a7b8093b56a872fd77b1a83/IsaacSim_asset_6a7b8093b56a872fd77b1a83.usd", + "usd_sha256": "782988fd43ad88f9aab1e788a46cd54ca9cb110d9254f8335ecd8c0a9e4f05c2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08347200229763985, 0.05560700036585331, 0.1909790076315403 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "782988fd43ad88f9aab1e788a46cd54ca9cb110d9254f8335ecd8c0a9e4f05c2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.37 + "value_kg": 0.3700000047683716, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "782988fd43ad88f9aab1e788a46cd54ca9cb110d9254f8335ecd8c0a9e4f05c2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3700000047683716, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "782988fd43ad88f9aab1e788a46cd54ca9cb110d9254f8335ecd8c0a9e4f05c2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "782988fd43ad88f9aab1e788a46cd54ca9cb110d9254f8335ecd8c0a9e4f05c2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00875 BBQ Sauce Bottle/IsaacSim_assets_6a7b83a9b56a872fd77b3b9b/physics_6a7b83a9b56a872fd77b3b9b.json b/batch30/D00875 BBQ Sauce Bottle/IsaacSim_assets_6a7b83a9b56a872fd77b3b9b/physics_6a7b83a9b56a872fd77b3b9b.json index 16c04880bb13137980075dcc8b314cf908cb74fc..632e155277561a7f5cb1c285cfb76bd039420e1a 100644 --- a/batch30/D00875 BBQ Sauce Bottle/IsaacSim_assets_6a7b83a9b56a872fd77b3b9b/physics_6a7b83a9b56a872fd77b3b9b.json +++ b/batch30/D00875 BBQ Sauce Bottle/IsaacSim_assets_6a7b83a9b56a872fd77b3b9b/physics_6a7b83a9b56a872fd77b3b9b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03985600173473358, - 0.040196001529693604, - 0.19395646452903748 - ], "min": [ -0.040151000022888184, -0.039820000529289246, 0.000980466604232788 ], + "max": [ + 0.03985600173473358, + 0.040196001529693604, + 0.19395646452903748 + ], "size": [ 0.08000700175762177, 0.08001600205898285, 0.1929759979248047 - ] + ], + "units": "m" }, "description": "D00875 BBQ Sauce Bottle", "name": "D00875 BBQ Sauce Bottle", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00875", "parts": [ { "bounds": { - "center": [ - -0.00014749914407730103, - 0.00018800050020217896, - 0.09746846556663513 + "min": [ + -0.040151000022888184, + -0.039820000529289246, + 0.000980466604232788 ], "max": [ 0.03985600173473358, 0.040196001529693604, 0.19395646452903748 ], - "min": [ - -0.040151000022888184, - -0.039820000529289246, - 0.000980466604232788 - ] + "size": [ + 0.08000700175762177, + 0.08001600205898285, + 0.1929759979248047 + ], + "units": "m" }, "center_of_mass": [ -0.00015190811245702207, @@ -59,7 +65,7 @@ 0.003360901726409793, 0.0033610882237553596 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "ceramic", "name": "D00875 BBQ Sauce Bottle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00875 BBQ Sauce Bottle", "part_name": "D00875 BBQ Sauce Bottle" }, - "volume": 0.00048000001907348635 + "volume": 0.00048000001907348635, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1b3f86bb8427b011c41e79bd1a8f0f487713a753c84cd1a19f1a716db235d34b" + }, + "usd_path": "batch30/D00875 BBQ Sauce Bottle/IsaacSim_assets_6a7b83a9b56a872fd77b3b9b/IsaacSim_asset_6a7b83a9b56a872fd77b3b9b.usd", + "usd_sha256": "793506fec882d15bef063af3e03c1fa43a0a6a930928e4b0533f6a55866042ad", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.08000700175762177, 0.08001600205898285, 0.1929759979248047 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "793506fec882d15bef063af3e03c1fa43a0a6a930928e4b0533f6a55866042ad", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "793506fec882d15bef063af3e03c1fa43a0a6a930928e4b0533f6a55866042ad", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "793506fec882d15bef063af3e03c1fa43a0a6a930928e4b0533f6a55866042ad", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "793506fec882d15bef063af3e03c1fa43a0a6a930928e4b0533f6a55866042ad", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00879 Transparent Jar/IsaacSim_assets_6a7f2469b7a9c4204aa793d0/physics_6a7f2469b7a9c4204aa793d0.json b/batch30/D00879 Transparent Jar/IsaacSim_assets_6a7f2469b7a9c4204aa793d0/physics_6a7f2469b7a9c4204aa793d0.json index 5d3d551f5fede3288d130ecb94883be206ccc866..4592b76d1c190c14e0c2d403bd7c33c1cc0735c2 100644 --- a/batch30/D00879 Transparent Jar/IsaacSim_assets_6a7f2469b7a9c4204aa793d0/physics_6a7f2469b7a9c4204aa793d0.json +++ b/batch30/D00879 Transparent Jar/IsaacSim_assets_6a7f2469b7a9c4204aa793d0/physics_6a7f2469b7a9c4204aa793d0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05032400041818619, - 0.14694178104400635, - 0.050186000764369965 - ], "min": [ -0.05068499967455864, - 0.0007657799869775772, - -0.05157700181007385 + -0.050186000764369965, + 0.0007657799869775772 + ], + "max": [ + 0.05032400041818619, + 0.05157700181007385, + 0.14694178104400635 ], "size": [ 0.10100900009274483, - 0.14617600105702877, - 0.10176300257444382 - ] + 0.10176300257444382, + 0.14617600105702877 + ], + "units": "m" }, "description": "D00879 Transparent Jar", "name": "D00879 Transparent Jar", "object_type": "rigid_bodies", - "total_mass": 0.262 + "total_mass": 0.2619999945163727, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00879", "parts": [ { "bounds": { - "center": [ - -0.0001804996281862259, - 0.07385378051549196, - -0.000695500522851944 + "min": [ + -0.05068499967455864, + -0.050186000764369965, + 0.0007657799869775772 ], "max": [ 0.05032400041818619, - 0.14694178104400635, - 0.050186000764369965 + 0.05157700181007385, + 0.14694178104400635 ], - "min": [ - -0.05068499967455864, - 0.0007657799869775772, - -0.05157700181007385 - ] + "size": [ + 0.10100900009274483, + 0.10176300257444382, + 0.14617600105702877 + ], + "units": "m" }, "center_of_mass": [ -0.0001762180181685835, @@ -59,7 +65,7 @@ 0.0006213377928361297, 0.0006244559190236032 ], - "mass": 0.262, + "mass": 0.2619999945163727, "material": "ceramic_or_glass", "name": "D00879 Transparent Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00879 Transparent Jar", "part_name": "D00879 Transparent Jar" }, - "volume": 0.00010479999780654907 + "volume": 0.00010479999780654907, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "25299dbd94c34e6f215389fbbd34152c99558f06dba806ccfd1fb7343839d92d" + }, + "usd_path": "batch30/D00879 Transparent Jar/IsaacSim_assets_6a7f2469b7a9c4204aa793d0/IsaacSim_asset_6a7f2469b7a9c4204aa793d0.usd", + "usd_sha256": "cfe63c99c6285d68a84c7cab486d974544b7e1455d6bec87e0e6764bb2ce8101", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.10100900009274483, - 0.14617600105702877, - 0.10176300257444382 - ] + 0.10176300257444382, + 0.14617600105702877 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cfe63c99c6285d68a84c7cab486d974544b7e1455d6bec87e0e6764bb2ce8101", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.262 + "value_kg": 0.2619999945163727, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cfe63c99c6285d68a84c7cab486d974544b7e1455d6bec87e0e6764bb2ce8101", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2619999945163727, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cfe63c99c6285d68a84c7cab486d974544b7e1455d6bec87e0e6764bb2ce8101", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cfe63c99c6285d68a84c7cab486d974544b7e1455d6bec87e0e6764bb2ce8101", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00890 Pesto Jar/IsaacSim_assets_6a7b8536b56a872fd77b551b/physics_6a7b8536b56a872fd77b551b.json b/batch30/D00890 Pesto Jar/IsaacSim_assets_6a7b8536b56a872fd77b551b/physics_6a7b8536b56a872fd77b551b.json index 493aad45210e8aa6c6faf806af528bf8b09eab22..7b393e1a69597f07668cfe9a5796542259f35260 100644 --- a/batch30/D00890 Pesto Jar/IsaacSim_assets_6a7b8536b56a872fd77b551b/physics_6a7b8536b56a872fd77b551b.json +++ b/batch30/D00890 Pesto Jar/IsaacSim_assets_6a7b8536b56a872fd77b551b/physics_6a7b8536b56a872fd77b551b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03615500032901764, - 0.0368570014834404, - 0.0949719101190567 - ], "min": [ -0.03569699823856354, -0.03498300164937973, 0.0004889108240604401 ], + "max": [ + 0.03615500032901764, + 0.0368570014834404, + 0.0949719101190567 + ], "size": [ 0.07185199856758118, 0.07184000313282013, 0.09448299929499626 - ] + ], + "units": "m" }, "description": "D00890 Pesto Jar", "name": "D00890 Pesto Jar", "object_type": "rigid_bodies", - "total_mass": 0.65 + "total_mass": 0.6499999761581421, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00890", "parts": [ { "bounds": { - "center": [ - 0.00022900104522705078, - 0.0009369999170303345, - 0.04773041047155857 + "min": [ + -0.03569699823856354, + -0.03498300164937973, + 0.0004889108240604401 ], "max": [ 0.03615500032901764, 0.0368570014834404, 0.0949719101190567 ], - "min": [ - -0.03569699823856354, - -0.03498300164937973, - 0.0004889108240604401 - ] + "size": [ + 0.07185199856758118, + 0.07184000313282013, + 0.09448299929499626 + ], + "units": "m" }, "center_of_mass": [ 0.00023692645481787622, @@ -59,7 +65,7 @@ 0.0006695573101751506, 0.000669761560857296 ], - "mass": 0.65, + "mass": 0.6499999761581421, "material": "plastic", "name": "D00890 Pesto Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00890 Pesto Jar", "part_name": "D00890 Pesto Jar" }, - "volume": 0.0005416666467984517 + "volume": 0.0005416666467984517, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "267abb1928a1a0aab066fbf355107ba0347683fed2ea00062c23b95073d0c68d" + }, + "usd_path": "batch30/D00890 Pesto Jar/IsaacSim_assets_6a7b8536b56a872fd77b551b/IsaacSim_asset_6a7b8536b56a872fd77b551b.usd", + "usd_sha256": "3c758a905071071bfbac75a3905e9e19ece191b4bbf02438ba85822c8731201c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.07185199856758118, 0.07184000313282013, 0.09448299929499626 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c758a905071071bfbac75a3905e9e19ece191b4bbf02438ba85822c8731201c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.65 + "value_kg": 0.6499999761581421, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c758a905071071bfbac75a3905e9e19ece191b4bbf02438ba85822c8731201c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6499999761581421, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c758a905071071bfbac75a3905e9e19ece191b4bbf02438ba85822c8731201c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c758a905071071bfbac75a3905e9e19ece191b4bbf02438ba85822c8731201c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00892 Miso Paste Tub/IsaacSim_assets_6a7b8b98b56a872fd77ba624/physics_6a7b8b98b56a872fd77ba624.json b/batch30/D00892 Miso Paste Tub/IsaacSim_assets_6a7b8b98b56a872fd77ba624/physics_6a7b8b98b56a872fd77ba624.json index 9a9b51a7d284e05192f94a22a08054447b0da815..7e8fb6c8d787c8fb8192e224ee68684b8a5b7c54 100644 --- a/batch30/D00892 Miso Paste Tub/IsaacSim_assets_6a7b8b98b56a872fd77ba624/physics_6a7b8b98b56a872fd77ba624.json +++ b/batch30/D00892 Miso Paste Tub/IsaacSim_assets_6a7b8b98b56a872fd77ba624/physics_6a7b8b98b56a872fd77ba624.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0668490007519722, - 0.06830699741840363, - 0.09698791056871414 - ], "min": [ -0.06690599769353867, -0.06547199934720993, 0.0006289109587669373 ], + "max": [ + 0.0668490007519722, + 0.06830699741840363, + 0.09698791056871414 + ], "size": [ 0.13375499844551086, 0.13377899676561356, 0.0963589996099472 - ] + ], + "units": "m" }, "description": "D00892 Miso Paste Tub", "name": "D00892 Miso Paste Tub", "object_type": "rigid_bodies", - "total_mass": 1.0 + "total_mass": 1.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00892", "parts": [ { "bounds": { - "center": [ - -2.8498470783233643e-05, - 0.0014174990355968475, - 0.04880841076374054 + "min": [ + -0.06690599769353867, + -0.06547199934720993, + 0.0006289109587669373 ], "max": [ 0.0668490007519722, 0.06830699741840363, 0.09698791056871414 ], - "min": [ - -0.06690599769353867, - -0.06547199934720993, - 0.0006289109587669373 - ] + "size": [ + 0.13375499844551086, + 0.13377899676561356, + 0.0963589996099472 + ], + "units": "m" }, "center_of_mass": [ 2.0065033822902478e-05, @@ -67,10 +73,27 @@ "object_name": "D00892 Miso Paste Tub", "part_name": "D00892 Miso Paste Tub" }, - "volume": 0.001 + "volume": 0.001, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9c821b383c5c5d160671ed653209aee0deaf4b49930bcddde235b22aa157a85f" + }, + "usd_path": "batch30/D00892 Miso Paste Tub/IsaacSim_assets_6a7b8b98b56a872fd77ba624/IsaacSim_asset_6a7b8b98b56a872fd77ba624.usd", + "usd_sha256": "d3e67e676b6ea8dd05c1f2eca166a3aff51f878f6ffe2d54477b84d92e40040b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -91,22 +114,56 @@ 0.13375499844551086, 0.13377899676561356, 0.0963589996099472 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d3e67e676b6ea8dd05c1f2eca166a3aff51f878f6ffe2d54477b84d92e40040b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0 + "value_kg": 1.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d3e67e676b6ea8dd05c1f2eca166a3aff51f878f6ffe2d54477b84d92e40040b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 15, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d3e67e676b6ea8dd05c1f2eca166a3aff51f878f6ffe2d54477b84d92e40040b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 15, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d3e67e676b6ea8dd05c1f2eca166a3aff51f878f6ffe2d54477b84d92e40040b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00926 Ladle/IsaacSim_assets_6a840977a08484187f5ce53f/physics_6a840977a08484187f5ce53f.json b/batch30/D00926 Ladle/IsaacSim_assets_6a840977a08484187f5ce53f/physics_6a840977a08484187f5ce53f.json index 8e11897ca91cf1bd22c7cfbbf7b976288f1d864c..ea3a6bc8ad9708a7d653f94d9f14f7fffd6d28dd 100644 --- a/batch30/D00926 Ladle/IsaacSim_assets_6a840977a08484187f5ce53f/physics_6a840977a08484187f5ce53f.json +++ b/batch30/D00926 Ladle/IsaacSim_assets_6a840977a08484187f5ce53f/physics_6a840977a08484187f5ce53f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1866600066423416, - 0.07750106602907181, - 0.041085001081228256 - ], "min": [ -0.06787200272083282, - 0.0011730596888810396, - -0.0410970002412796 + -0.041085001081228256, + 0.0011730596888810396 + ], + "max": [ + 0.1866600066423416, + 0.0410970002412796, + 0.07750106602907181 ], "size": [ 0.25453200936317444, - 0.07632800634019077, - 0.08218200132250786 - ] + 0.08218200132250786, + 0.07632800634019077 + ], + "units": "m" }, "description": "D00926 Ladle", "name": "D00926 Ladle", "object_type": "rigid_bodies", - "total_mass": 0.487 + "total_mass": 0.4869999885559082, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00926", "parts": [ { "bounds": { - "center": [ - 0.059394001960754395, - 0.039337062858976424, - -5.999580025672913e-06 + "min": [ + -0.06787200272083282, + -0.041085001081228256, + 0.0011730596888810396 ], "max": [ 0.1866600066423416, - 0.07750106602907181, - 0.041085001081228256 + 0.0410970002412796, + 0.07750106602907181 ], - "min": [ - -0.06787200272083282, - 0.0011730596888810396, - -0.0410970002412796 - ] + "size": [ + 0.25453200936317444, + 0.08218200132250786, + 0.07632800634019077 + ], + "units": "m" }, "center_of_mass": [ 0.03665514290332794, @@ -59,7 +65,7 @@ 0.0038800686597824097, 0.003912702668458223 ], - "mass": 0.487, + "mass": 0.4869999885559082, "material": "metal", "name": "D00926 Ladle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00926 Ladle", "part_name": "D00926 Ladle" }, - "volume": 6.243589596870618e-05 + "volume": 6.243589596870618e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c50b02bac91e6bf470401995f80e55c3e23d69c9e40e539e4f726fbac251bfd1" + }, + "usd_path": "batch30/D00926 Ladle/IsaacSim_assets_6a840977a08484187f5ce53f/IsaacSim_asset_6a840977a08484187f5ce53f.usd", + "usd_sha256": "3012e8812db613a88ea5060d71e614f06eb03b4dc79fcbb12cce21f66dbd4d18", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.25453200936317444, - 0.07632800634019077, - 0.08218200132250786 - ] + 0.08218200132250786, + 0.07632800634019077 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3012e8812db613a88ea5060d71e614f06eb03b4dc79fcbb12cce21f66dbd4d18", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.487 + "value_kg": 0.4869999885559082, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3012e8812db613a88ea5060d71e614f06eb03b4dc79fcbb12cce21f66dbd4d18", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4869999885559082, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3012e8812db613a88ea5060d71e614f06eb03b4dc79fcbb12cce21f66dbd4d18", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3012e8812db613a88ea5060d71e614f06eb03b4dc79fcbb12cce21f66dbd4d18", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00927 Pasta Box/IsaacSim_assets_6a842d59a08484187f626c98/physics_6a842d59a08484187f626c98.json b/batch30/D00927 Pasta Box/IsaacSim_assets_6a842d59a08484187f626c98/physics_6a842d59a08484187f626c98.json index b6cd6b56f761332c1febd7dd4a887c78fac16112..57913a75ae83bf181d033b225be80e7b885c0f4b 100644 --- a/batch30/D00927 Pasta Box/IsaacSim_assets_6a842d59a08484187f626c98/physics_6a842d59a08484187f626c98.json +++ b/batch30/D00927 Pasta Box/IsaacSim_assets_6a842d59a08484187f626c98/physics_6a842d59a08484187f626c98.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.061625998467206955, - 0.16225939989089966, - 0.02728099934756756 - ], "min": [ -0.06133899837732315, - 0.0008483885321766138, - -0.03351999819278717 + -0.02728099934756756, + 0.0008483885321766138 + ], + "max": [ + 0.061625998467206955, + 0.03351999819278717, + 0.16225939989089966 ], "size": [ 0.1229649968445301, - 0.16141101135872304, - 0.06080099754035473 - ] + 0.06080099754035473, + 0.16141101135872304 + ], + "units": "m" }, "description": "D00927 Pasta Box", "name": "D00927 Pasta Box", "object_type": "rigid_bodies", - "total_mass": 0.28 + "total_mass": 0.2800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00927", "parts": [ { "bounds": { - "center": [ - 0.00014350004494190216, - 0.08155389421153814, - -0.003119499422609806 + "min": [ + -0.06133899837732315, + -0.02728099934756756, + 0.0008483885321766138 ], "max": [ 0.061625998467206955, - 0.16225939989089966, - 0.02728099934756756 + 0.03351999819278717, + 0.16225939989089966 ], - "min": [ - -0.06133899837732315, - 0.0008483885321766138, - -0.03351999819278717 - ] + "size": [ + 0.1229649968445301, + 0.06080099754035473, + 0.16141101135872304 + ], + "units": "m" }, "center_of_mass": [ 0.00014113009092397988, @@ -59,7 +65,7 @@ 0.0006858048145659268, 0.0009522176114842296 ], - "mass": 0.28, + "mass": 0.2800000011920929, "material": "light_wood_or_paper", "name": "D00927 Pasta Box", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00927 Pasta Box", "part_name": "D00927 Pasta Box" }, - "volume": 0.0009000032605050767 + "volume": 0.0009000032605050767, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5dfafdf20d306415b494dd14ab00bd0716e277400944eb75a839c69b12dd6e12" + }, + "usd_path": "batch30/D00927 Pasta Box/IsaacSim_assets_6a842d59a08484187f626c98/IsaacSim_asset_6a842d59a08484187f626c98.usd", + "usd_sha256": "191634c514e090add5c2431fcd291f3923ce50ae5928ff03668b07db0a2cf0e8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.1229649968445301, - 0.16141101135872304, - 0.06080099754035473 - ] + 0.06080099754035473, + 0.16141101135872304 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "191634c514e090add5c2431fcd291f3923ce50ae5928ff03668b07db0a2cf0e8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.28 + "value_kg": 0.2800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "191634c514e090add5c2431fcd291f3923ce50ae5928ff03668b07db0a2cf0e8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "191634c514e090add5c2431fcd291f3923ce50ae5928ff03668b07db0a2cf0e8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "191634c514e090add5c2431fcd291f3923ce50ae5928ff03668b07db0a2cf0e8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch30/D00943 Wire Basket/IsaacSim_assets_6a840946a08484187f5cd851/physics_6a840946a08484187f5cd851.json b/batch30/D00943 Wire Basket/IsaacSim_assets_6a840946a08484187f5cd851/physics_6a840946a08484187f5cd851.json index 2388a0130f2bfd38967b0a15361b2fe59e47ecf3..9dffbe2ec14dbecb598fb46a8bcd0c4441a99912 100644 --- a/batch30/D00943 Wire Basket/IsaacSim_assets_6a840946a08484187f5cd851/physics_6a840946a08484187f5cd851.json +++ b/batch30/D00943 Wire Basket/IsaacSim_assets_6a840946a08484187f5cd851/physics_6a840946a08484187f5cd851.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2076600044965744, - 0.15068157017230988, - 0.16367900371551514 - ], "min": [ -0.2068440020084381, - 0.0013085699174553156, - -0.15972399711608887 + -0.16367900371551514, + 0.0013085699174553156 + ], + "max": [ + 0.2076600044965744, + 0.15972399711608887, + 0.15068157017230988 ], "size": [ 0.4145040065050125, - 0.14937300025485456, - 0.323403000831604 - ] + 0.323403000831604, + 0.14937300025485456 + ], + "units": "m" }, "description": "D00943 Wire Basket", "name": "D00943 Wire Basket", "object_type": "rigid_bodies", - "total_mass": 1.0 + "total_mass": 1.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00943", "parts": [ { "bounds": { - "center": [ - 0.00040800124406814575, - 0.0759950700448826, - 0.0019775032997131348 + "min": [ + -0.2068440020084381, + -0.16367900371551514, + 0.0013085699174553156 ], "max": [ 0.2076600044965744, - 0.15068157017230988, - 0.16367900371551514 + 0.15972399711608887, + 0.15068157017230988 ], - "min": [ - -0.2068440020084381, - 0.0013085699174553156, - -0.15972399711608887 - ] + "size": [ + 0.4145040065050125, + 0.323403000831604, + 0.14937300025485456 + ], + "units": "m" }, "center_of_mass": [ 0.0002844238479156047, @@ -67,10 +73,27 @@ "object_name": "D00943 Wire Basket", "part_name": "D00943 Wire Basket" }, - "volume": 0.0012300123001230013 + "volume": 0.0012300123001230013, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bfedbc6c1a10fca080c34d0b8acbb08b2aad088495008faea79555f89574418e" + }, + "usd_path": "batch30/D00943 Wire Basket/IsaacSim_assets_6a840946a08484187f5cd851/IsaacSim_asset_6a840946a08484187f5cd851.usd", + "usd_sha256": "dff665bf677db4d22f2e2f97705c205b97d42e7300751624ad4a1e7e92d2804b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.4145040065050125, - 0.14937300025485456, - 0.323403000831604 - ] + 0.323403000831604, + 0.14937300025485456 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dff665bf677db4d22f2e2f97705c205b97d42e7300751624ad4a1e7e92d2804b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0 + "value_kg": 1.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dff665bf677db4d22f2e2f97705c205b97d42e7300751624ad4a1e7e92d2804b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 128, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dff665bf677db4d22f2e2f97705c205b97d42e7300751624ad4a1e7e92d2804b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 128, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dff665bf677db4d22f2e2f97705c205b97d42e7300751624ad4a1e7e92d2804b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00152_Coffee_Jar/IsaacSim_assets_6a7c2017b56a872fd789a0ac/physics_6a7c2017b56a872fd789a0ac.json b/batch31/D00152_Coffee_Jar/IsaacSim_assets_6a7c2017b56a872fd789a0ac/physics_6a7c2017b56a872fd789a0ac.json index 768acedf5490e7ee6901c1e605939330b16069f4..3133c5a075b21b0fe75ddf82aaa2eb0ebc803050 100644 --- a/batch31/D00152_Coffee_Jar/IsaacSim_assets_6a7c2017b56a872fd789a0ac/physics_6a7c2017b56a872fd789a0ac.json +++ b/batch31/D00152_Coffee_Jar/IsaacSim_assets_6a7c2017b56a872fd789a0ac/physics_6a7c2017b56a872fd789a0ac.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_0", "body1": "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_1", "joint_path": "/World/textured_mesh_6a7c2017b56a872fd789a0ac/Joints/joint_jar_body__lid", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_body__lid", + "path": "/World/textured_mesh_6a7c2017b56a872fd789a0ac/Joints/joint_jar_body__lid", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_1" + ], + "authored_usd": { + "id": "joint_jar_body__lid", + "source_prim_path": "/World/textured_mesh_6a7c2017b56a872fd789a0ac/Joints/joint_jar_body__lid", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_0" + ], + "body1": [ + "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_1", "body1": "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_2", "joint_path": "/World/textured_mesh_6a7c2017b56a872fd789a0ac/Joints/joint_lid__lid_seal", - "type": "fixed" + "type": "fixed", + "id": "joint_lid__lid_seal", + "path": "/World/textured_mesh_6a7c2017b56a872fd789a0ac/Joints/joint_lid__lid_seal", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_2" + ], + "authored_usd": { + "id": "joint_lid__lid_seal", + "source_prim_path": "/World/textured_mesh_6a7c2017b56a872fd789a0ac/Joints/joint_lid__lid_seal", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_1" + ], + "body1": [ + "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05141400173306465, - 0.1336087028030306, - 0.05140899866819382 - ], "min": [ -0.05121399834752083, - 0.0005627100194942614, - -0.05148100107908249 + -0.05140899866819382, + 0.0005627100194942614 + ], + "max": [ + 0.05141400173306465, + 0.05148100107908249, + 0.1336087028030306 ], "size": [ 0.10262800008058548, - 0.13304599278353635, - 0.1028899997472763 - ] + 0.1028899997472763, + 0.13304599278353635 + ], + "units": "m" }, "description": "D00152 Coffee_Jar", "name": "D00152 Coffee_Jar", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000152736902, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00152", "parts": [ { "bounds": { - "center": [ - 0.00010000169277191162, - 0.05434620824303238, - -3.600120544433594e-05 + "min": [ + -0.05121399834752083, + -0.05140899866819382, + 0.0005627100194942614 ], "max": [ 0.05141400173306465, - 0.1081297064665705, - 0.05140899866819382 + 0.05148100107908249, + 0.1081297064665705 ], - "min": [ - -0.05121399834752083, - 0.0005627100194942614, - -0.05148100107908249 - ] + "size": [ + 0.10262800008058548, + 0.1028899997472763, + 0.10756699644707624 + ], + "units": "m" }, "center_of_mass": [ -0.0008044815622270107, @@ -72,7 +168,7 @@ 0.0005144529277458787, 0.0005172836827114224 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "ceramic_or_glass", "name": "D00152 Coffee_Jar", "physics_type": "rigid", @@ -80,25 +176,28 @@ "object_name": "D00152 Coffee_Jar", "part_name": "D00152 Coffee_Jar" }, - "volume": 0.00012000000476837159 + "volume": 0.00012000000476837159, + "source_prim_path": "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00012999959290027618, - 0.12033820548094809, - -5.1001086831092834e-05 + "min": [ + -0.04617200046777725, + -0.046549998223781586, + 0.10706770815886557 ], "max": [ 0.046431999653577805, - 0.1336087028030306, - 0.046549998223781586 + 0.04665200039744377, + 0.1336087028030306 ], - "min": [ - -0.04617200046777725, - 0.10706770815886557, - -0.04665200039744377 - ] + "size": [ + 0.09260400012135506, + 0.09320199862122536, + 0.02654099464416504 + ], + "units": "m" }, "center_of_mass": [ 0.00017364976520184427, @@ -113,7 +212,7 @@ 5.369795690057799e-05, 9.628049156162888e-05 ], - "mass": 0.09, + "mass": 0.09000000357627869, "material": "metal", "name": "D00152 Coffee_Jar", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00152 Coffee_Jar", "part_name": "D00152 Coffee_Jar" }, - "volume": 1.1538461996958805e-05 + "volume": 1.1538461996958805e-05, + "source_prim_path": "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00022500008344650269, - 0.12017820798791945, - 5.14984130859375e-05 + "min": [ + -0.043699998408555984, + -0.04457499831914902, + 0.10790671058930457 ], "max": [ 0.04414999857544899, - 0.13244970538653433, - 0.04457499831914902 + 0.04447200149297714, + 0.13244970538653433 ], - "min": [ - -0.043699998408555984, - 0.10790671058930457, - -0.04447200149297714 - ] + "size": [ + 0.08784999698400497, + 0.08904699981212616, + 0.024542994797229767 + ], + "units": "m" }, "center_of_mass": [ 0.00038102318649180233, @@ -154,7 +256,7 @@ 5.162589786777971e-06, 1.0115266377397347e-05 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "plastic", "name": "D00152 Coffee_Jar", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00152 Coffee_Jar", "part_name": "D00152 Coffee_Jar" }, - "volume": 8.333333147068818e-06 + "volume": 8.333333147068818e-06, + "source_prim_path": "/World/textured_mesh_6a7c2017b56a872fd789a0ac/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7fe47e9d6f234e6592dc1cade144479db5ce2fdebc336cac31888148ced15711" + }, + "usd_path": "batch31/D00152_Coffee_Jar/IsaacSim_assets_6a7c2017b56a872fd789a0ac/IsaacSim_asset_6a7c2017b56a872fd789a0ac.usd", + "usd_sha256": "db594cc89b8c16617596a3aa665ecc3c0678da6fef179caab07cd14496a81d77", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,75 @@ "up_axis": "Z", "bounds_m": [ 0.10262800008058548, - 0.13304599278353635, - 0.1028899997472763 - ] + 0.1028899997472763, + 0.13304599278353635 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db594cc89b8c16617596a3aa665ecc3c0678da6fef179caab07cd14496a81d77", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000152736902, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db594cc89b8c16617596a3aa665ecc3c0678da6fef179caab07cd14496a81d77", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000152736902, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 54, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db594cc89b8c16617596a3aa665ecc3c0678da6fef179caab07cd14496a81d77", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 54, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "db594cc89b8c16617596a3aa665ecc3c0678da6fef179caab07cd14496a81d77", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "db594cc89b8c16617596a3aa665ecc3c0678da6fef179caab07cd14496a81d77", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:11:01.385561+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "30e4c11da97ef36c2b770bb5e18824db896424f7f48afcbfb6e88968b4e6170f", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00265_Decorativeur/IsaacSim_assets_6a829adab7a9c4204ac7419e/physics_6a829adab7a9c4204ac7419e.json b/batch31/D00265_Decorativeur/IsaacSim_assets_6a829adab7a9c4204ac7419e/physics_6a829adab7a9c4204ac7419e.json index 26de742557a98522fdd71aaf30de8946dfe6dcc3..01df3f632d3d96c625694ab7df0b1e98e7399fa6 100644 --- a/batch31/D00265_Decorativeur/IsaacSim_assets_6a829adab7a9c4204ac7419e/physics_6a829adab7a9c4204ac7419e.json +++ b/batch31/D00265_Decorativeur/IsaacSim_assets_6a829adab7a9c4204ac7419e/physics_6a829adab7a9c4204ac7419e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.265300989151001, - 0.6088246740400791, - 0.22837500274181366 - ], "min": [ -0.2666679918766022, - 0.0032007002661202932, - -0.2307240068912506 + -0.22837500274181366, + 0.0032007002661202932 + ], + "max": [ + 0.265300989151001, + 0.2307240068912506, + 0.6088246740400791 ], "size": [ 0.5319689810276031, - 0.6056239737739588, - 0.45909900963306427 - ] + 0.45909900963306427, + 0.6056239737739588 + ], + "units": "m" }, "description": "D00265 Decorativeur", "name": "D00265 Decorativeur", "object_type": "rigid_bodies", - "total_mass": 15.0 + "total_mass": 15.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00265", "parts": [ { "bounds": { - "center": [ - -0.0006835013628005981, - 0.3060126871530997, - -0.0011745020747184753 + "min": [ + -0.2666679918766022, + -0.22837500274181366, + 0.0032007002661202932 ], "max": [ 0.265300989151001, - 0.6088246740400791, - 0.22837500274181366 + 0.2307240068912506, + 0.6088246740400791 ], - "min": [ - -0.2666679918766022, - 0.0032007002661202932, - -0.2307240068912506 - ] + "size": [ + 0.5319689810276031, + 0.45909900963306427, + 0.6056239737739588 + ], + "units": "m" }, "center_of_mass": [ -0.0004479321069084108, @@ -67,10 +73,27 @@ "object_name": "D00265 Decorativeur", "part_name": "D00265 Decorativeur" }, - "volume": 0.007894736842105263 + "volume": 0.007894736842105263, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "462f12690850b3f10387c80da78546ce85686a829dce53cdf079e450daaa2dd2" + }, + "usd_path": "batch31/D00265_Decorativeur/IsaacSim_assets_6a829adab7a9c4204ac7419e/IsaacSim_asset_6a829adab7a9c4204ac7419e.usd", + "usd_sha256": "5d37006aa8cbd77367849e289f15f17300bd947f3a796cf23a04107b93dfd42d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.5319689810276031, - 0.6056239737739588, - 0.45909900963306427 - ] + 0.45909900963306427, + 0.6056239737739588 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d37006aa8cbd77367849e289f15f17300bd947f3a796cf23a04107b93dfd42d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 15.0 + "value_kg": 15.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d37006aa8cbd77367849e289f15f17300bd947f3a796cf23a04107b93dfd42d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 15.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 72, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d37006aa8cbd77367849e289f15f17300bd947f3a796cf23a04107b93dfd42d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 72, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d37006aa8cbd77367849e289f15f17300bd947f3a796cf23a04107b93dfd42d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00266_Digital_Scale/IsaacSim_assets_6a827d56b7a9c4204ac2cd24/physics_6a827d56b7a9c4204ac2cd24.json b/batch31/D00266_Digital_Scale/IsaacSim_assets_6a827d56b7a9c4204ac2cd24/physics_6a827d56b7a9c4204ac2cd24.json index 529cf0101a37d1a060aab08b647b49017c748a5d..dbdff589b96c9726923bc97d227cfb749537c355 100644 --- a/batch31/D00266_Digital_Scale/IsaacSim_assets_6a827d56b7a9c4204ac2cd24/physics_6a827d56b7a9c4204ac2cd24.json +++ b/batch31/D00266_Digital_Scale/IsaacSim_assets_6a827d56b7a9c4204ac2cd24/physics_6a827d56b7a9c4204ac2cd24.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07037799805402756, - 0.02377334889024496, - 0.0988679975271225 - ], "min": [ -0.07110399752855301, - 0.001092349179089079, - -0.10803800076246262 + -0.0988679975271225, + 0.001092349179089079 + ], + "max": [ + 0.07037799805402756, + 0.10803800076246262, + 0.02377334889024496 ], "size": [ 0.14148199558258057, - 0.02268099971115588, - 0.2069059982895851 - ] + 0.2069059982895851, + 0.02268099971115588 + ], + "units": "m" }, "description": "D00266 Digital_Scale", "name": "D00266 Digital_Scale", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00266", "parts": [ { "bounds": { - "center": [ - -0.00036299973726272583, - 0.01243284903466702, - -0.004585001617670059 + "min": [ + -0.07110399752855301, + -0.0988679975271225, + 0.001092349179089079 ], "max": [ 0.07037799805402756, - 0.02377334889024496, - 0.0988679975271225 + 0.10803800076246262, + 0.02377334889024496 ], - "min": [ - -0.07110399752855301, - 0.001092349179089079, - -0.10803800076246262 - ] + "size": [ + 0.14148199558258057, + 0.2069059982895851, + 0.02268099971115588 + ], + "units": "m" }, "center_of_mass": [ -0.00034875483834184706, @@ -59,7 +65,7 @@ 0.0013765381881967187, 0.0020041954703629017 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "light_wood_or_paper", "name": "D00266 Digital_Scale", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00266 Digital_Scale", "part_name": "D00266 Digital_Scale" }, - "volume": 0.0009009009143253705 + "volume": 0.0009009009143253705, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e443abe5bdb0effdc34383ae07af28748e3650062244209cc50f7202ee601b14" + }, + "usd_path": "batch31/D00266_Digital_Scale/IsaacSim_assets_6a827d56b7a9c4204ac2cd24/IsaacSim_asset_6a827d56b7a9c4204ac2cd24.usd", + "usd_sha256": "6784c884d0a45440ff1e8dd699873b6dba10b3fa051f9030e2d584c161a91198", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.14148199558258057, - 0.02268099971115588, - 0.2069059982895851 - ] + 0.2069059982895851, + 0.02268099971115588 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6784c884d0a45440ff1e8dd699873b6dba10b3fa051f9030e2d584c161a91198", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6784c884d0a45440ff1e8dd699873b6dba10b3fa051f9030e2d584c161a91198", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6784c884d0a45440ff1e8dd699873b6dba10b3fa051f9030e2d584c161a91198", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6784c884d0a45440ff1e8dd699873b6dba10b3fa051f9030e2d584c161a91198", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00267_Dill/IsaacSim_assets_6a827e56b7a9c4204ac2fa06/physics_6a827e56b7a9c4204ac2fa06.json b/batch31/D00267_Dill/IsaacSim_assets_6a827e56b7a9c4204ac2fa06/physics_6a827e56b7a9c4204ac2fa06.json index 2e64b44952f6a8418abc2f8eee38b995e8922e63..856503e8c857ee5826b99c986dafb450a455196e 100644 --- a/batch31/D00267_Dill/IsaacSim_assets_6a827e56b7a9c4204ac2fa06/physics_6a827e56b7a9c4204ac2fa06.json +++ b/batch31/D00267_Dill/IsaacSim_assets_6a827e56b7a9c4204ac2fa06/physics_6a827e56b7a9c4204ac2fa06.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.046105001121759415, - 0.0651250034570694, - 0.051311999559402466 - ], "min": [ -0.0880659967660904, - 4.8999998398358e-05, - -0.05004600062966347 + -0.051311999559402466, + 4.8999998398358e-05 + ], + "max": [ + 0.046105001121759415, + 0.05004600062966347, + 0.0651250034570694 ], "size": [ 0.1341709978878498, - 0.06507600345867104, - 0.10135800018906593 - ] + 0.10135800018906593, + 0.06507600345867104 + ], + "units": "m" }, "description": "D00267 Dill", "name": "D00267 Dill", "object_type": "rigid_bodies", - "total_mass": 0.01 + "total_mass": 0.009999999776482582, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00267", "parts": [ { "bounds": { - "center": [ - -0.02098049782216549, - 0.03258700172773388, - 0.0006329994648694992 + "min": [ + -0.0880659967660904, + -0.051311999559402466, + 4.8999998398358e-05 ], "max": [ 0.046105001121759415, - 0.0651250034570694, - 0.051311999559402466 + 0.05004600062966347, + 0.0651250034570694 ], - "min": [ - -0.0880659967660904, - 4.8999998398358e-05, - -0.05004600062966347 - ] + "size": [ + 0.1341709978878498, + 0.10135800018906593, + 0.06507600345867104 + ], + "units": "m" }, "center_of_mass": [ -0.009457176551222801, @@ -59,7 +65,7 @@ 1.0529191058594733e-05, 1.3718014088226482e-05 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "foam_or_hollow", "name": "D00267 Dill", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00267 Dill", "part_name": "D00267 Dill" }, - "volume": 5.5555554313792125e-05 + "volume": 5.5555554313792125e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a7029e6adfe6f472b2ea4f90c63d80ecfce8d0ca4b84d4200e7bd254ae482425" + }, + "usd_path": "batch31/D00267_Dill/IsaacSim_assets_6a827e56b7a9c4204ac2fa06/IsaacSim_asset_6a827e56b7a9c4204ac2fa06.usd", + "usd_sha256": "1530ca883d34f0ffb97f023f27c5f72e15c693bfa43c7b8fae0f6da43bbd033b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.1341709978878498, - 0.06507600345867104, - 0.10135800018906593 - ] + 0.10135800018906593, + 0.06507600345867104 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1530ca883d34f0ffb97f023f27c5f72e15c693bfa43c7b8fae0f6da43bbd033b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.01 + "value_kg": 0.009999999776482582, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1530ca883d34f0ffb97f023f27c5f72e15c693bfa43c7b8fae0f6da43bbd033b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.009999999776482582, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 131, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1530ca883d34f0ffb97f023f27c5f72e15c693bfa43c7b8fae0f6da43bbd033b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 131, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1530ca883d34f0ffb97f023f27c5f72e15c693bfa43c7b8fae0f6da43bbd033b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00275_Dish_Saucepan/IsaacSim_assets_6a827f97b7a9c4204ac33943/physics_6a827f97b7a9c4204ac33943.json b/batch31/D00275_Dish_Saucepan/IsaacSim_assets_6a827f97b7a9c4204ac33943/physics_6a827f97b7a9c4204ac33943.json index 6be45303452fe185dad09466769b0e7d99e58885..20de3cce882f9b30e4deb9b87328c550090ad9ee 100644 --- a/batch31/D00275_Dish_Saucepan/IsaacSim_assets_6a827f97b7a9c4204ac33943/physics_6a827f97b7a9c4204ac33943.json +++ b/batch31/D00275_Dish_Saucepan/IsaacSim_assets_6a827f97b7a9c4204ac33943/physics_6a827f97b7a9c4204ac33943.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.20198699831962585, - 0.0823646632488817, - 0.07503300160169601 - ], "min": [ -0.09860800206661224, - 0.001568659907206891, - -0.07526999711990356 + -0.07503300160169601, + 0.001568659907206891 + ], + "max": [ + 0.20198699831962585, + 0.07526999711990356, + 0.0823646632488817 ], "size": [ 0.3005950003862381, - 0.0807960033416748, - 0.15030299872159958 - ] + 0.15030299872159958, + 0.0807960033416748 + ], + "units": "m" }, "description": "D00275 Dish_Saucepan", "name": "D00275 Dish_Saucepan", "object_type": "rigid_bodies", - "total_mass": 1.0 + "total_mass": 1.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00275", "parts": [ { "bounds": { - "center": [ - 0.051689498126506805, - 0.041966661578044295, - -0.00011849775910377502 + "min": [ + -0.09860800206661224, + -0.07503300160169601, + 0.001568659907206891 ], "max": [ 0.20198699831962585, - 0.0823646632488817, - 0.07503300160169601 + 0.07526999711990356, + 0.0823646632488817 ], - "min": [ - -0.09860800206661224, - 0.001568659907206891, - -0.07526999711990356 - ] + "size": [ + 0.3005950003862381, + 0.15030299872159958, + 0.0807960033416748 + ], + "units": "m" }, "center_of_mass": [ 0.01020958460867405, @@ -67,10 +73,27 @@ "object_name": "D00275 Dish_Saucepan", "part_name": "D00275 Dish_Saucepan" }, - "volume": 0.00023255813953488373 + "volume": 0.00023255813953488373, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b616a912f22411314ce3a78ca32faaae227bea3e9569e0d11dafe5ad286ca3e5" + }, + "usd_path": "batch31/D00275_Dish_Saucepan/IsaacSim_assets_6a827f97b7a9c4204ac33943/IsaacSim_asset_6a827f97b7a9c4204ac33943.usd", + "usd_sha256": "b3af00e2fe20fc932afcd93e9d2ba2dbfc893591ef19e47e35024023200e8b9e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.3005950003862381, - 0.0807960033416748, - 0.15030299872159958 - ] + 0.15030299872159958, + 0.0807960033416748 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b3af00e2fe20fc932afcd93e9d2ba2dbfc893591ef19e47e35024023200e8b9e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0 + "value_kg": 1.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b3af00e2fe20fc932afcd93e9d2ba2dbfc893591ef19e47e35024023200e8b9e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 16, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b3af00e2fe20fc932afcd93e9d2ba2dbfc893591ef19e47e35024023200e8b9e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 16, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b3af00e2fe20fc932afcd93e9d2ba2dbfc893591ef19e47e35024023200e8b9e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00286_Dumplings/IsaacSim_assets_6a82817db7a9c4204ac39c5b/physics_6a82817db7a9c4204ac39c5b.json b/batch31/D00286_Dumplings/IsaacSim_assets_6a82817db7a9c4204ac39c5b/physics_6a82817db7a9c4204ac39c5b.json index b27fb66ea33acb59e6efcc6815be117c62665082..b9b10703afd1593d24769dce68a73f59a4209aaa 100644 --- a/batch31/D00286_Dumplings/IsaacSim_assets_6a82817db7a9c4204ac39c5b/physics_6a82817db7a9c4204ac39c5b.json +++ b/batch31/D00286_Dumplings/IsaacSim_assets_6a82817db7a9c4204ac39c5b/physics_6a82817db7a9c4204ac39c5b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.028909999877214432, - 0.030148610472679138, - 0.011834999546408653 - ], "min": [ -0.03051700070500374, - 0.000324610380289414, - -0.011714000254869461 + -0.011834999546408653, + 0.000324610380289414 + ], + "max": [ + 0.028909999877214432, + 0.011714000254869461, + 0.030148610472679138 ], "size": [ 0.05942700058221817, - 0.029824000092389724, - 0.023548999801278114 - ] + 0.023548999801278114, + 0.029824000092389724 + ], + "units": "m" }, "description": "D00286 Dumplings", "name": "D00286 Dumplings", "object_type": "rigid_bodies", - "total_mass": 0.02 + "total_mass": 0.019999999552965164, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00286", "parts": [ { "bounds": { - "center": [ - -0.0008035004138946533, - 0.015236610426484276, - 6.04996457695961e-05 + "min": [ + -0.03051700070500374, + -0.011834999546408653, + 0.000324610380289414 ], "max": [ 0.028909999877214432, - 0.030148610472679138, - 0.011834999546408653 + 0.011714000254869461, + 0.030148610472679138 ], - "min": [ - -0.03051700070500374, - 0.000324610380289414, - -0.011714000254869461 - ] + "size": [ + 0.05942700058221817, + 0.023548999801278114, + 0.029824000092389724 + ], + "units": "m" }, "center_of_mass": [ 0.0005727664101868868, @@ -59,7 +65,7 @@ 3.4201541438960703e-06, 3.822845428658184e-06 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "plastic", "name": "D00286 Dumplings", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00286 Dumplings", "part_name": "D00286 Dumplings" }, - "volume": 1.8181817775422877e-05 + "volume": 1.8181817775422877e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "39bd81350141a7b6deeaef521bdb492085c17763da7fd3ca7d0c13fe26813631" + }, + "usd_path": "batch31/D00286_Dumplings/IsaacSim_assets_6a82817db7a9c4204ac39c5b/IsaacSim_asset_6a82817db7a9c4204ac39c5b.usd", + "usd_sha256": "ef3b9748d7ef1d51673b1b2d5408feb1df2b014c914dfacc7c3b3c8d842cd93d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.05942700058221817, - 0.029824000092389724, - 0.023548999801278114 - ] + 0.023548999801278114, + 0.029824000092389724 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef3b9748d7ef1d51673b1b2d5408feb1df2b014c914dfacc7c3b3c8d842cd93d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.02 + "value_kg": 0.019999999552965164, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef3b9748d7ef1d51673b1b2d5408feb1df2b014c914dfacc7c3b3c8d842cd93d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.019999999552965164, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef3b9748d7ef1d51673b1b2d5408feb1df2b014c914dfacc7c3b3c8d842cd93d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef3b9748d7ef1d51673b1b2d5408feb1df2b014c914dfacc7c3b3c8d842cd93d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00288_Egg_Carton/IsaacSim_assets_6a828206b7a9c4204ac3b50a/physics_6a828206b7a9c4204ac3b50a.json b/batch31/D00288_Egg_Carton/IsaacSim_assets_6a828206b7a9c4204ac3b50a/physics_6a828206b7a9c4204ac3b50a.json index 5c0abe80899ab8676729c821b3ad54e3c26c9931..5f050e224217ef4d9e8abadaf0252192c96ca422 100644 --- a/batch31/D00288_Egg_Carton/IsaacSim_assets_6a828206b7a9c4204ac3b50a/physics_6a828206b7a9c4204ac3b50a.json +++ b/batch31/D00288_Egg_Carton/IsaacSim_assets_6a828206b7a9c4204ac3b50a/physics_6a828206b7a9c4204ac3b50a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12727199494838715, - 0.06772402906790376, - 0.09445299953222275 - ], "min": [ -0.1274929940700531, - 0.0013930299319326938, - -0.0941770002245903 + -0.09445299953222275, + 0.0013930299319326938 + ], + "max": [ + 0.12727199494838715, + 0.0941770002245903, + 0.06772402906790376 ], "size": [ 0.25476498901844025, - 0.06633099913597107, - 0.18862999975681305 - ] + 0.18862999975681305, + 0.06633099913597107 + ], + "units": "m" }, "description": "D00288 Egg_Carton", "name": "D00288 Egg_Carton", "object_type": "rigid_bodies", - "total_mass": 0.03 + "total_mass": 0.029999999329447746, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00288", "parts": [ { "bounds": { - "center": [ - -0.0001104995608329773, - 0.03455852949991822, - 0.00013799965381622314 + "min": [ + -0.1274929940700531, + -0.09445299953222275, + 0.0013930299319326938 ], "max": [ 0.12727199494838715, - 0.06772402906790376, - 0.09445299953222275 + 0.0941770002245903, + 0.06772402906790376 ], - "min": [ - -0.1274929940700531, - 0.0013930299319326938, - -0.0941770002245903 - ] + "size": [ + 0.25476498901844025, + 0.18862999975681305, + 0.06633099913597107 + ], + "units": "m" }, "center_of_mass": [ -0.00014156878751236945, @@ -59,7 +65,7 @@ 0.00014775928866583854, 0.0002076433738693595 ], - "mass": 0.03, + "mass": 0.029999999329447746, "material": "foam_or_hollow", "name": "D00288 Egg_Carton", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00288 Egg_Carton", "part_name": "D00288 Egg_Carton" }, - "volume": 0.0004411764607271727 + "volume": 0.0004411764607271727, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bbe3fa002bbb52879f0cfce8d79d9bfbe8799c83d935a2d7fdd101f69507ccf5" + }, + "usd_path": "batch31/D00288_Egg_Carton/IsaacSim_assets_6a828206b7a9c4204ac3b50a/IsaacSim_asset_6a828206b7a9c4204ac3b50a.usd", + "usd_sha256": "ef88bb5be4cad1cec619f2fea9f7f530747b270aeea61c04eb54321aca5197bd", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.25476498901844025, - 0.06633099913597107, - 0.18862999975681305 - ] + 0.18862999975681305, + 0.06633099913597107 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef88bb5be4cad1cec619f2fea9f7f530747b270aeea61c04eb54321aca5197bd", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.03 + "value_kg": 0.029999999329447746, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef88bb5be4cad1cec619f2fea9f7f530747b270aeea61c04eb54321aca5197bd", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.029999999329447746, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 103, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef88bb5be4cad1cec619f2fea9f7f530747b270aeea61c04eb54321aca5197bd", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 103, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef88bb5be4cad1cec619f2fea9f7f530747b270aeea61c04eb54321aca5197bd", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00289_Egg_Holder/IsaacSim_assets_6a828285b7a9c4204ac3cb54/physics_6a828285b7a9c4204ac3cb54.json b/batch31/D00289_Egg_Holder/IsaacSim_assets_6a828285b7a9c4204ac3cb54/physics_6a828285b7a9c4204ac3cb54.json index de77f1ba6179e65e34a913f8acdaa14aa84177c9..3f1e2997ad510d85b43700351e1d2017c5b49f07 100644 --- a/batch31/D00289_Egg_Holder/IsaacSim_assets_6a828285b7a9c4204ac3cb54/physics_6a828285b7a9c4204ac3cb54.json +++ b/batch31/D00289_Egg_Holder/IsaacSim_assets_6a828285b7a9c4204ac3cb54/physics_6a828285b7a9c4204ac3cb54.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06012199819087982, - 0.01822171825915575, - 0.06945600360631943 - ], "min": [ -0.06020599976181984, - 0.0007567191496491496, - -0.06951499730348587 + -0.06945600360631943, + 0.0007567191496491496 + ], + "max": [ + 0.06012199819087982, + 0.06951499730348587, + 0.01822171825915575 ], "size": [ 0.12032799795269966, - 0.0174649991095066, - 0.1389710009098053 - ] + 0.1389710009098053, + 0.0174649991095066 + ], + "units": "m" }, "description": "D00289 Egg_Holder", "name": "D00289 Egg_Holder", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00289", "parts": [ { "bounds": { - "center": [ - -4.200078547000885e-05, - 0.00948921870440245, - -2.9496848583221436e-05 + "min": [ + -0.06020599976181984, + -0.06945600360631943, + 0.0007567191496491496 ], "max": [ 0.06012199819087982, - 0.01822171825915575, - 0.06945600360631943 + 0.06951499730348587, + 0.01822171825915575 ], - "min": [ - -0.06020599976181984, - 0.0007567191496491496, - -0.06951499730348587 - ] + "size": [ + 0.12032799795269966, + 0.1389710009098053, + 0.0174649991095066 + ], + "units": "m" }, "center_of_mass": [ -4.314392208470963e-05, @@ -59,7 +65,7 @@ 0.00024053084780462086, 0.00041420699562877417 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "wood", "name": "D00289 Egg_Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00289 Egg_Holder", "part_name": "D00289 Egg_Holder" }, - "volume": 0.00021428572280066355 + "volume": 0.00021428572280066355, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "aeb1f794ecdd98b58ffa667a7fbb85916b143d4963e52a4350ce529b70cd746f" + }, + "usd_path": "batch31/D00289_Egg_Holder/IsaacSim_assets_6a828285b7a9c4204ac3cb54/IsaacSim_asset_6a828285b7a9c4204ac3cb54.usd", + "usd_sha256": "1b3f0189c3dded03670e0766607675d801746eef44137d872de0afdb40f6592a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.12032799795269966, - 0.0174649991095066, - 0.1389710009098053 - ] + 0.1389710009098053, + 0.0174649991095066 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1b3f0189c3dded03670e0766607675d801746eef44137d872de0afdb40f6592a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1b3f0189c3dded03670e0766607675d801746eef44137d872de0afdb40f6592a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 55, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1b3f0189c3dded03670e0766607675d801746eef44137d872de0afdb40f6592a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 55, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1b3f0189c3dded03670e0766607675d801746eef44137d872de0afdb40f6592a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00290_Egg_Tray/IsaacSim_assets_6a8282e5b7a9c4204ac3df14/physics_6a8282e5b7a9c4204ac3df14.json b/batch31/D00290_Egg_Tray/IsaacSim_assets_6a8282e5b7a9c4204ac3df14/physics_6a8282e5b7a9c4204ac3df14.json index ce24593c93dd2778c520e471c2d4380c2705bc20..86904688a8ca564afdd636ce4c141070c1a2c805 100644 --- a/batch31/D00290_Egg_Tray/IsaacSim_assets_6a8282e5b7a9c4204ac3df14/physics_6a8282e5b7a9c4204ac3df14.json +++ b/batch31/D00290_Egg_Tray/IsaacSim_assets_6a8282e5b7a9c4204ac3df14/physics_6a8282e5b7a9c4204ac3df14.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12707699835300446, - 0.04505698080174625, - 0.09753400087356567 - ], "min": [ -0.12695899605751038, - 0.0013929798733442965, - -0.09781400114297867 + -0.09753400087356567, + 0.0013929798733442965 + ], + "max": [ + 0.12707699835300446, + 0.09781400114297867, + 0.04505698080174625 ], "size": [ 0.25403599441051483, - 0.043664000928401954, - 0.19534800201654434 - ] + 0.19534800201654434, + 0.043664000928401954 + ], + "units": "m" }, "description": "D00290 Egg_Tray", "name": "D00290 Egg_Tray", "object_type": "rigid_bodies", - "total_mass": 0.025 + "total_mass": 0.02500000037252903, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00290", "parts": [ { "bounds": { - "center": [ - 5.9001147747039795e-05, - 0.023224980337545272, - -0.0001400001347064972 + "min": [ + -0.12695899605751038, + -0.09753400087356567, + 0.0013929798733442965 ], "max": [ 0.12707699835300446, - 0.04505698080174625, - 0.09753400087356567 + 0.09781400114297867, + 0.04505698080174625 ], - "min": [ - -0.12695899605751038, - 0.0013929798733442965, - -0.09781400114297867 - ] + "size": [ + 0.25403599441051483, + 0.19534800201654434, + 0.043664000928401954 + ], + "units": "m" }, "center_of_mass": [ 4.544980765786022e-05, @@ -59,7 +65,7 @@ 0.00011982794239884242, 0.0001832157140597701 ], - "mass": 0.025, + "mass": 0.02500000037252903, "material": "foam_or_hollow", "name": "D00290 Egg_Tray", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00290 Egg_Tray", "part_name": "D00290 Egg_Tray" }, - "volume": 0.0004098360716808038 + "volume": 0.0004098360716808038, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "432244b937d5e8b6390379075151bd6e4aeb107645d5f7b0eb483e4b557a9b47" + }, + "usd_path": "batch31/D00290_Egg_Tray/IsaacSim_assets_6a8282e5b7a9c4204ac3df14/IsaacSim_asset_6a8282e5b7a9c4204ac3df14.usd", + "usd_sha256": "006af68cf20db249ba8cf518d1e05612120217abd5298720ec1a2453be4b203b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.25403599441051483, - 0.043664000928401954, - 0.19534800201654434 - ] + 0.19534800201654434, + 0.043664000928401954 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "006af68cf20db249ba8cf518d1e05612120217abd5298720ec1a2453be4b203b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.025 + "value_kg": 0.02500000037252903, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "006af68cf20db249ba8cf518d1e05612120217abd5298720ec1a2453be4b203b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.02500000037252903, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 120, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "006af68cf20db249ba8cf518d1e05612120217abd5298720ec1a2453be4b203b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 120, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "006af68cf20db249ba8cf518d1e05612120217abd5298720ec1a2453be4b203b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00292_Utensils/IsaacSim_assets_6a8283d2b7a9c4204ac4147a/physics_6a8283d2b7a9c4204ac4147a.json b/batch31/D00292_Utensils/IsaacSim_assets_6a8283d2b7a9c4204ac4147a/physics_6a8283d2b7a9c4204ac4147a.json index 6c3d8b85295eef2c18be8aa4eec29e15e7b1215a..1beaadb15e66c9d994d2558ab2f82b10dc758590 100644 --- a/batch31/D00292_Utensils/IsaacSim_assets_6a8283d2b7a9c4204ac4147a/physics_6a8283d2b7a9c4204ac4147a.json +++ b/batch31/D00292_Utensils/IsaacSim_assets_6a8283d2b7a9c4204ac4147a/physics_6a8283d2b7a9c4204ac4147a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11510500311851501, - 0.019879211205989122, - 0.02974499948322773 - ], "min": [ -0.08756899833679199, - 0.0010512103326618671, - -0.029627999290823936 + -0.02974499948322773, + 0.0010512103326618671 + ], + "max": [ + 0.11510500311851501, + 0.029627999290823936, + 0.019879211205989122 ], "size": [ 0.202674001455307, - 0.018828000873327255, - 0.059372998774051666 - ] + 0.059372998774051666, + 0.018828000873327255 + ], + "units": "m" }, "description": "D00292 Utensils", "name": "D00292 Utensils", "object_type": "rigid_bodies", - "total_mass": 0.01835 + "total_mass": 0.01834999956190586, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00292", "parts": [ { "bounds": { - "center": [ - 0.013768002390861511, - 0.010465210769325495, - 5.850009620189667e-05 + "min": [ + -0.08756899833679199, + -0.02974499948322773, + 0.0010512103326618671 ], "max": [ 0.11510500311851501, - 0.019879211205989122, - 0.02974499948322773 + 0.029627999290823936, + 0.019879211205989122 ], - "min": [ - -0.08756899833679199, - 0.0010512103326618671, - -0.029627999290823936 - ] + "size": [ + 0.202674001455307, + 0.059372998774051666, + 0.018828000873327255 + ], + "units": "m" }, "center_of_mass": [ 0.012411217205226421, @@ -59,7 +65,7 @@ 6.306335126282647e-05, 6.481886521214619e-05 ], - "mass": 0.01835, + "mass": 0.01834999956190586, "material": "wood", "name": "D00292 Utensils", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00292 Utensils", "part_name": "D00292 Utensils" }, - "volume": 2.6214285088436944e-05 + "volume": 2.6214285088436944e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b2cd0cf2e49bb1406355813410b1b8da273d295b2e103bfd5b1c3a07c3823ff1" + }, + "usd_path": "batch31/D00292_Utensils/IsaacSim_assets_6a8283d2b7a9c4204ac4147a/IsaacSim_asset_6a8283d2b7a9c4204ac4147a.usd", + "usd_sha256": "f9e423474989283b206ec49ec741623bb8c8dd4db1d55a8d93ff999e9e44a204", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.202674001455307, - 0.018828000873327255, - 0.059372998774051666 - ] + 0.059372998774051666, + 0.018828000873327255 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9e423474989283b206ec49ec741623bb8c8dd4db1d55a8d93ff999e9e44a204", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.01835 + "value_kg": 0.01834999956190586, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9e423474989283b206ec49ec741623bb8c8dd4db1d55a8d93ff999e9e44a204", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.01834999956190586, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9e423474989283b206ec49ec741623bb8c8dd4db1d55a8d93ff999e9e44a204", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9e423474989283b206ec49ec741623bb8c8dd4db1d55a8d93ff999e9e44a204", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00295 Cheese Board/IsaacSim_assets_6a82cd30b7a9c4204acca793/physics_6a82cd30b7a9c4204acca793.json b/batch31/D00295 Cheese Board/IsaacSim_assets_6a82cd30b7a9c4204acca793/physics_6a82cd30b7a9c4204acca793.json index 58245b636fa0dc349eccf8711e8e6ffde5d157f5..85ae77b5cfa41f84bf7a69047dccfb08aea45508 100644 --- a/batch31/D00295 Cheese Board/IsaacSim_assets_6a82cd30b7a9c4204acca793/physics_6a82cd30b7a9c4204acca793.json +++ b/batch31/D00295 Cheese Board/IsaacSim_assets_6a82cd30b7a9c4204acca793/physics_6a82cd30b7a9c4204acca793.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1325400024652481, - 0.036483408883214, - 0.23266899585723877 - ], "min": [ -0.13395999372005463, - 0.002451410517096543, - -0.3046579957008362 + -0.23266899585723877, + 0.002451410517096543 + ], + "max": [ + 0.1325400024652481, + 0.3046579957008362, + 0.036483408883214 ], "size": [ 0.26649999618530273, - 0.03403199836611746, - 0.537326991558075 - ] + 0.537326991558075, + 0.03403199836611746 + ], + "units": "m" }, "description": "D00295 Cheese Board", "name": "D00295 Cheese Board", "object_type": "rigid_bodies", - "total_mass": 0.65 + "total_mass": 0.6499999761581421, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00295", "parts": [ { "bounds": { - "center": [ - -0.0007099956274032593, - 0.01946740970015527, - -0.035994499921798706 + "min": [ + -0.13395999372005463, + -0.23266899585723877, + 0.002451410517096543 ], "max": [ 0.1325400024652481, - 0.036483408883214, - 0.23266899585723877 + 0.3046579957008362, + 0.036483408883214 ], - "min": [ - -0.13395999372005463, - 0.002451410517096543, - -0.3046579957008362 - ] + "size": [ + 0.26649999618530273, + 0.537326991558075, + 0.03403199836611746 + ], + "units": "m" }, "center_of_mass": [ -0.0014758596662431955, @@ -59,7 +65,7 @@ 0.011194277554750443, 0.014394893310964108 ], - "mass": 0.65, + "mass": 0.6499999761581421, "material": "wood", "name": "D00295 Cheese Board", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00295 Cheese Board", "part_name": "D00295 Cheese Board" }, - "volume": 0.0009285713945116316 + "volume": 0.0009285713945116316, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "44debb6c77b348926c651fc8feefe1e1913a1699c5fecb21ed9051f1f810b466" + }, + "usd_path": "batch31/D00295 Cheese Board/IsaacSim_assets_6a82cd30b7a9c4204acca793/IsaacSim_asset_6a82cd30b7a9c4204acca793.usd", + "usd_sha256": "f3c2e80be52b276a37b4c6028a2b7f6a0006bf9b02dc4e88d53be364b6bb72b1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.26649999618530273, - 0.03403199836611746, - 0.537326991558075 - ] + 0.537326991558075, + 0.03403199836611746 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f3c2e80be52b276a37b4c6028a2b7f6a0006bf9b02dc4e88d53be364b6bb72b1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.65 + "value_kg": 0.6499999761581421, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f3c2e80be52b276a37b4c6028a2b7f6a0006bf9b02dc4e88d53be364b6bb72b1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6499999761581421, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f3c2e80be52b276a37b4c6028a2b7f6a0006bf9b02dc4e88d53be364b6bb72b1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f3c2e80be52b276a37b4c6028a2b7f6a0006bf9b02dc4e88d53be364b6bb72b1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00296 Soup Bowl/IsaacSim_assets_6a82cd32b7a9c4204acca7cf/physics_6a82cd32b7a9c4204acca7cf.json b/batch31/D00296 Soup Bowl/IsaacSim_assets_6a82cd32b7a9c4204acca7cf/physics_6a82cd32b7a9c4204acca7cf.json index 43a332844075ff122f8fd4856d47e5dff4dabb2f..19a2e2eac55e35defd3ad3cd17b72eeb7839b7af 100644 --- a/batch31/D00296 Soup Bowl/IsaacSim_assets_6a82cd32b7a9c4204acca7cf/physics_6a82cd32b7a9c4204acca7cf.json +++ b/batch31/D00296 Soup Bowl/IsaacSim_assets_6a82cd32b7a9c4204acca7cf/physics_6a82cd32b7a9c4204acca7cf.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09919799864292145, - 0.07933274912647903, - 0.09872899949550629 - ], "min": [ -0.09901800006628036, - 0.0010797497740213657, - -0.09935899823904037 + -0.09872899949550629, + 0.0010797497740213657 + ], + "max": [ + 0.09919799864292145, + 0.09935899823904037, + 0.07933274912647903 ], "size": [ 0.1982159987092018, - 0.07825299935245766, - 0.19808799773454666 - ] + 0.19808799773454666, + 0.07825299935245766 + ], + "units": "m" }, "description": "D00296 Soup Bowl", "name": "D00296 Soup Bowl", "object_type": "rigid_bodies", - "total_mass": 0.41 + "total_mass": 0.4099999964237213, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00296", "parts": [ { "bounds": { - "center": [ - 8.999928832054138e-05, - 0.0402062494502502, - -0.00031499937176704407 + "min": [ + -0.09901800006628036, + -0.09872899949550629, + 0.0010797497740213657 ], "max": [ 0.09919799864292145, - 0.07933274912647903, - 0.09872899949550629 + 0.09935899823904037, + 0.07933274912647903 ], - "min": [ - -0.09901800006628036, - 0.0010797497740213657, - -0.09935899823904037 - ] + "size": [ + 0.1982159987092018, + 0.19808799773454666, + 0.07825299935245766 + ], + "units": "m" }, "center_of_mass": [ 5.503560169017874e-05, @@ -59,7 +65,7 @@ 0.0012862958246842027, 0.0021753069013357162 ], - "mass": 0.41, + "mass": 0.4099999964237213, "material": "ceramic_or_glass", "name": "D00296 Soup Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00296 Soup Bowl", "part_name": "D00296 Soup Bowl" }, - "volume": 0.00017083333184321722 + "volume": 0.00017083333184321722, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ed61324d4ccd2ba2a749584c2d70367de03375fc3e1e6d22ac18a9b594110481" + }, + "usd_path": "batch31/D00296 Soup Bowl/IsaacSim_assets_6a82cd32b7a9c4204acca7cf/IsaacSim_asset_6a82cd32b7a9c4204acca7cf.usd", + "usd_sha256": "82d44de08b83db44ad7de11ad8c26cf41ec978e0363ce806acb92fee1d870e8e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.1982159987092018, - 0.07825299935245766, - 0.19808799773454666 - ] + 0.19808799773454666, + 0.07825299935245766 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "82d44de08b83db44ad7de11ad8c26cf41ec978e0363ce806acb92fee1d870e8e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.41 + "value_kg": 0.4099999964237213, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "82d44de08b83db44ad7de11ad8c26cf41ec978e0363ce806acb92fee1d870e8e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4099999964237213, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 27, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "82d44de08b83db44ad7de11ad8c26cf41ec978e0363ce806acb92fee1d870e8e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 27, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "82d44de08b83db44ad7de11ad8c26cf41ec978e0363ce806acb92fee1d870e8e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00297_Espresso_Cup/IsaacSim_assets_6a8284a8b7a9c4204ac46305/physics_6a8284a8b7a9c4204ac46305.json b/batch31/D00297_Espresso_Cup/IsaacSim_assets_6a8284a8b7a9c4204ac46305/physics_6a8284a8b7a9c4204ac46305.json index 5b5324f04e4bc1fdb7c67c21ef1ea40f353e9ca5..cbf2a20d3c8a59f8174caccc101f8d0e3e42b778 100644 --- a/batch31/D00297_Espresso_Cup/IsaacSim_assets_6a8284a8b7a9c4204ac46305/physics_6a8284a8b7a9c4204ac46305.json +++ b/batch31/D00297_Espresso_Cup/IsaacSim_assets_6a8284a8b7a9c4204ac46305/physics_6a8284a8b7a9c4204ac46305.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03363899886608124, - 0.043798320926725864, - 0.021190999075770378 - ], "min": [ -0.02494099922478199, - 0.0003203200176358223, - -0.02115599997341633 + -0.021190999075770378, + 0.0003203200176358223 + ], + "max": [ + 0.03363899886608124, + 0.02115599997341633, + 0.043798320926725864 ], "size": [ 0.05857999809086323, - 0.04347800090909004, - 0.04234699904918671 - ] + 0.04234699904918671, + 0.04347800090909004 + ], + "units": "m" }, "description": "D00297 Espresso_Cup", "name": "D00297 Espresso_Cup", "object_type": "rigid_bodies", - "total_mass": 0.08 + "total_mass": 0.07999999821186066, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00297", "parts": [ { "bounds": { - "center": [ - 0.004348999820649624, - 0.022059320472180843, - 1.749955117702484e-05 + "min": [ + -0.02494099922478199, + -0.021190999075770378, + 0.0003203200176358223 ], "max": [ 0.03363899886608124, - 0.043798320926725864, - 0.021190999075770378 + 0.02115599997341633, + 0.043798320926725864 ], - "min": [ - -0.02494099922478199, - 0.0003203200176358223, - -0.02115599997341633 - ] + "size": [ + 0.05857999809086323, + 0.04234699904918671, + 0.04347800090909004 + ], + "units": "m" }, "center_of_mass": [ -0.0017500751418992877, @@ -59,7 +65,7 @@ 2.636925273691304e-05, 2.7814636268885806e-05 ], - "mass": 0.08, + "mass": 0.07999999821186066, "material": "ceramic_or_glass", "name": "D00297 Espresso_Cup", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00297 Espresso_Cup", "part_name": "D00297 Espresso_Cup" }, - "volume": 3.3333332588275274e-05 + "volume": 3.3333332588275274e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "070749075855823fa4adcfff20fcf222dfc0f7dd20e1a81a5c6ab661eb135586" + }, + "usd_path": "batch31/D00297_Espresso_Cup/IsaacSim_assets_6a8284a8b7a9c4204ac46305/IsaacSim_asset_6a8284a8b7a9c4204ac46305.usd", + "usd_sha256": "043f4d36aa60255a0d4528fe6e255d90a57c678261f0e69a27628707c9a924db", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.05857999809086323, - 0.04347800090909004, - 0.04234699904918671 - ] + 0.04234699904918671, + 0.04347800090909004 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "043f4d36aa60255a0d4528fe6e255d90a57c678261f0e69a27628707c9a924db", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.08 + "value_kg": 0.07999999821186066, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "043f4d36aa60255a0d4528fe6e255d90a57c678261f0e69a27628707c9a924db", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07999999821186066, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 27, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "043f4d36aa60255a0d4528fe6e255d90a57c678261f0e69a27628707c9a924db", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 27, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "043f4d36aa60255a0d4528fe6e255d90a57c678261f0e69a27628707c9a924db", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00298 Espresso Cups Bowl/IsaacSim_assets_69f23e1b59057a93105fa93b/physics_69f23e1b59057a93105fa93b.json b/batch31/D00298 Espresso Cups Bowl/IsaacSim_assets_69f23e1b59057a93105fa93b/physics_69f23e1b59057a93105fa93b.json index 982f714d6d1c669955cd7b7f206dbf183602641e..abe8127d4d20de98583e870fd9b7e9ae34eed886 100644 --- a/batch31/D00298 Espresso Cups Bowl/IsaacSim_assets_69f23e1b59057a93105fa93b/physics_69f23e1b59057a93105fa93b.json +++ b/batch31/D00298 Espresso Cups Bowl/IsaacSim_assets_69f23e1b59057a93105fa93b/physics_69f23e1b59057a93105fa93b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.035234998911619186, - 0.04360403027385473, - 0.03529899939894676 - ], "min": [ -0.03524700179696083, - 0.00017903003163155518, - -0.03517699986696243 + -0.03529899939894676, + 0.00017903003163155518 + ], + "max": [ + 0.035234998911619186, + 0.03517699986696243, + 0.04360403027385473 ], "size": [ 0.07048200070858002, - 0.04342500024222318, - 0.0704759992659092 - ] + 0.0704759992659092, + 0.04342500024222318 + ], + "units": "m" }, "description": "D00298 Espresso Cups Bowl", "name": "D00298 Small Ceramic Bowl", "object_type": "rigid_bodies", - "total_mass": 1.65 + "total_mass": 1.649999976158142, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00298", "parts": [ { "bounds": { - "center": [ - -6.0014426708221436e-06, - 0.021891530152743144, - 6.099976599216461e-05 + "min": [ + -0.03524700179696083, + -0.03529899939894676, + 0.00017903003163155518 ], "max": [ 0.035234998911619186, - 0.04360403027385473, - 0.03529899939894676 + 0.03517699986696243, + 0.04360403027385473 ], - "min": [ - -0.03524700179696083, - 0.00017903003163155518, - -0.03517699986696243 - ] + "size": [ + 0.07048200070858002, + 0.0704759992659092, + 0.04342500024222318 + ], + "units": "m" }, "center_of_mass": [ 6.356911399052478e-06, @@ -59,7 +65,7 @@ 0.0009323033154942095, 0.0013283668085932732 ], - "mass": 1.65, + "mass": 1.649999976158142, "material": "ceramic_or_glass", "name": "D00298 Espresso Cups Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00298 Espresso Cups Bowl", "part_name": "D00298 Espresso Cups Bowl" }, - "volume": 0.0007173912939818009 + "volume": 0.0007173912939818009, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "192a1496a17bfb85b6f3987566a1b975ef8ea6d6c3635af7ccd9fde34c4f53d5" + }, + "usd_path": "batch31/D00298 Espresso Cups Bowl/IsaacSim_assets_69f23e1b59057a93105fa93b/IsaacSim_asset_69f23e1b59057a93105fa93b.usd", + "usd_sha256": "fe798940eca4ec708987c39b1f12151867354f66b39421d9870050e67db7410a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.07048200070858002, - 0.04342500024222318, - 0.0704759992659092 - ] + 0.0704759992659092, + 0.04342500024222318 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe798940eca4ec708987c39b1f12151867354f66b39421d9870050e67db7410a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.65 + "value_kg": 1.649999976158142, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe798940eca4ec708987c39b1f12151867354f66b39421d9870050e67db7410a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.649999976158142, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 56, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe798940eca4ec708987c39b1f12151867354f66b39421d9870050e67db7410a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 56, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fe798940eca4ec708987c39b1f12151867354f66b39421d9870050e67db7410a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00317_Fork_Wooden_Spoon/IsaacSim_assets_6a829dc7b7a9c4204ac7a6a3/physics_6a829dc7b7a9c4204ac7a6a3.json b/batch31/D00317_Fork_Wooden_Spoon/IsaacSim_assets_6a829dc7b7a9c4204ac7a6a3/physics_6a829dc7b7a9c4204ac7a6a3.json index 9fc2a4411315f4b27a9007537cd6e21da08a3230..26450bf986d2a460c43df3e067a66e4d879d18aa 100644 --- a/batch31/D00317_Fork_Wooden_Spoon/IsaacSim_assets_6a829dc7b7a9c4204ac7a6a3/physics_6a829dc7b7a9c4204ac7a6a3.json +++ b/batch31/D00317_Fork_Wooden_Spoon/IsaacSim_assets_6a829dc7b7a9c4204ac7a6a3/physics_6a829dc7b7a9c4204ac7a6a3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.19405899941921234, - 0.024684740230441093, - 0.035746000707149506 - ], "min": [ -0.10352399945259094, - 0.0010797400027513504, - -0.03584799915552139 + -0.035746000707149506, + 0.0010797400027513504 + ], + "max": [ + 0.19405899941921234, + 0.03584799915552139, + 0.024684740230441093 ], "size": [ 0.2975829988718033, - 0.023605000227689743, - 0.0715939998626709 - ] + 0.0715939998626709, + 0.023605000227689743 + ], + "units": "m" }, "description": "D00317 Fork_Wooden_Spoon", "name": "D00317 Fork_Wooden_Spoon", "object_type": "rigid_bodies", - "total_mass": 0.045 + "total_mass": 0.04500000178813934, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00317", "parts": [ { "bounds": { - "center": [ - 0.0452674999833107, - 0.012882240116596222, - -5.0999224185943604e-05 + "min": [ + -0.10352399945259094, + -0.035746000707149506, + 0.0010797400027513504 ], "max": [ 0.19405899941921234, - 0.024684740230441093, - 0.035746000707149506 + 0.03584799915552139, + 0.024684740230441093 ], - "min": [ - -0.10352399945259094, - 0.0010797400027513504, - -0.03584799915552139 - ] + "size": [ + 0.2975829988718033, + 0.0715939998626709, + 0.023605000227689743 + ], + "units": "m" }, "center_of_mass": [ 0.014753632247447968, @@ -59,7 +65,7 @@ 0.0002925663720816374, 0.0003007435880135745 ], - "mass": 0.045, + "mass": 0.04500000178813934, "material": "wood", "name": "D00317 Fork_Wooden_Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00317 Fork_Wooden_Spoon", "part_name": "D00317 Fork_Wooden_Spoon" }, - "volume": 6.428571684019906e-05 + "volume": 6.428571684019906e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "809576d6dd9117008f216c4b73b4bb7492b0da8edf77b3c1555f1ab2ac5ccb29" + }, + "usd_path": "batch31/D00317_Fork_Wooden_Spoon/IsaacSim_assets_6a829dc7b7a9c4204ac7a6a3/IsaacSim_asset_6a829dc7b7a9c4204ac7a6a3.usd", + "usd_sha256": "5fd41b38ef2d7badcd4806c5f459fa43cf6efe4cff5e19a35bc5d620f8771a54", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.2975829988718033, - 0.023605000227689743, - 0.0715939998626709 - ] + 0.0715939998626709, + 0.023605000227689743 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5fd41b38ef2d7badcd4806c5f459fa43cf6efe4cff5e19a35bc5d620f8771a54", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.045 + "value_kg": 0.04500000178813934, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5fd41b38ef2d7badcd4806c5f459fa43cf6efe4cff5e19a35bc5d620f8771a54", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04500000178813934, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5fd41b38ef2d7badcd4806c5f459fa43cf6efe4cff5e19a35bc5d620f8771a54", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5fd41b38ef2d7badcd4806c5f459fa43cf6efe4cff5e19a35bc5d620f8771a54", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00336_Gas_Stove/IsaacSim_assets_6a7efda2b7a9c4204aa32731/physics_6a7efda2b7a9c4204aa32731.json b/batch31/D00336_Gas_Stove/IsaacSim_assets_6a7efda2b7a9c4204aa32731/physics_6a7efda2b7a9c4204aa32731.json index ad140dd7b6f511903184a0b29f5911afc8b474ab..ba0071929361c3542dfcebeeb560450882395fca 100644 --- a/batch31/D00336_Gas_Stove/IsaacSim_assets_6a7efda2b7a9c4204aa32731/physics_6a7efda2b7a9c4204aa32731.json +++ b/batch31/D00336_Gas_Stove/IsaacSim_assets_6a7efda2b7a9c4204aa32731/physics_6a7efda2b7a9c4204aa32731.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17566199600696564, - 0.12556694820523262, - 0.14529399573802948 - ], "min": [ -0.153096005320549, - 0.001796948693026934, - -0.14222599565982819 + -0.14529399573802948, + 0.001796948693026934 + ], + "max": [ + 0.17566199600696564, + 0.14222599565982819, + 0.12556694820523262 ], "size": [ 0.32875800132751465, - 0.12376999951220569, - 0.28751999139785767 - ] + 0.28751999139785767, + 0.12376999951220569 + ], + "units": "m" }, "description": "D00336 Gas_Stove", "name": "D00336 Gas_Stove", "object_type": "rigid_bodies", - "total_mass": 1.8 + "total_mass": 1.7999999523162842, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00336", "parts": [ { "bounds": { - "center": [ - 0.011282995343208313, - 0.06368194844912978, - 0.001534000039100647 + "min": [ + -0.153096005320549, + -0.14529399573802948, + 0.001796948693026934 ], "max": [ 0.17566199600696564, - 0.12556694820523262, - 0.14529399573802948 + 0.14222599565982819, + 0.12556694820523262 ], - "min": [ - -0.153096005320549, - 0.001796948693026934, - -0.14222599565982819 - ] + "size": [ + 0.32875800132751465, + 0.28751999139785767, + 0.12376999951220569 + ], + "units": "m" }, "center_of_mass": [ 0.006501666270196438, @@ -59,7 +65,7 @@ 0.01660235971212387, 0.025547543540596962 ], - "mass": 1.8, + "mass": 1.7999999523162842, "material": "ceramic_or_glass", "name": "D00336 Gas_Stove", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00336 Gas_Stove", "part_name": "D00336 Gas_Stove" }, - "volume": 0.0007003890865043907 + "volume": 0.0007003890865043907, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ddd28d05a15a75917a6b1db54135a94780b04d6549081adf3f7de727d9ca6f99" + }, + "usd_path": "batch31/D00336_Gas_Stove/IsaacSim_assets_6a7efda2b7a9c4204aa32731/IsaacSim_asset_6a7efda2b7a9c4204aa32731.usd", + "usd_sha256": "05d96bead06e0c04c2cfc731eb11ffa69dde06867b511b408a0a39f1c2cc1dfc", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.32875800132751465, - 0.12376999951220569, - 0.28751999139785767 - ] + 0.28751999139785767, + 0.12376999951220569 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05d96bead06e0c04c2cfc731eb11ffa69dde06867b511b408a0a39f1c2cc1dfc", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.8 + "value_kg": 1.7999999523162842, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05d96bead06e0c04c2cfc731eb11ffa69dde06867b511b408a0a39f1c2cc1dfc", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.7999999523162842, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 16, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05d96bead06e0c04c2cfc731eb11ffa69dde06867b511b408a0a39f1c2cc1dfc", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 16, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "05d96bead06e0c04c2cfc731eb11ffa69dde06867b511b408a0a39f1c2cc1dfc", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00347_Glass_Jar/IsaacSim_assets_6a82e012b7a9c4204ad0cd39/physics_6a82e012b7a9c4204ad0cd39.json b/batch31/D00347_Glass_Jar/IsaacSim_assets_6a82e012b7a9c4204ad0cd39/physics_6a82e012b7a9c4204ad0cd39.json index ed9ac3f4fbc8b42a8de79346bdcb047992b0e6d5..41082bea84bee0577a632add258ac93c9fd41d32 100644 --- a/batch31/D00347_Glass_Jar/IsaacSim_assets_6a82e012b7a9c4204ad0cd39/physics_6a82e012b7a9c4204ad0cd39.json +++ b/batch31/D00347_Glass_Jar/IsaacSim_assets_6a82e012b7a9c4204ad0cd39/physics_6a82e012b7a9c4204ad0cd39.json @@ -6,70 +6,256 @@ "body0": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_00", "body1": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_01", "joint_path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/Joints/joint_jar_body__jar_lid", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_body__jar_lid", + "path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/Joints/joint_jar_body__jar_lid", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_01" + ], + "authored_usd": { + "id": "joint_jar_body__jar_lid", + "source_prim_path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/Joints/joint_jar_body__jar_lid", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_00" + ], + "body1": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_01", "body1": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_02", "joint_path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/Joints/joint_jar_lid__lid_liner", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_lid__lid_liner", + "path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/Joints/joint_jar_lid__lid_liner", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_02" + ], + "authored_usd": { + "id": "joint_jar_lid__lid_liner", + "source_prim_path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/Joints/joint_jar_lid__lid_liner", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_01" + ], + "body1": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_01", "body1": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_03", "joint_path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/Joints/joint_jar_lid__lid_seal_layer", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_lid__lid_seal_layer", + "path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/Joints/joint_jar_lid__lid_seal_layer", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_03" + ], + "authored_usd": { + "id": "joint_jar_lid__lid_seal_layer", + "source_prim_path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/Joints/joint_jar_lid__lid_seal_layer", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_01" + ], + "body1": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_03" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_01", "body1": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_04", "joint_path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/Joints/joint_jar_lid__inner_lid_rim", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_lid__inner_lid_rim", + "path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/Joints/joint_jar_lid__inner_lid_rim", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_04" + ], + "authored_usd": { + "id": "joint_jar_lid__inner_lid_rim", + "source_prim_path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/Joints/joint_jar_lid__inner_lid_rim", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_01" + ], + "body1": [ + "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_04" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.050742000341415405, - 0.14342400431632996, - 0.051068998873233795 - ], "min": [ -0.05100100114941597, - 4.199999966658652e-05, - -0.050985001027584076 + -0.051068998873233795, + 4.199999966658652e-05 + ], + "max": [ + 0.050742000341415405, + 0.050985001027584076, + 0.14342400431632996 ], "size": [ 0.10174300149083138, - 0.14338200431666337, - 0.10205399990081787 - ] + 0.10205399990081787, + 0.14338200431666337 + ], + "units": "m" }, "description": "D00347 Glass_Jar", "name": "D00347 Glass_Jar", "object_type": "rigid_bodies", - "total_mass": 0.58 + "total_mass": 0.5800000000745058, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00347", "parts": [ { "bounds": { - "center": [ - -0.0001295004040002823, - 0.06022249961097259, - 4.199892282485962e-05 + "min": [ + -0.05100100114941597, + -0.051068998873233795, + 4.199999966658652e-05 ], "max": [ 0.050742000341415405, - 0.1204029992222786, - 0.051068998873233795 + 0.050985001027584076, + 0.1204029992222786 ], - "min": [ - -0.05100100114941597, - 4.199999966658652e-05, - -0.050985001027584076 - ] + "size": [ + 0.10174300149083138, + 0.10205399990081787, + 0.12036099922261201 + ], + "units": "m" }, "center_of_mass": [ -0.00013270703493617475, @@ -92,25 +278,28 @@ "object_name": "D00347 Glass_Jar", "part_name": "D00347 Glass_Jar" }, - "volume": 0.0002 + "volume": 0.0002, + "source_prim_path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00020899996161460876, - 0.13134650141000748, - 0.00013850070536136627 + "min": [ + -0.04992099851369858, + -0.05021100118756294, + 0.119268998503685 ], "max": [ 0.04950299859046936, - 0.14342400431632996, - 0.05021100118756294 + 0.04993399977684021, + 0.14342400431632996 ], - "min": [ - -0.04992099851369858, - 0.119268998503685, - -0.04993399977684021 - ] + "size": [ + 0.09942399710416794, + 0.10014500096440315, + 0.02415500581264496 + ], + "units": "m" }, "center_of_mass": [ -0.0001568632578710094, @@ -125,7 +314,7 @@ 3.309486783109605e-05, 6.107339140726253e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "plastic", "name": "D00347 Glass_Jar", "physics_type": "rigid", @@ -133,25 +322,28 @@ "object_name": "D00347 Glass_Jar", "part_name": "D00347 Glass_Jar" }, - "volume": 4.166666728754838e-05 + "volume": 4.166666728754838e-05, + "source_prim_path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -2.899952232837677e-05, - 0.11996849998831749, - -4.04994934797287e-05 + "min": [ + -0.04436599835753441, + -0.04378800094127655, + 0.11913800239562988 ], "max": [ 0.044307999312877655, - 0.1207989975810051, - 0.04378800094127655 + 0.04386899992823601, + 0.1207989975810051 ], - "min": [ - -0.04436599835753441, - 0.11913800239562988, - -0.04386899992823601 - ] + "size": [ + 0.08867399767041206, + 0.08765700086951256, + 0.0016609951853752136 + ], + "units": "m" }, "center_of_mass": [ -0.00010293417290085927, @@ -166,7 +358,7 @@ 4.526154953055084e-06, 8.91045419848524e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "light_wood_or_paper", "name": "D00347 Glass_Jar", "physics_type": "rigid", @@ -174,25 +366,28 @@ "object_name": "D00347 Glass_Jar", "part_name": "D00347 Glass_Jar" }, - "volume": 3.3333332588275274e-05 + "volume": 3.3333332588275274e-05, + "source_prim_path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0007569994777441025, - 0.11996849998831749, - -0.00038499943912029266 + "min": [ + -0.043956998735666275, + -0.04421599954366684, + 0.11915700137615204 ], "max": [ 0.04244299978017807, - 0.12077999860048294, - 0.04421599954366684 + 0.044985998421907425, + 0.12077999860048294 ], - "min": [ - -0.043956998735666275, - 0.11915700137615204, - -0.044985998421907425 - ] + "size": [ + 0.08639999851584435, + 0.08920199796557426, + 0.001622997224330902 + ], + "units": "m" }, "center_of_mass": [ -0.0012347536394372582, @@ -207,7 +402,7 @@ 4.622301730705658e-06, 8.747406354814302e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "plastic", "name": "D00347 Glass_Jar", "physics_type": "rigid", @@ -215,25 +410,28 @@ "object_name": "D00347 Glass_Jar", "part_name": "D00347 Glass_Jar" }, - "volume": 1.0526315554192192e-05 + "volume": 1.0526315554192192e-05, + "source_prim_path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 6.750039756298065e-05, - 0.11993250250816345, - 0.0005124993622303009 + "min": [ + -0.04378899931907654, + -0.045219000428915024, + 0.11917900294065475 ], "max": [ 0.0439240001142025, - 0.12068600207567215, - 0.045219000428915024 + 0.04419400170445442, + 0.12068600207567215 ], - "min": [ - -0.04378899931907654, - 0.11917900294065475, - -0.04419400170445442 - ] + "size": [ + 0.08771299943327904, + 0.08941300213336945, + 0.001506999135017395 + ], + "units": "m" }, "center_of_mass": [ 0.00018683759844861925, @@ -248,7 +446,7 @@ 4.60855972050922e-06, 8.998425073514227e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "plastic", "name": "D00347 Glass_Jar", "physics_type": "rigid", @@ -256,10 +454,27 @@ "object_name": "D00347 Glass_Jar", "part_name": "D00347 Glass_Jar" }, - "volume": 1.0526315554192192e-05 + "volume": 1.0526315554192192e-05, + "source_prim_path": "/World/textured_mesh_6a82e012b7a9c4204ad0cd39/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6319ebe068d889737ab30b6740226a038985d4226a1daa1fb471cadb072e8982" + }, + "usd_path": "batch31/D00347_Glass_Jar/IsaacSim_assets_6a82e012b7a9c4204ad0cd39/IsaacSim_asset_6a82e012b7a9c4204ad0cd39.usd", + "usd_sha256": "f8d9cb5552043abcfa60b7da1c80df73826bcff9f2ef1d082fea489a1796cd4f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -278,24 +493,58 @@ "up_axis": "Z", "bounds_m": [ 0.10174300149083138, - 0.14338200431666337, - 0.10205399990081787 - ] + 0.10205399990081787, + 0.14338200431666337 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f8d9cb5552043abcfa60b7da1c80df73826bcff9f2ef1d082fea489a1796cd4f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.58 + "value_kg": 0.5800000000745058, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f8d9cb5552043abcfa60b7da1c80df73826bcff9f2ef1d082fea489a1796cd4f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5800000000745058, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 29, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f8d9cb5552043abcfa60b7da1c80df73826bcff9f2ef1d082fea489a1796cd4f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 29, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 4 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f8d9cb5552043abcfa60b7da1c80df73826bcff9f2ef1d082fea489a1796cd4f", + "scope": "authored_usd_joint_schema", + "joint_count": 4, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00353 Bar Spoon/IsaacSim_assets_6a82cd3db7a9c4204accaa1b/physics_6a82cd3db7a9c4204accaa1b.json b/batch31/D00353 Bar Spoon/IsaacSim_assets_6a82cd3db7a9c4204accaa1b/physics_6a82cd3db7a9c4204accaa1b.json index e50e6796e3d1059807749b0cf94b59db9e73d89f..e7147adf82729e5c9c4de4e49207b136b7b868bd 100644 --- a/batch31/D00353 Bar Spoon/IsaacSim_assets_6a82cd3db7a9c4204accaa1b/physics_6a82cd3db7a9c4204accaa1b.json +++ b/batch31/D00353 Bar Spoon/IsaacSim_assets_6a82cd3db7a9c4204accaa1b/physics_6a82cd3db7a9c4204accaa1b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16141100227832794, - 0.02403278974816203, - 0.029329000040888786 - ], "min": [ -0.1250550001859665, - 0.0012727901491871307, - -0.028970999643206596 + -0.029329000040888786, + 0.0012727901491871307 + ], + "max": [ + 0.16141100227832794, + 0.028970999643206596, + 0.02403278974816203 ], "size": [ 0.28646600246429443, - 0.0227599995989749, - 0.05829999968409538 - ] + 0.05829999968409538, + 0.0227599995989749 + ], + "units": "m" }, "description": "D00353 Bar Spoon", "name": "D00353 Bar Spoon", "object_type": "rigid_bodies", - "total_mass": 0.045 + "total_mass": 0.04500000178813934, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00353", "parts": [ { "bounds": { - "center": [ - 0.018178001046180725, - 0.012652789948674581, - 0.00017900019884109497 + "min": [ + -0.1250550001859665, + -0.029329000040888786, + 0.0012727901491871307 ], "max": [ 0.16141100227832794, - 0.02403278974816203, - 0.029329000040888786 + 0.028970999643206596, + 0.02403278974816203 ], - "min": [ - -0.1250550001859665, - 0.0012727901491871307, - -0.028970999643206596 - ] + "size": [ + 0.28646600246429443, + 0.05829999968409538, + 0.0227599995989749 + ], + "units": "m" }, "center_of_mass": [ 0.00936906784772873, @@ -59,7 +65,7 @@ 0.000256870174780488, 0.00026115478249266744 ], - "mass": 0.045, + "mass": 0.04500000178813934, "material": "metal", "name": "D00353 Bar Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00353 Bar Spoon", "part_name": "D00353 Bar Spoon" }, - "volume": 5.625000223517418e-06 + "volume": 5.625000223517418e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "842b2baa14392486a597d8edba4c517b60777b333c087ba3a6e56bc62b89e618" + }, + "usd_path": "batch31/D00353 Bar Spoon/IsaacSim_assets_6a82cd3db7a9c4204accaa1b/IsaacSim_asset_6a82cd3db7a9c4204accaa1b.usd", + "usd_sha256": "3b3a4c5958321c76f2765eafc60dd996e8c59d6d06ac0ec5c4fdcb538b5569c4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.28646600246429443, - 0.0227599995989749, - 0.05829999968409538 - ] + 0.05829999968409538, + 0.0227599995989749 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b3a4c5958321c76f2765eafc60dd996e8c59d6d06ac0ec5c4fdcb538b5569c4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.045 + "value_kg": 0.04500000178813934, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b3a4c5958321c76f2765eafc60dd996e8c59d6d06ac0ec5c4fdcb538b5569c4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04500000178813934, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b3a4c5958321c76f2765eafc60dd996e8c59d6d06ac0ec5c4fdcb538b5569c4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3b3a4c5958321c76f2765eafc60dd996e8c59d6d06ac0ec5c4fdcb538b5569c4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00354_Trivet/IsaacSim_assets_6a82d823b7a9c4204acf0956/physics_6a82d823b7a9c4204acf0956.json b/batch31/D00354_Trivet/IsaacSim_assets_6a82d823b7a9c4204acf0956/physics_6a82d823b7a9c4204acf0956.json index 48d38f17b57bec9712704d08ad7720e11a88ed26..56521a45466c0d5f5584a2081e9083f2fd29ae3a 100644 --- a/batch31/D00354_Trivet/IsaacSim_assets_6a82d823b7a9c4204acf0956/physics_6a82d823b7a9c4204acf0956.json +++ b/batch31/D00354_Trivet/IsaacSim_assets_6a82d823b7a9c4204acf0956/physics_6a82d823b7a9c4204acf0956.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10018099844455719, - 0.01998255983926356, - 0.0997219979763031 - ], "min": [ -0.0982780009508133, - 0.0010965599212795498, - -0.1001959964632988 + -0.0997219979763031, + 0.0010965599212795498 + ], + "max": [ + 0.10018099844455719, + 0.1001959964632988, + 0.01998255983926356 ], "size": [ 0.19845899939537048, - 0.01888599991798401, - 0.1999179944396019 - ] + 0.1999179944396019, + 0.01888599991798401 + ], + "units": "m" }, "description": "D00354 Trivet", "name": "D00354 Trivet", "object_type": "rigid_bodies", - "total_mass": 0.095 + "total_mass": 0.0949999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00354", "parts": [ { "bounds": { - "center": [ - 0.0009514987468719482, - 0.010539559880271554, - -0.0002369992434978485 + "min": [ + -0.0982780009508133, + -0.0997219979763031, + 0.0010965599212795498 ], "max": [ 0.10018099844455719, - 0.01998255983926356, - 0.0997219979763031 + 0.1001959964632988, + 0.01998255983926356 ], - "min": [ - -0.0982780009508133, - 0.0010965599212795498, - -0.1001959964632988 - ] + "size": [ + 0.19845899939537048, + 0.1999179944396019, + 0.01888599991798401 + ], + "units": "m" }, "center_of_mass": [ 0.000950510730035603, @@ -59,7 +65,7 @@ 0.0003119852626696229, 0.000614119868259877 ], - "mass": 0.095, + "mass": 0.0949999988079071, "material": "wood", "name": "D00354 Trivet", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00354 Trivet", "part_name": "D00354 Trivet" }, - "volume": 0.00013571428401129587 + "volume": 0.00013571428401129587, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "15412abe7da144a2263821954742622584629d6ede1b563f71ae16cb11691da7" + }, + "usd_path": "batch31/D00354_Trivet/IsaacSim_assets_6a82d823b7a9c4204acf0956/IsaacSim_asset_6a82d823b7a9c4204acf0956.usd", + "usd_sha256": "1ce7e85481078f4d6b3014bdc300915fc0ed06d6f6b45826a6b95dfc1e1b05fe", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.19845899939537048, - 0.01888599991798401, - 0.1999179944396019 - ] + 0.1999179944396019, + 0.01888599991798401 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1ce7e85481078f4d6b3014bdc300915fc0ed06d6f6b45826a6b95dfc1e1b05fe", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.095 + "value_kg": 0.0949999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1ce7e85481078f4d6b3014bdc300915fc0ed06d6f6b45826a6b95dfc1e1b05fe", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0949999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 26, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1ce7e85481078f4d6b3014bdc300915fc0ed06d6f6b45826a6b95dfc1e1b05fe", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 26, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1ce7e85481078f4d6b3014bdc300915fc0ed06d6f6b45826a6b95dfc1e1b05fe", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00371_Griddle/IsaacSim_assets_6a82d8a2b7a9c4204acf25f4/physics_6a82d8a2b7a9c4204acf25f4.json b/batch31/D00371_Griddle/IsaacSim_assets_6a82d8a2b7a9c4204acf25f4/physics_6a82d8a2b7a9c4204acf25f4.json index 0dbdb87dbed92e54489726695db6aa2f304bd564..551e04a0809cea81710c3771bc9ededf01af55dd 100644 --- a/batch31/D00371_Griddle/IsaacSim_assets_6a82d8a2b7a9c4204acf25f4/physics_6a82d8a2b7a9c4204acf25f4.json +++ b/batch31/D00371_Griddle/IsaacSim_assets_6a82d8a2b7a9c4204acf25f4/physics_6a82d8a2b7a9c4204acf25f4.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.3239139914512634, - 0.0739479404874146, - 0.14426900446414948 - ], "min": [ -0.17395399510860443, - 0.0027309400029480587, - -0.14549100399017334 + -0.14426900446414948, + 0.0027309400029480587 + ], + "max": [ + 0.3239139914512634, + 0.14549100399017334, + 0.0739479404874146 ], "size": [ 0.49786798655986786, - 0.07121700048446654, - 0.2897600084543228 - ] + 0.2897600084543228, + 0.07121700048446654 + ], + "units": "m" }, "description": "D00371 Griddle", "name": "D00371 Griddle", "object_type": "rigid_bodies", - "total_mass": 2.18 + "total_mass": 2.180000066757202, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00371", "parts": [ { "bounds": { - "center": [ - 0.0749799981713295, - 0.03833944024518133, - -0.0006109997630119324 + "min": [ + -0.17395399510860443, + -0.14426900446414948, + 0.0027309400029480587 ], "max": [ 0.3239139914512634, - 0.0739479404874146, - 0.14426900446414948 + 0.14549100399017334, + 0.0739479404874146 ], - "min": [ - -0.17395399510860443, - 0.0027309400029480587, - -0.14549100399017334 - ] + "size": [ + 0.49786798655986786, + 0.2897600084543228, + 0.07121700048446654 + ], + "units": "m" }, "center_of_mass": [ -0.010115263983607292, @@ -59,7 +65,7 @@ 0.027744553983211517, 0.04240168631076813 ], - "mass": 2.18, + "mass": 2.180000066757202, "material": "ceramic_or_glass", "name": "D00371 Griddle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00371 Griddle", "part_name": "D00371 Griddle" }, - "volume": 0.0008074074321322971 + "volume": 0.0008074074321322971, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8cb0c4b9e223c4f3a9cf2d5634246dc93623840b1b275748d769b55b141a92b9" + }, + "usd_path": "batch31/D00371_Griddle/IsaacSim_assets_6a82d8a2b7a9c4204acf25f4/IsaacSim_asset_6a82d8a2b7a9c4204acf25f4.usd", + "usd_sha256": "14a0d6510ec7b00eb8a2fe6e9badcfa9565515841980959b7a42e1681f6fb907", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.49786798655986786, - 0.07121700048446654, - 0.2897600084543228 - ] + 0.2897600084543228, + 0.07121700048446654 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14a0d6510ec7b00eb8a2fe6e9badcfa9565515841980959b7a42e1681f6fb907", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.18 + "value_kg": 2.180000066757202, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14a0d6510ec7b00eb8a2fe6e9badcfa9565515841980959b7a42e1681f6fb907", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.180000066757202, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14a0d6510ec7b00eb8a2fe6e9badcfa9565515841980959b7a42e1681f6fb907", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14a0d6510ec7b00eb8a2fe6e9badcfa9565515841980959b7a42e1681f6fb907", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00397_Wine_Rack/IsaacSim_assets_6a82d619b7a9c4204ace8bb4/physics_6a82d619b7a9c4204ace8bb4.json b/batch31/D00397_Wine_Rack/IsaacSim_assets_6a82d619b7a9c4204ace8bb4/physics_6a82d619b7a9c4204ace8bb4.json index fd308995b869056502b1cc34f5d9ddbed31324c8..c4efc68a1b91e82992c353164f8b6047516d4cbd 100644 --- a/batch31/D00397_Wine_Rack/IsaacSim_assets_6a82d619b7a9c4204ace8bb4/physics_6a82d619b7a9c4204ace8bb4.json +++ b/batch31/D00397_Wine_Rack/IsaacSim_assets_6a82d619b7a9c4204ace8bb4/physics_6a82d619b7a9c4204ace8bb4.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.21926000714302063, - 0.34232448041439056, - 0.10876300185918808 - ], "min": [ -0.2148900032043457, - 0.0023714951694273623, - -0.11691000312566757 + -0.10876300185918808, + 0.0023714951694273623 + ], + "max": [ + 0.21926000714302063, + 0.11691000312566757, + 0.34232448041439056 ], "size": [ 0.43415001034736633, - 0.3399529852449632, - 0.22567300498485565 - ] + 0.22567300498485565, + 0.3399529852449632 + ], + "units": "m" }, "description": "D00397 Wine_Rack", "name": "D00397 Wine_Rack", "object_type": "rigid_bodies", - "total_mass": 1.08 + "total_mass": 1.0800000429153442, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00397", "parts": [ { "bounds": { - "center": [ - 0.0021850019693374634, - 0.17234798779190896, - -0.004073500633239746 + "min": [ + -0.2148900032043457, + -0.10876300185918808, + 0.0023714951694273623 ], "max": [ 0.21926000714302063, - 0.34232448041439056, - 0.10876300185918808 + 0.11691000312566757, + 0.34232448041439056 ], - "min": [ - -0.2148900032043457, - 0.0023714951694273623, - -0.11691000312566757 - ] + "size": [ + 0.43415001034736633, + 0.22567300498485565, + 0.3399529852449632 + ], + "units": "m" }, "center_of_mass": [ 0.002176594454795122, @@ -59,7 +65,7 @@ 0.021499983966350555, 0.027315884828567505 ], - "mass": 1.08, + "mass": 1.0800000429153442, "material": "wood", "name": "D00397 Wine_Rack", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00397 Wine_Rack", "part_name": "D00397 Wine_Rack" }, - "volume": 0.0021600000858306885 + "volume": 0.0021600000858306885, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2453fb060275212a59682c35bc0304c69e2dcacd3dee27fef9e263353e6db07f" + }, + "usd_path": "batch31/D00397_Wine_Rack/IsaacSim_assets_6a82d619b7a9c4204ace8bb4/IsaacSim_asset_6a82d619b7a9c4204ace8bb4.usd", + "usd_sha256": "41c5b1169385dd9cf7498fad4ae7951a360d74aba99c661ea7c056327005f866", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.43415001034736633, - 0.3399529852449632, - 0.22567300498485565 - ] + 0.22567300498485565, + 0.3399529852449632 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "41c5b1169385dd9cf7498fad4ae7951a360d74aba99c661ea7c056327005f866", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.08 + "value_kg": 1.0800000429153442, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "41c5b1169385dd9cf7498fad4ae7951a360d74aba99c661ea7c056327005f866", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0800000429153442, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 35, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "41c5b1169385dd9cf7498fad4ae7951a360d74aba99c661ea7c056327005f866", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 35, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "41c5b1169385dd9cf7498fad4ae7951a360d74aba99c661ea7c056327005f866", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00398_Mug_Tree/IsaacSim_assets_6a82d722b7a9c4204aced869/physics_6a82d722b7a9c4204aced869.json b/batch31/D00398_Mug_Tree/IsaacSim_assets_6a82d722b7a9c4204aced869/physics_6a82d722b7a9c4204aced869.json index 6b4338a5d4f65c09f7837b2999140fce9ff0882e..51fc9858e9b9e78799ada49bff7c6a0a7e035cb8 100644 --- a/batch31/D00398_Mug_Tree/IsaacSim_assets_6a82d722b7a9c4204aced869/physics_6a82d722b7a9c4204aced869.json +++ b/batch31/D00398_Mug_Tree/IsaacSim_assets_6a82d722b7a9c4204aced869/physics_6a82d722b7a9c4204aced869.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07986299693584442, - 0.30154205206781626, - 0.09237200021743774 - ], "min": [ -0.0803380012512207, - 0.001634039916098118, - -0.08651699870824814 + -0.09237200021743774, + 0.001634039916098118 + ], + "max": [ + 0.07986299693584442, + 0.08651699870824814, + 0.30154205206781626 ], "size": [ 0.16020099818706512, - 0.29990801215171814, - 0.17888899892568588 - ] + 0.17888899892568588, + 0.29990801215171814 + ], + "units": "m" }, "description": "D00398 Mug_Tree", "name": "D00398 Mug_Tree", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00398", "parts": [ { "bounds": { - "center": [ - -0.00023750215768814087, - 0.1515880459919572, - 0.002927500754594803 + "min": [ + -0.0803380012512207, + -0.09237200021743774, + 0.001634039916098118 ], "max": [ 0.07986299693584442, - 0.30154205206781626, - 0.09237200021743774 + 0.08651699870824814, + 0.30154205206781626 ], - "min": [ - -0.0803380012512207, - 0.001634039916098118, - -0.08651699870824814 - ] + "size": [ + 0.16020099818706512, + 0.17888899892568588, + 0.29990801215171814 + ], + "units": "m" }, "center_of_mass": [ -0.0001430198026355356, @@ -67,10 +73,27 @@ "object_name": "D00398 Mug_Tree", "part_name": "D00398 Mug_Tree" }, - "volume": 0.0004166666666666667 + "volume": 0.0004166666666666667, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4023f94caebbd449ddf1546d8fa020c81fbe1e7eaf77373325ec982d33c8ce6a" + }, + "usd_path": "batch31/D00398_Mug_Tree/IsaacSim_assets_6a82d722b7a9c4204aced869/IsaacSim_asset_6a82d722b7a9c4204aced869.usd", + "usd_sha256": "5f70a796651a2611f88b55efffec857919d5e8ebc9f37663bea2fd3eba5d8444", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.16020099818706512, - 0.29990801215171814, - 0.17888899892568588 - ] + 0.17888899892568588, + 0.29990801215171814 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f70a796651a2611f88b55efffec857919d5e8ebc9f37663bea2fd3eba5d8444", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f70a796651a2611f88b55efffec857919d5e8ebc9f37663bea2fd3eba5d8444", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f70a796651a2611f88b55efffec857919d5e8ebc9f37663bea2fd3eba5d8444", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f70a796651a2611f88b55efffec857919d5e8ebc9f37663bea2fd3eba5d8444", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00399_Plastic_Wrap_Roll/IsaacSim_assets_6a82e2aeb7a9c4204ad1591c/physics_6a82e2aeb7a9c4204ad1591c.json b/batch31/D00399_Plastic_Wrap_Roll/IsaacSim_assets_6a82e2aeb7a9c4204ad1591c/physics_6a82e2aeb7a9c4204ad1591c.json index 956647a5485290538b6a887c99079f2bbe80a611..76919086d222a02b4ecbe480dfc76dd07b732610 100644 --- a/batch31/D00399_Plastic_Wrap_Roll/IsaacSim_assets_6a82e2aeb7a9c4204ad1591c/physics_6a82e2aeb7a9c4204ad1591c.json +++ b/batch31/D00399_Plastic_Wrap_Roll/IsaacSim_assets_6a82e2aeb7a9c4204ad1591c/physics_6a82e2aeb7a9c4204ad1591c.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a82e2aeb7a9c4204ad1591c/part_01", "body1": "/World/textured_mesh_6a82e2aeb7a9c4204ad1591c/part_00", "joint_path": "/World/textured_mesh_6a82e2aeb7a9c4204ad1591c/Joints/joint_cardboard_core__plastic_wrap", - "type": "fixed" + "type": "fixed", + "id": "joint_cardboard_core__plastic_wrap", + "path": "/World/textured_mesh_6a82e2aeb7a9c4204ad1591c/Joints/joint_cardboard_core__plastic_wrap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82e2aeb7a9c4204ad1591c/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a82e2aeb7a9c4204ad1591c/part_00" + ], + "authored_usd": { + "id": "joint_cardboard_core__plastic_wrap", + "source_prim_path": "/World/textured_mesh_6a82e2aeb7a9c4204ad1591c/Joints/joint_cardboard_core__plastic_wrap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82e2aeb7a9c4204ad1591c/part_01" + ], + "body1": [ + "/World/textured_mesh_6a82e2aeb7a9c4204ad1591c/part_00" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.053043000400066376, - 0.10766717791557312, - 0.1352889984846115 - ], "min": [ -0.0533519983291626, - 0.001399181423948903, - -0.13147099316120148 + -0.1352889984846115, + 0.001399181423948903 + ], + "max": [ + 0.053043000400066376, + 0.13147099316120148, + 0.10766717791557312 ], "size": [ 0.10639499872922897, - 0.10626799649162422, - 0.266759991645813 - ] + 0.266759991645813, + 0.10626799649162422 + ], + "units": "m" }, "description": "D00399 Plastic_Wrap_Roll", "name": "D00399 Plastic_Wrap_Roll", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.4999999776482582, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00399", "parts": [ { "bounds": { - "center": [ - -0.00015449896454811096, - 0.05453317966976101, - 8.899718523025513e-05 + "min": [ + -0.0533519983291626, + -0.1311659961938858, + 0.001399181423948903 ], "max": [ 0.053043000400066376, - 0.10766717791557312, - 0.1311659961938858 + 0.1309880018234253, + 0.10766717791557312 ], - "min": [ - -0.0533519983291626, - 0.001399181423948903, - -0.1309880018234253 - ] + "size": [ + 0.10639499872922897, + 0.2621539980173111, + 0.10626799649162422 + ], + "units": "m" }, "center_of_mass": [ -0.00013737159315496683, @@ -66,7 +117,7 @@ 0.008890995755791664, 0.008900133892893791 ], - "mass": 1.4, + "mass": 1.399999976158142, "material": "wood", "name": "D00399 Plastic_Wrap_Roll", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00399 Plastic_Wrap_Roll", "part_name": "D00399 Plastic_Wrap_Roll" }, - "volume": 0.0015217391045197197 + "volume": 0.0015217391045197197, + "source_prim_path": "/World/textured_mesh_6a82e2aeb7a9c4204ad1591c/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0002350006252527237, - 0.05435218165075639, - 0.001909002661705017 + "min": [ + -0.05308900028467178, + -0.1352889984846115, + 0.0015861814172239974 ], "max": [ 0.052618999034166336, - 0.10711818188428879, - 0.1352889984846115 + 0.13147099316120148, + 0.10711818188428879 ], - "min": [ - -0.05308900028467178, - 0.0015861814172239974, - -0.13147099316120148 - ] + "size": [ + 0.10570799931883812, + 0.266759991645813, + 0.10553200046706479 + ], + "units": "m" }, "center_of_mass": [ -0.00015489074576180428, @@ -107,7 +161,7 @@ 0.0005988517077639699, 0.000599044666159898 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "wood", "name": "D00399 Plastic_Wrap_Roll", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00399 Plastic_Wrap_Roll", "part_name": "D00399 Plastic_Wrap_Roll" }, - "volume": 0.00016666666915019353 + "volume": 0.00016666666915019353, + "source_prim_path": "/World/textured_mesh_6a82e2aeb7a9c4204ad1591c/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7f8ea1109fc408a3ec4ec4b231e1df609553d1bcacae6a51c95f4b32f59013d7" + }, + "usd_path": "batch31/D00399_Plastic_Wrap_Roll/IsaacSim_assets_6a82e2aeb7a9c4204ad1591c/IsaacSim_asset_6a82e2aeb7a9c4204ad1591c.usd", + "usd_sha256": "df68cb52143cce65b26e04ec65e14a1f556cb1643b6d46eee926ba234d104a13", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.10639499872922897, - 0.10626799649162422, - 0.266759991645813 - ] + 0.266759991645813, + 0.10626799649162422 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df68cb52143cce65b26e04ec65e14a1f556cb1643b6d46eee926ba234d104a13", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.4999999776482582, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df68cb52143cce65b26e04ec65e14a1f556cb1643b6d46eee926ba234d104a13", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.4999999776482582, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df68cb52143cce65b26e04ec65e14a1f556cb1643b6d46eee926ba234d104a13", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df68cb52143cce65b26e04ec65e14a1f556cb1643b6d46eee926ba234d104a13", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00426 Kettle/IsaacSim_assets_6a82b88ab7a9c4204ac95abc/physics_6a82b88ab7a9c4204ac95abc.json b/batch31/D00426 Kettle/IsaacSim_assets_6a82b88ab7a9c4204ac95abc/physics_6a82b88ab7a9c4204ac95abc.json index 1c91c799de2439271fbd6c18f4416b748c65b3d0..928df4fb2154e4b4ef2871a0b636ec84500533f1 100644 --- a/batch31/D00426 Kettle/IsaacSim_assets_6a82b88ab7a9c4204ac95abc/physics_6a82b88ab7a9c4204ac95abc.json +++ b/batch31/D00426 Kettle/IsaacSim_assets_6a82b88ab7a9c4204ac95abc/physics_6a82b88ab7a9c4204ac95abc.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_00", "body1": "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_01", "joint_path": "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/Joints/joint_pitcher_body__collar", - "type": "fixed" + "type": "fixed", + "id": "joint_pitcher_body__collar", + "path": "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/Joints/joint_pitcher_body__collar", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_01" + ], + "authored_usd": { + "id": "joint_pitcher_body__collar", + "source_prim_path": "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/Joints/joint_pitcher_body__collar", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_00" + ], + "body1": [ + "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0007627606391906738 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0007627606391906738 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_01", "body1": "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_02", "joint_path": "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/Joints/joint_collar__handle", - "type": "fixed" + "type": "fixed", + "id": "joint_collar__handle", + "path": "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/Joints/joint_collar__handle", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_02" + ], + "authored_usd": { + "id": "joint_collar__handle", + "source_prim_path": "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/Joints/joint_collar__handle", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_01" + ], + "body1": [ + "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0007627606391906738 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0007627606391906738 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10494600236415863, - 0.18834875524044037, - 0.06821300089359283 - ], "min": [ -0.08252999931573868, - 0.0008027606527321041, - -0.06860300153493881 + -0.06821300089359283, + 0.0008027606527321041 + ], + "max": [ + 0.10494600236415863, + 0.06860300153493881, + 0.18834875524044037 ], "size": [ 0.1874760016798973, - 0.18754599458770826, - 0.13681600242853165 - ] + 0.13681600242853165, + 0.18754599458770826 + ], + "units": "m" }, "description": "D00426 Kettle", "name": "D00426 Kettle", "object_type": "rigid_bodies", - "total_mass": 0.9 + "total_mass": 0.9000000283122063, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00426", "parts": [ { "bounds": { - "center": [ - -0.011763500049710274, - 0.08955876049003564, - -0.0001950003206729889 + "min": [ + -0.08252999931573868, + -0.06821300089359283, + 0.0008027606527321041 ], "max": [ 0.05900299921631813, - 0.17831476032733917, - 0.06821300089359283 + 0.06860300153493881, + 0.17831476032733917 ], - "min": [ - -0.08252999931573868, - 0.0008027606527321041, - -0.06860300153493881 - ] + "size": [ + 0.1415329985320568, + 0.13681600242853165, + 0.17751199967460707 + ], + "units": "m" }, "center_of_mass": [ -0.012085460126399994, @@ -72,7 +168,7 @@ 0.001805939944460988, 0.0018655682215467095 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "ceramic_or_glass", "name": "D00426 Kettle", "physics_type": "rigid", @@ -80,25 +176,28 @@ "object_name": "D00426 Kettle", "part_name": "D00426 Kettle" }, - "volume": 0.00024000000953674317 + "volume": 0.00024000000953674317, + "source_prim_path": "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.016259999945759773, - 0.16225726157426834, - -0.00011649914085865021 + "min": [ + -0.08252999931573868, + -0.0590750016272068, + 0.141424760222435 ], "max": [ 0.05000999942421913, - 0.18308976292610168, - 0.0590750016272068 + 0.0593079999089241, + 0.18308976292610168 ], - "min": [ - -0.08252999931573868, - 0.141424760222435, - -0.0593079999089241 - ] + "size": [ + 0.1325399987399578, + 0.1183830015361309, + 0.04166500270366669 + ], + "units": "m" }, "center_of_mass": [ -0.011446645483374596, @@ -113,7 +212,7 @@ 0.0001604901481186971, 0.0002603936300147325 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "plastic", "name": "D00426 Kettle", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00426 Kettle", "part_name": "D00426 Kettle" }, - "volume": 0.00013636364178224044 + "volume": 0.00013636364178224044, + "source_prim_path": "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.019054502248764038, - 0.1202467568218708, - 0.003219999372959137 + "min": [ + -0.06683699786663055, + -0.05294099822640419, + 0.055680759251117706 ], "max": [ 0.10494600236415863, - 0.1848127543926239, - 0.05294099822640419 + 0.046500999480485916, + 0.1848127543926239 ], - "min": [ - -0.06683699786663055, - 0.055680759251117706, - -0.046500999480485916 - ] + "size": [ + 0.17178300023078918, + 0.0994419977068901, + 0.1291319951415062 + ], + "units": "m" }, "center_of_mass": [ 0.031113283708691597, @@ -154,7 +256,7 @@ 0.0001688635820755735, 0.00017158925766125321 ], - "mass": 0.08, + "mass": 0.07999999821186066, "material": "plastic", "name": "D00426 Kettle", "physics_type": "rigid", @@ -162,25 +264,28 @@ "object_name": "D00426 Kettle", "part_name": "D00426 Kettle" }, - "volume": 7.272727110169151e-05 + "volume": 7.272727110169151e-05, + "source_prim_path": "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.009801000356674194, - 0.18502426147460938, - -0.00021300092339515686 + "min": [ + -0.06687100231647491, + -0.055851999670267105, + 0.18169976770877838 ], "max": [ 0.047269001603126526, - 0.18834875524044037, - 0.055851999670267105 + 0.05627800151705742, + 0.18834875524044037 ], - "min": [ - -0.06687100231647491, - 0.18169976770877838, - -0.05627800151705742 - ] + "size": [ + 0.11414000391960144, + 0.11213000118732452, + 0.006648987531661987 + ], + "units": "m" }, "center_of_mass": [ -0.00955104362219572, @@ -195,7 +300,7 @@ 5.5123666243162006e-05, 0.00010836758883669972 ], - "mass": 0.07, + "mass": 0.07000000029802322, "material": "plastic", "name": "D00426 Kettle", "physics_type": "rigid", @@ -203,10 +308,27 @@ "object_name": "D00426 Kettle", "part_name": "D00426 Kettle" }, - "volume": 6.363636390729384e-05 + "volume": 6.363636390729384e-05, + "source_prim_path": "/World/textured_mesh_6a82b88ab7a9c4204ac95abc/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5eb2a9915ec7b163ab3198cf6bc69619138119a60294aa070301aee8688aa629" + }, + "usd_path": "batch31/D00426 Kettle/IsaacSim_assets_6a82b88ab7a9c4204ac95abc/IsaacSim_asset_6a82b88ab7a9c4204ac95abc.usd", + "usd_sha256": "3f17554ed1624fcbb6f74a47a21275ddb00c4bd414d450e059ca5addf11d334c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -225,24 +347,58 @@ "up_axis": "Z", "bounds_m": [ 0.1874760016798973, - 0.18754599458770826, - 0.13681600242853165 - ] + 0.13681600242853165, + 0.18754599458770826 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3f17554ed1624fcbb6f74a47a21275ddb00c4bd414d450e059ca5addf11d334c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.9 + "value_kg": 0.9000000283122063, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3f17554ed1624fcbb6f74a47a21275ddb00c4bd414d450e059ca5addf11d334c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.9000000283122063, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 23, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3f17554ed1624fcbb6f74a47a21275ddb00c4bd414d450e059ca5addf11d334c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 23, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3f17554ed1624fcbb6f74a47a21275ddb00c4bd414d450e059ca5addf11d334c", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch31/D00427 Kettle Coffee Maker/IsaacSim_assets_6a828430b7a9c4204ac43907/physics_6a828430b7a9c4204ac43907.json b/batch31/D00427 Kettle Coffee Maker/IsaacSim_assets_6a828430b7a9c4204ac43907/physics_6a828430b7a9c4204ac43907.json index 481044296b2340a93d0621e4af4fca83c86825ae..2d270eda31be25b9b25f773ac6d5e332d45d050f 100644 --- a/batch31/D00427 Kettle Coffee Maker/IsaacSim_assets_6a828430b7a9c4204ac43907/physics_6a828430b7a9c4204ac43907.json +++ b/batch31/D00427 Kettle Coffee Maker/IsaacSim_assets_6a828430b7a9c4204ac43907/physics_6a828430b7a9c4204ac43907.json @@ -6,64 +6,208 @@ "body0": "/World/textured_mesh_6a828430b7a9c4204ac43907/part_2", "body1": "/World/textured_mesh_6a828430b7a9c4204ac43907/part_1", "joint_path": "/World/textured_mesh_6a828430b7a9c4204ac43907/Joints/joint_part_02__part_01", - "type": "revolute" + "type": "revolute", + "id": "joint_part_02__part_01", + "path": "/World/textured_mesh_6a828430b7a9c4204ac43907/Joints/joint_part_02__part_01", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a828430b7a9c4204ac43907/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_6a828430b7a9c4204ac43907/part_1" + ], + "authored_usd": { + "id": "joint_part_02__part_01", + "source_prim_path": "/World/textured_mesh_6a828430b7a9c4204ac43907/Joints/joint_part_02__part_01", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a828430b7a9c4204ac43907/part_2" + ], + "body1": [ + "/World/textured_mesh_6a828430b7a9c4204ac43907/part_1" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -95.0, + "upperLimit": 0.0, + "localPos0": [ + 0.026766328141093254, + 0.0, + 0.1143130362033844 + ], + "localPos1": [ + 0.026766328141093254, + 0.0, + 0.1143130362033844 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a828430b7a9c4204ac43907/part_0", "body1": "/World/textured_mesh_6a828430b7a9c4204ac43907/part_2", "joint_path": "/World/textured_mesh_6a828430b7a9c4204ac43907/Joints/joint_part_00__part_02", - "type": "fixed" + "type": "fixed", + "id": "joint_part_00__part_02", + "path": "/World/textured_mesh_6a828430b7a9c4204ac43907/Joints/joint_part_00__part_02", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a828430b7a9c4204ac43907/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a828430b7a9c4204ac43907/part_2" + ], + "authored_usd": { + "id": "joint_part_00__part_02", + "source_prim_path": "/World/textured_mesh_6a828430b7a9c4204ac43907/Joints/joint_part_00__part_02", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a828430b7a9c4204ac43907/part_0" + ], + "body1": [ + "/World/textured_mesh_6a828430b7a9c4204ac43907/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a828430b7a9c4204ac43907/part_0", "body1": "/World/textured_mesh_6a828430b7a9c4204ac43907/part_3", "joint_path": "/World/textured_mesh_6a828430b7a9c4204ac43907/Joints/joint_part_00__part_03", - "type": "fixed" + "type": "fixed", + "id": "joint_part_00__part_03", + "path": "/World/textured_mesh_6a828430b7a9c4204ac43907/Joints/joint_part_00__part_03", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a828430b7a9c4204ac43907/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a828430b7a9c4204ac43907/part_3" + ], + "authored_usd": { + "id": "joint_part_00__part_03", + "source_prim_path": "/World/textured_mesh_6a828430b7a9c4204ac43907/Joints/joint_part_00__part_03", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a828430b7a9c4204ac43907/part_0" + ], + "body1": [ + "/World/textured_mesh_6a828430b7a9c4204ac43907/part_3" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0864190012216568, - 0.1933513678610325, - 0.04727799817919731 - ], "min": [ -0.12040799856185913, - -0.00014000000373926014, - -0.04745100066065788 + -0.04727799817919731, + -0.00014000000373926014 + ], + "max": [ + 0.0864190012216568, + 0.04745100066065788, + 0.19068256840109826 ], "size": [ 0.20682699978351593, - 0.19349136786477175, - 0.0947289988398552 - ] + 0.0947289988398552, + 0.19082256840483752 + ], + "units": "m" }, "description": "D00427 Kettle Coffee Maker", "name": "D00427 Kettle Coffee Maker", "object_type": "rigid_bodies", - "total_mass": 0.77 + "total_mass": 0.7699999772012234, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00427", "parts": [ { "bounds": { - "center": [ - -0.016994498670101166, - 0.060983499577559996, - -8.650124073028564e-05 + "min": [ + -0.12040799856185913, + -0.04727799817919731, + -0.00014000000373926014 ], "max": [ 0.0864190012216568, - 0.12210699915885925, - 0.04727799817919731 + 0.04745100066065788, + 0.12210699915885925 ], - "min": [ - -0.12040799856185913, - -0.00014000000373926014, - -0.04745100066065788 - ] + "size": [ + 0.20682699978351593, + 0.0947289988398552, + 0.12224699916259851 + ], + "units": "m" }, "center_of_mass": [ -0.013709857128560543, @@ -78,7 +222,7 @@ 0.0013297275872901082, 0.0017097840318456292 ], - "mass": 0.65, + "mass": 0.6499999761581421, "material": "foam_or_hollow", "name": "D00427 Kettle Coffee Maker", "physics_type": "rigid", @@ -86,25 +230,28 @@ "object_name": "D00427 Kettle Coffee Maker", "part_name": "D00427 Kettle Coffee Maker" }, - "volume": 0.0022260273156100756 + "volume": 0.0022260273156100756, + "source_prim_path": "/World/textured_mesh_6a828430b7a9c4204ac43907/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0368229690939188, - 0.15104824770241976, - -0.00017299875617027283 + "min": [ + 0.016691971570253372, + -0.03641200065612793, + 0.108753427490592 ], "max": [ 0.05695396661758423, - 0.1933513678610325, - 0.03641200065612793 + 0.036757998168468475, + 0.19068256840109826 ], - "min": [ - 0.016691971570253372, - 0.10874512754380702, - -0.036757998168468475 - ] + "size": [ + 0.040261995047330856, + 0.0731699988245964, + 0.08192914091050627 + ], + "units": "m" }, "center_of_mass": [ 0.032237932085990906, @@ -119,7 +266,7 @@ 3.526273212628439e-05, 5.243712803348899e-05 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "light_wood_or_paper", "name": "D00427 Kettle Coffee Maker", "physics_type": "rigid", @@ -127,25 +274,28 @@ "object_name": "D00427 Kettle Coffee Maker", "part_name": "D00427 Kettle Coffee Maker" }, - "volume": 0.00021598272460068277 + "volume": 0.00021598272460068277, + "source_prim_path": "/World/textured_mesh_6a828430b7a9c4204ac43907/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.025273500010371208, - 0.10755350068211555, - -0.0002460000105202198 + "min": [ + 0.01885399967432022, + -0.010054999962449074, + 0.09555099904537201 ], "max": [ 0.031693000346422195, - 0.1195560023188591, - 0.010054999962449074 + 0.010546999983489513, + 0.1195560023188591 ], - "min": [ - 0.01885399967432022, - 0.09555099904537201, - -0.010546999983489513 - ] + "size": [ + 0.012839000672101974, + 0.020601999945938587, + 0.02400500327348709 + ], + "units": "m" }, "center_of_mass": [ 0.02507929690182209, @@ -160,7 +310,7 @@ 3.386485332157463e-07, 5.213315148466791e-07 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "glass_or_stone", "name": "D00427 Kettle Coffee Maker", "physics_type": "rigid", @@ -168,25 +318,28 @@ "object_name": "D00427 Kettle Coffee Maker", "part_name": "D00427 Kettle Coffee Maker" }, - "volume": 3.000299962941069e-06 + "volume": 3.000299962941069e-06, + "source_prim_path": "/World/textured_mesh_6a828430b7a9c4204ac43907/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.030730499885976315, - 0.09552500024437904, - -0.00020150002092123032 + "min": [ + 0.022223999723792076, + -0.005117999855428934, + 0.08872199803590775 ], "max": [ 0.03923700004816055, - 0.10232800245285034, - 0.005117999855428934 + 0.005520999897271395, + 0.10232800245285034 ], - "min": [ - 0.022223999723792076, - 0.08872199803590775, - -0.005520999897271395 - ] + "size": [ + 0.017013000324368477, + 0.010638999752700329, + 0.013606004416942596 + ], + "units": "m" }, "center_of_mass": [ 0.03055933304131031, @@ -201,7 +354,7 @@ 2.773382732357277e-07, 2.8373395366543264e-07 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "glass_or_stone", "name": "D00427 Kettle Coffee Maker", "physics_type": "rigid", @@ -209,10 +362,27 @@ "object_name": "D00427 Kettle Coffee Maker", "part_name": "D00427 Kettle Coffee Maker" }, - "volume": 2.600103946043313e-06 + "volume": 2.600103946043313e-06, + "source_prim_path": "/World/textured_mesh_6a828430b7a9c4204ac43907/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "933ffbff700b022bcb6576db51b1e3e006b324eee146a3e70f1ee620a780c9bf" + }, + "usd_path": "batch31/D00427 Kettle Coffee Maker/IsaacSim_assets_6a828430b7a9c4204ac43907/IsaacSim_asset_6a828430b7a9c4204ac43907.usd", + "usd_sha256": "f98df2c63ebb7506509161abb7fd6994d360b59ad5f5f8dcd7892e792ce4c501", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -231,24 +401,58 @@ "up_axis": "Z", "bounds_m": [ 0.20682699978351593, - 0.19349136786477175, - 0.0947289988398552 - ] + 0.0947289988398552, + 0.19082256840483752 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f98df2c63ebb7506509161abb7fd6994d360b59ad5f5f8dcd7892e792ce4c501", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.77 + "value_kg": 0.7699999772012234, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f98df2c63ebb7506509161abb7fd6994d360b59ad5f5f8dcd7892e792ce4c501", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.7699999772012234, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 82, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f98df2c63ebb7506509161abb7fd6994d360b59ad5f5f8dcd7892e792ce4c501", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 82, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f98df2c63ebb7506509161abb7fd6994d360b59ad5f5f8dcd7892e792ce4c501", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00403 Jar Glass Canister/IsaacSim_assets_6a841500a08484187f5ee911/physics_6a841500a08484187f5ee911.json b/batch32/D00403 Jar Glass Canister/IsaacSim_assets_6a841500a08484187f5ee911/physics_6a841500a08484187f5ee911.json index 7ed9702a57b02e54dfcfcd0429f2b7a9876bc8ca..1da43dfc25a2ab236312d841b29257f831777477 100644 --- a/batch32/D00403 Jar Glass Canister/IsaacSim_assets_6a841500a08484187f5ee911/physics_6a841500a08484187f5ee911.json +++ b/batch32/D00403 Jar Glass Canister/IsaacSim_assets_6a841500a08484187f5ee911/physics_6a841500a08484187f5ee911.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04084400087594986, - 0.12634705007076263, - 0.040832001715898514 - ], "min": [ -0.041057001799345016, - 0.0006900399457663298, - -0.04065300151705742 + -0.040832001715898514, + 0.0006900399457663298 + ], + "max": [ + 0.04084400087594986, + 0.04065300151705742, + 0.12634705007076263 ], "size": [ 0.08190100267529488, - 0.1256570101249963, - 0.08148500323295593 - ] + 0.08148500323295593, + 0.1256570101249963 + ], + "units": "m" }, "description": "D00403 Jar Glass Canister", "name": "D00403 Jar Glass Canister", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00403", "parts": [ { "bounds": { - "center": [ - -0.00010650046169757843, - 0.06351854500826448, - 8.950009942054749e-05 + "min": [ + -0.041057001799345016, + -0.040832001715898514, + 0.0006900399457663298 ], "max": [ 0.04084400087594986, - 0.12634705007076263, - 0.040832001715898514 + 0.04065300151705742, + 0.12634705007076263 ], - "min": [ - -0.041057001799345016, - 0.0006900399457663298, - -0.04065300151705742 - ] + "size": [ + 0.08190100267529488, + 0.08148500323295593, + 0.1256570101249963 + ], + "units": "m" }, "center_of_mass": [ -0.00012449717905838042, @@ -59,7 +65,7 @@ 0.0006717845099046826, 0.0006722112302668393 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic_or_glass", "name": "D00403 Jar Glass Canister", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00403 Jar Glass Canister", "part_name": "D00403 Jar Glass Canister" }, - "volume": 0.0001600000023841858 + "volume": 0.0001600000023841858, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "cbbab67525ce9ca5fbda2c0eb1323ab0e90e1867b7f0b03e93faece5b881b8f1" + }, + "usd_path": "batch32/D00403 Jar Glass Canister/IsaacSim_assets_6a841500a08484187f5ee911/IsaacSim_asset_6a841500a08484187f5ee911.usd", + "usd_sha256": "c1913e2034967d88fe71322a6a56c2299040e9a5846f45fece9245477f62e325", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.08190100267529488, - 0.1256570101249963, - 0.08148500323295593 - ] + 0.08148500323295593, + 0.1256570101249963 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1913e2034967d88fe71322a6a56c2299040e9a5846f45fece9245477f62e325", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1913e2034967d88fe71322a6a56c2299040e9a5846f45fece9245477f62e325", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 19, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1913e2034967d88fe71322a6a56c2299040e9a5846f45fece9245477f62e325", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 19, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c1913e2034967d88fe71322a6a56c2299040e9a5846f45fece9245477f62e325", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00434 Toothpick Holder/IsaacSim_assets_6a84127fa08484187f5e7743/physics_6a84127fa08484187f5e7743.json b/batch32/D00434 Toothpick Holder/IsaacSim_assets_6a84127fa08484187f5e7743/physics_6a84127fa08484187f5e7743.json index 263a4929f82a437a8c0d13d056079b10bff0948c..1762ab001ffae38f650cc67109d96613017867cd 100644 --- a/batch32/D00434 Toothpick Holder/IsaacSim_assets_6a84127fa08484187f5e7743/physics_6a84127fa08484187f5e7743.json +++ b/batch32/D00434 Toothpick Holder/IsaacSim_assets_6a84127fa08484187f5e7743/physics_6a84127fa08484187f5e7743.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.023143000900745392, - 0.05475538969039917, - 0.023145999759435654 - ], "min": [ -0.023183999583125114, - 0.00029439013451337814, - -0.02322000078856945 + -0.023145999759435654, + 0.00029439013451337814 + ], + "max": [ + 0.023143000900745392, + 0.02322000078856945, + 0.05475538969039917 ], "size": [ 0.046327000483870506, - 0.05446099955588579, - 0.046366000548005104 - ] + 0.046366000548005104, + 0.05446099955588579 + ], + "units": "m" }, "description": "D00434 Toothpick Holder", "name": "D00434 Toothpick Holder", "object_type": "rigid_bodies", - "total_mass": 0.044 + "total_mass": 0.04399999976158142, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00434", "parts": [ { "bounds": { - "center": [ - -2.0499341189861298e-05, - 0.027524889912456274, - -3.7000514566898346e-05 + "min": [ + -0.023183999583125114, + -0.023145999759435654, + 0.00029439013451337814 ], "max": [ 0.023143000900745392, - 0.05475538969039917, - 0.023145999759435654 + 0.02322000078856945, + 0.05475538969039917 ], - "min": [ - -0.023183999583125114, - 0.00029439013451337814, - -0.02322000078856945 - ] + "size": [ + 0.046327000483870506, + 0.046366000548005104, + 0.05446099955588579 + ], + "units": "m" }, "center_of_mass": [ -1.9542161680874415e-05, @@ -59,7 +65,7 @@ 1.6588775906711817e-05, 1.660111047385726e-05 ], - "mass": 0.044, + "mass": 0.04399999976158142, "material": "wood", "name": "D00434 Toothpick Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00434 Toothpick Holder", "part_name": "D00434 Toothpick Holder" }, - "volume": 6.285714251654488e-05 + "volume": 6.285714251654488e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d33c66315383db1686a8873c8767082ae84141c3db814d604739c03306e5698d" + }, + "usd_path": "batch32/D00434 Toothpick Holder/IsaacSim_assets_6a84127fa08484187f5e7743/IsaacSim_asset_6a84127fa08484187f5e7743.usd", + "usd_sha256": "399dcf6f30d4c036648fe2a3e6f7badeccf4e6666228012177b6ae3e0b7c0fcf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.046327000483870506, - 0.05446099955588579, - 0.046366000548005104 - ] + 0.046366000548005104, + 0.05446099955588579 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "399dcf6f30d4c036648fe2a3e6f7badeccf4e6666228012177b6ae3e0b7c0fcf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.044 + "value_kg": 0.04399999976158142, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "399dcf6f30d4c036648fe2a3e6f7badeccf4e6666228012177b6ae3e0b7c0fcf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04399999976158142, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "399dcf6f30d4c036648fe2a3e6f7badeccf4e6666228012177b6ae3e0b7c0fcf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "399dcf6f30d4c036648fe2a3e6f7badeccf4e6666228012177b6ae3e0b7c0fcf", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00436 Compost Bin/IsaacSim_assets_6a828810b7a9c4204ac539ac/physics_6a828810b7a9c4204ac539ac.json b/batch32/D00436 Compost Bin/IsaacSim_assets_6a828810b7a9c4204ac539ac/physics_6a828810b7a9c4204ac539ac.json index 50f650e61c32ff18fffdf1679b6b6c3b680908cc..d0aec6f746e49b55813a3267069a39a8a71976ba 100644 --- a/batch32/D00436 Compost Bin/IsaacSim_assets_6a828810b7a9c4204ac539ac/physics_6a828810b7a9c4204ac539ac.json +++ b/batch32/D00436 Compost Bin/IsaacSim_assets_6a828810b7a9c4204ac539ac/physics_6a828810b7a9c4204ac539ac.json @@ -6,52 +6,106 @@ "body0": "/World/textured_mesh_6a828810b7a9c4204ac539ac/part_0", "body1": "/World/textured_mesh_6a828810b7a9c4204ac539ac/part_1", "joint_path": "/World/textured_mesh_6a828810b7a9c4204ac539ac/Joints/joint_part_00__part_01", - "type": "revolute" + "type": "revolute", + "id": "joint_part_00__part_01", + "path": "/World/textured_mesh_6a828810b7a9c4204ac539ac/Joints/joint_part_00__part_01", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a828810b7a9c4204ac539ac/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a828810b7a9c4204ac539ac/part_1" + ], + "authored_usd": { + "id": "joint_part_00__part_01", + "source_prim_path": "/World/textured_mesh_6a828810b7a9c4204ac539ac/Joints/joint_part_00__part_01", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a828810b7a9c4204ac539ac/part_0" + ], + "body1": [ + "/World/textured_mesh_6a828810b7a9c4204ac539ac/part_1" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -255.0, + "upperLimit": 0.0, + "localPos0": [ + -0.00045460229739546776, + -0.0038003039080649614, + 0.18512192368507385 + ], + "localPos1": [ + -0.00045460229739546776, + -0.003800302743911743, + 0.18512192368507385 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11617899686098099, - 0.21087907254695892, - 0.11036600172519684 - ], "min": [ -0.1167289987206459, - 0.0012340799439698458, - -0.1173510029911995 + -0.11036600172519684, + 0.0012340799439698458 + ], + "max": [ + 0.11617899686098099, + 0.1173510029911995, + 0.21087907254695892 ], "size": [ 0.2329079955816269, - 0.20964499260298908, - 0.22771700471639633 - ] + 0.22771700471639633, + 0.20964499260298908 + ], + "units": "m" }, "description": "D00436 Compost Bin", "name": "D00436 Compost Bin", "object_type": "rigid_bodies", - "total_mass": 0.75 + "total_mass": 0.7500000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00436", "parts": [ { "bounds": { - "center": [ - -0.0016489997506141663, - 0.10605657624546438, - -0.0034925006330013275 + "min": [ + -0.1167289987206459, + -0.11036600172519684, + 0.0012340799439698458 ], "max": [ 0.11343099921941757, - 0.21087907254695892, - 0.11036600172519684 + 0.1173510029911995, + 0.21087907254695892 ], - "min": [ - -0.1167289987206459, - 0.0012340799439698458, - -0.1173510029911995 - ] + "size": [ + 0.23015999794006348, + 0.22771700471639633, + 0.20964499260298908 + ], + "units": "m" }, "center_of_mass": [ -0.0004035205056425184, @@ -66,7 +120,7 @@ 0.003971853759139776, 0.003983055707067251 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "plastic", "name": "D00436 Compost Bin", "physics_type": "rigid", @@ -74,25 +128,28 @@ "object_name": "D00436 Compost Bin", "part_name": "D00436 Compost Bin" }, - "volume": 0.0006315789724651136 + "volume": 0.0006315789724651136, + "source_prim_path": "/World/textured_mesh_6a828810b7a9c4204ac539ac/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0002750009298324585, - 0.13898707553744316, - 0.05479149892926216 + "min": [ + -0.1167289987206459, + -0.11022599786520004, + 0.08740607649087906 ], "max": [ 0.11617899686098099, - 0.19056807458400726, - 0.11022599786520004 + 0.0006430000066757202, + 0.19056807458400726 ], - "min": [ - -0.1167289987206459, - 0.08740607649087906, - -0.0006430000066757202 - ] + "size": [ + 0.2329079955816269, + 0.11086899787187576, + 0.1031619980931282 + ], + "units": "m" }, "center_of_mass": [ -0.0003005674807354808, @@ -107,7 +164,7 @@ 0.0005100551061332226, 0.0007164792623370886 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "metal", "name": "D00436 Compost Bin", "physics_type": "rigid", @@ -115,10 +172,27 @@ "object_name": "D00436 Compost Bin", "part_name": "D00436 Compost Bin" }, - "volume": 1.9108281014071907e-05 + "volume": 1.9108281014071907e-05, + "source_prim_path": "/World/textured_mesh_6a828810b7a9c4204ac539ac/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "43d0377cd87089b6a8c62313f3c3806d4a32afb1ffc18cc26c69d02f2e717722" + }, + "usd_path": "batch32/D00436 Compost Bin/IsaacSim_assets_6a828810b7a9c4204ac539ac/IsaacSim_asset_6a828810b7a9c4204ac539ac.usd", + "usd_sha256": "6d47f0585fc5e7f0498af6fe15936e217d1e2c1de69f5cd477c1d9f62df62062", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +211,58 @@ "up_axis": "Z", "bounds_m": [ 0.2329079955816269, - 0.20964499260298908, - 0.22771700471639633 - ] + 0.22771700471639633, + 0.20964499260298908 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d47f0585fc5e7f0498af6fe15936e217d1e2c1de69f5cd477c1d9f62df62062", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.75 + "value_kg": 0.7500000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d47f0585fc5e7f0498af6fe15936e217d1e2c1de69f5cd477c1d9f62df62062", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.7500000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 36, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d47f0585fc5e7f0498af6fe15936e217d1e2c1de69f5cd477c1d9f62df62062", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 36, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d47f0585fc5e7f0498af6fe15936e217d1e2c1de69f5cd477c1d9f62df62062", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00462 Kitchen Scale/IsaacSim_assets_6a83cdffa08484187f54fb62/physics_6a83cdffa08484187f54fb62.json b/batch32/D00462 Kitchen Scale/IsaacSim_assets_6a83cdffa08484187f54fb62/physics_6a83cdffa08484187f54fb62.json index 1f2043f2d1f9e75d4e5d2a89c0cae8e211c8b5b8..e5fd65087953a388b7912f75104bf7fea262c041 100644 --- a/batch32/D00462 Kitchen Scale/IsaacSim_assets_6a83cdffa08484187f54fb62/physics_6a83cdffa08484187f54fb62.json +++ b/batch32/D00462 Kitchen Scale/IsaacSim_assets_6a83cdffa08484187f54fb62/physics_6a83cdffa08484187f54fb62.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0814720019698143, - 0.027091819792985916, - 0.11383199691772461 - ], "min": [ -0.08489900082349777, - 0.0010108202695846558, - -0.11640799790620804 + -0.11383199691772461, + 0.0010108202695846558 + ], + "max": [ + 0.0814720019698143, + 0.11640799790620804, + 0.027091819792985916 ], "size": [ 0.16637100279331207, - 0.02608099952340126, - 0.23023999482393265 - ] + 0.23023999482393265, + 0.02608099952340126 + ], + "units": "m" }, "description": "D00462 Kitchen Scale", "name": "D00462 Kitchen Scale", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00462", "parts": [ { "bounds": { - "center": [ - -0.0017134994268417358, - 0.014051320031285286, - -0.0012880004942417145 + "min": [ + -0.08489900082349777, + -0.11383199691772461, + 0.0010108202695846558 ], "max": [ 0.0814720019698143, - 0.027091819792985916, - 0.11383199691772461 + 0.11640799790620804, + 0.027091819792985916 ], - "min": [ - -0.08489900082349777, - 0.0010108202695846558, - -0.11640799790620804 - ] + "size": [ + 0.16637100279331207, + 0.23023999482393265, + 0.02608099952340126 + ], + "units": "m" }, "center_of_mass": [ -0.001298357150517404, @@ -67,10 +73,27 @@ "object_name": "D00462 Kitchen Scale", "part_name": "D00462 Kitchen Scale" }, - "volume": 0.001 + "volume": 0.001, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "67c8e70c6c85d2dc9523c2cd817f1470dd002ebc0c7417f47d2d7a97690f5022" + }, + "usd_path": "batch32/D00462 Kitchen Scale/IsaacSim_assets_6a83cdffa08484187f54fb62/IsaacSim_asset_6a83cdffa08484187f54fb62.usd", + "usd_sha256": "bfcef66a0e2860548a3f8f5cb72774d2d4d6136c6fe0ef8d63ffb04941fe67ae", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.16637100279331207, - 0.02608099952340126, - 0.23023999482393265 - ] + 0.23023999482393265, + 0.02608099952340126 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bfcef66a0e2860548a3f8f5cb72774d2d4d6136c6fe0ef8d63ffb04941fe67ae", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bfcef66a0e2860548a3f8f5cb72774d2d4d6136c6fe0ef8d63ffb04941fe67ae", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bfcef66a0e2860548a3f8f5cb72774d2d4d6136c6fe0ef8d63ffb04941fe67ae", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bfcef66a0e2860548a3f8f5cb72774d2d4d6136c6fe0ef8d63ffb04941fe67ae", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00505 Measuring Scale/IsaacSim_assets_6a82c01ab7a9c4204acb07c4/physics_6a82c01ab7a9c4204acb07c4.json b/batch32/D00505 Measuring Scale/IsaacSim_assets_6a82c01ab7a9c4204acb07c4/physics_6a82c01ab7a9c4204acb07c4.json index 8b12e50163d8ed2d1400b593c67e78178ee73282..a704ffdb0ce0f93fbe4853e56835b33f8036c1b1 100644 --- a/batch32/D00505 Measuring Scale/IsaacSim_assets_6a82c01ab7a9c4204acb07c4/physics_6a82c01ab7a9c4204acb07c4.json +++ b/batch32/D00505 Measuring Scale/IsaacSim_assets_6a82c01ab7a9c4204acb07c4/physics_6a82c01ab7a9c4204acb07c4.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_01", "body1": "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_00", "joint_path": "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/Joints/joint_main_body__display_panel", - "type": "fixed" + "type": "fixed", + "id": "joint_main_body__display_panel", + "path": "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/Joints/joint_main_body__display_panel", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_00" + ], + "authored_usd": { + "id": "joint_main_body__display_panel", + "source_prim_path": "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/Joints/joint_main_body__display_panel", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_01" + ], + "body1": [ + "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_00" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0010641899425536394 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0010641899425536394 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_01", "body1": "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_02", "joint_path": "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/Joints/joint_main_body__weighing_pan", - "type": "fixed" + "type": "fixed", + "id": "joint_main_body__weighing_pan", + "path": "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/Joints/joint_main_body__weighing_pan", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_02" + ], + "authored_usd": { + "id": "joint_main_body__weighing_pan", + "source_prim_path": "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/Joints/joint_main_body__weighing_pan", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_01" + ], + "body1": [ + "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0010641899425536394 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0010641899425536394 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09133300185203552, - 0.05179218947887421, - 0.13795499503612518 - ], "min": [ -0.09081800282001495, - 0.001063189934939146, - -0.13248300552368164 + -0.13795499503612518, + 0.001063189934939146 + ], + "max": [ + 0.09133300185203552, + 0.13248300552368164, + 0.05179218947887421 ], "size": [ 0.18215100467205048, - 0.05072899954393506, - 0.2704380005598068 - ] + 0.2704380005598068, + 0.05072899954393506 + ], + "units": "m" }, "description": "D00505 Measuring Scale", "name": "D00505 Measuring Scale", "object_type": "rigid_bodies", - "total_mass": 0.95 + "total_mass": 0.9499999918043613, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00505", "parts": [ { "bounds": { - "center": [ - 0.00028949975967407227, - 0.022016690112650394, - 0.10653049871325493 + "min": [ + -0.09070199728012085, + -0.13795499503612518, + 0.009915189817547798 ], "max": [ 0.091280996799469, - 0.03411819040775299, - 0.13795499503612518 + -0.07510600239038467, + 0.03411819040775299 ], - "min": [ - -0.09070199728012085, - 0.009915189817547798, - 0.07510600239038467 - ] + "size": [ + 0.18198299407958984, + 0.06284899264574051, + 0.024203000590205193 + ], + "units": "m" }, "center_of_mass": [ 0.0017757650930434465, @@ -72,7 +168,7 @@ 0.00013056895113550127, 0.00014406001719180495 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "plastic", "name": "D00505 Measuring Scale", "physics_type": "rigid", @@ -80,25 +176,28 @@ "object_name": "D00505 Measuring Scale", "part_name": "D00505 Measuring Scale" }, - "volume": 4.166666728754838e-05 + "volume": 4.166666728754838e-05, + "source_prim_path": "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0002574995160102844, - 0.020868189400061965, - 0.0027269944548606873 + "min": [ + -0.09081800282001495, + -0.13793699443340302, + 0.001063189934939146 ], "max": [ 0.09133300185203552, - 0.040673188865184784, - 0.13793699443340302 + 0.13248300552368164, + 0.040673188865184784 ], - "min": [ - -0.09081800282001495, - 0.001063189934939146, - -0.13248300552368164 - ] + "size": [ + 0.18215100467205048, + 0.27041999995708466, + 0.03960999893024564 + ], + "units": "m" }, "center_of_mass": [ 0.00028554812888614833, @@ -113,7 +212,7 @@ 0.0038464011158794165, 0.005609969608485699 ], - "mass": 0.7, + "mass": 0.699999988079071, "material": "plastic", "name": "D00505 Measuring Scale", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00505 Measuring Scale", "part_name": "D00505 Measuring Scale" }, - "volume": 0.0006363636255264282 + "volume": 0.0006363636255264282, + "source_prim_path": "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00042900070548057556, - 0.04456518962979317, - -0.021234996616840363 + "min": [ + -0.0834290012717247, + -0.06432600319385529, + 0.03733818978071213 ], "max": [ 0.08428700268268585, - 0.05179218947887421, - 0.06432600319385529 + 0.10679599642753601, + 0.05179218947887421 ], - "min": [ - -0.0834290012717247, - 0.03733818978071213, - -0.10679599642753601 - ] + "size": [ + 0.16771600395441055, + 0.1711219996213913, + 0.014453999698162079 + ], + "units": "m" }, "center_of_mass": [ 0.0007733235252089798, @@ -154,7 +256,7 @@ 0.00036446709418669343, 0.0007072435691952705 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "metal", "name": "D00505 Measuring Scale", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00505 Measuring Scale", "part_name": "D00505 Measuring Scale" }, - "volume": 2.5641026023106698e-05 + "volume": 2.5641026023106698e-05, + "source_prim_path": "/World/textured_mesh_6a82c01ab7a9c4204acb07c4/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "10789fc528c10e7817a8d3463047e29aca62b4c919381ef38cd228c8d92ba5cd" + }, + "usd_path": "batch32/D00505 Measuring Scale/IsaacSim_assets_6a82c01ab7a9c4204acb07c4/IsaacSim_asset_6a82c01ab7a9c4204acb07c4.usd", + "usd_sha256": "5654220217b56c98eb22a1b4f6039abc1cafcb972e61cd46f1b6e4bc0e5c429f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,58 @@ "up_axis": "Z", "bounds_m": [ 0.18215100467205048, - 0.05072899954393506, - 0.2704380005598068 - ] + 0.2704380005598068, + 0.05072899954393506 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5654220217b56c98eb22a1b4f6039abc1cafcb972e61cd46f1b6e4bc0e5c429f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.95 + "value_kg": 0.9499999918043613, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5654220217b56c98eb22a1b4f6039abc1cafcb972e61cd46f1b6e4bc0e5c429f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.9499999918043613, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 44, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5654220217b56c98eb22a1b4f6039abc1cafcb972e61cd46f1b6e4bc0e5c429f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 44, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5654220217b56c98eb22a1b4f6039abc1cafcb972e61cd46f1b6e4bc0e5c429f", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00511 Metal Container/IsaacSim_assets_6a841d78a08484187f5fc3ff/physics_6a841d78a08484187f5fc3ff.json b/batch32/D00511 Metal Container/IsaacSim_assets_6a841d78a08484187f5fc3ff/physics_6a841d78a08484187f5fc3ff.json index c2766e97034876e22595a7f21558ed56379315b8..49d98916b9f5fb3aa6a4d6af8a32ed9ceb857435 100644 --- a/batch32/D00511 Metal Container/IsaacSim_assets_6a841d78a08484187f5fc3ff/physics_6a841d78a08484187f5fc3ff.json +++ b/batch32/D00511 Metal Container/IsaacSim_assets_6a841d78a08484187f5fc3ff/physics_6a841d78a08484187f5fc3ff.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.048510998487472534, - 0.10293418914079666, - 0.04935700073838234 - ], "min": [ -0.048889998346567154, - 0.0005621900199912488, - -0.04866399988532066 + -0.04935700073838234, + 0.0005621900199912488 + ], + "max": [ + 0.048510998487472534, + 0.04866399988532066, + 0.10293418914079666 ], "size": [ 0.09740099683403969, - 0.10237199912080541, - 0.098021000623703 - ] + 0.098021000623703, + 0.10237199912080541 + ], + "units": "m" }, "description": "D00511 Metal Container", "name": "D00511 Metal Container", "object_type": "rigid_bodies", - "total_mass": 0.375 + "total_mass": 0.375, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00511", "parts": [ { "bounds": { - "center": [ - -0.00018949992954730988, - 0.051748189580393955, - 0.000346500426530838 + "min": [ + -0.048889998346567154, + -0.04935700073838234, + 0.0005621900199912488 ], "max": [ 0.048510998487472534, - 0.10293418914079666, - 0.04935700073838234 + 0.04866399988532066, + 0.10293418914079666 ], - "min": [ - -0.048889998346567154, - 0.0005621900199912488, - -0.04866399988532066 - ] + "size": [ + 0.09740099683403969, + 0.098021000623703, + 0.10237199912080541 + ], + "units": "m" }, "center_of_mass": [ -0.0001984444388654083, @@ -67,10 +73,27 @@ "object_name": "D00511 Metal Container", "part_name": "D00511 Metal Container" }, - "volume": 4.6875e-05 + "volume": 4.6875e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d567930961b8325ab996b7b1de6d7b4402606afd42fc347721e01c0152658caa" + }, + "usd_path": "batch32/D00511 Metal Container/IsaacSim_assets_6a841d78a08484187f5fc3ff/IsaacSim_asset_6a841d78a08484187f5fc3ff.usd", + "usd_sha256": "fa97e67f99011a850268f057903a77a8f4f84d3dd24b1e0c93ed76c3e6465347", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.09740099683403969, - 0.10237199912080541, - 0.098021000623703 - ] + 0.098021000623703, + 0.10237199912080541 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fa97e67f99011a850268f057903a77a8f4f84d3dd24b1e0c93ed76c3e6465347", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.375 + "value_kg": 0.375, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fa97e67f99011a850268f057903a77a8f4f84d3dd24b1e0c93ed76c3e6465347", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.375, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fa97e67f99011a850268f057903a77a8f4f84d3dd24b1e0c93ed76c3e6465347", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fa97e67f99011a850268f057903a77a8f4f84d3dd24b1e0c93ed76c3e6465347", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00555 Oil/IsaacSim_assets_6a82e2e8b7a9c4204ad16c02/physics_6a82e2e8b7a9c4204ad16c02.json b/batch32/D00555 Oil/IsaacSim_assets_6a82e2e8b7a9c4204ad16c02/physics_6a82e2e8b7a9c4204ad16c02.json index 9553042de2c23adf008bf3a0b5c52ae953697f67..b4f77e0ed4e26a113f4662e1c09304e3ee653c0c 100644 --- a/batch32/D00555 Oil/IsaacSim_assets_6a82e2e8b7a9c4204ad16c02/physics_6a82e2e8b7a9c4204ad16c02.json +++ b/batch32/D00555 Oil/IsaacSim_assets_6a82e2e8b7a9c4204ad16c02/physics_6a82e2e8b7a9c4204ad16c02.json @@ -6,64 +6,205 @@ "body0": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_00", "body1": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_01", "joint_path": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/Joints/joint_bottle_body__label", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__label", + "path": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/Joints/joint_bottle_body__label", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_01" + ], + "authored_usd": { + "id": "joint_bottle_body__label", + "source_prim_path": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/Joints/joint_bottle_body__label", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_00" + ], + "body1": [ + "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0012039800640195608 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0012039800640195608 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_00", "body1": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_02", "joint_path": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/Joints/joint_bottle_body__cap", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__cap", + "path": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/Joints/joint_bottle_body__cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_02" + ], + "authored_usd": { + "id": "joint_bottle_body__cap", + "source_prim_path": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/Joints/joint_bottle_body__cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_00" + ], + "body1": [ + "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0012039800640195608 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0012039800640195608 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_00", "body1": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_03", "joint_path": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/Joints/joint_bottle_body__neck_ring", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__neck_ring", + "path": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/Joints/joint_bottle_body__neck_ring", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_03" + ], + "authored_usd": { + "id": "joint_bottle_body__neck_ring", + "source_prim_path": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/Joints/joint_bottle_body__neck_ring", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_00" + ], + "body1": [ + "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_03" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0012039800640195608 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0012039800640195608 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0348070003092289, - 0.2570609748363495, - 0.03235999867320061 - ], "min": [ -0.0346359983086586, - 0.0012089801020920277, - -0.037491001188755035 + -0.03235999867320061, + 0.0012089801020920277 + ], + "max": [ + 0.0348070003092289, + 0.037491001188755035, + 0.2570609748363495 ], "size": [ 0.0694429986178875, - 0.25585199473425746, - 0.06985099986195564 - ] + 0.06985099986195564, + 0.25585199473425746 + ], + "units": "m" }, "description": "D00555 Oil", "name": "D00555 Oil", "object_type": "rigid_bodies", - "total_mass": 0.52 + "total_mass": 0.5199999995529652, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00555", "parts": [ { "bounds": { - "center": [ - 8.550100028514862e-05, - 0.11308098048903048, - -0.003016499802470207 + "min": [ + -0.0346359983086586, + -0.03145800158381462, + 0.0012089801020920277 ], "max": [ 0.0348070003092289, - 0.22495298087596893, - 0.03145800158381462 + 0.037491001188755035, + 0.22495298087596893 ], - "min": [ - -0.0346359983086586, - 0.0012089801020920277, - -0.037491001188755035 - ] + "size": [ + 0.0694429986178875, + 0.06894900277256966, + 0.2237440007738769 + ], + "units": "m" }, "center_of_mass": [ 0.00010649477917468175, @@ -86,25 +227,28 @@ "object_name": "D00555 Oil", "part_name": "D00555 Oil" }, - "volume": 0.0005 + "volume": 0.0005, + "source_prim_path": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 6.700027734041214e-05, - 0.1439264863729477, - 0.01289399922825396 + "min": [ + -0.022513000294566154, + -0.03235999867320061, + 0.05304998159408569 ], "max": [ 0.02264700084924698, - 0.2348029911518097, - 0.03235999867320061 + 0.006572000216692686, + 0.2348029911518097 ], - "min": [ - -0.022513000294566154, - 0.05304998159408569, - -0.006572000216692686 - ] + "size": [ + 0.04516000114381313, + 0.03893199888989329, + 0.181753009557724 + ], + "units": "m" }, "center_of_mass": [ -0.003410474630072713, @@ -119,7 +263,7 @@ 8.141098987834994e-06, 8.545364835299551e-06 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "wood", "name": "D00555 Oil", "physics_type": "rigid", @@ -127,25 +271,28 @@ "object_name": "D00555 Oil", "part_name": "D00555 Oil" }, - "volume": 6.249999860301613e-06 + "volume": 6.249999860301613e-06, + "source_prim_path": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.001873999834060669, - 0.24067097902297974, - -0.0030679996125400066 + "min": [ + -0.021960999816656113, + -0.01498700026422739, + 0.22428098320960999 ], "max": [ 0.018213000148534775, - 0.2570609748363495, - 0.01498700026422739 + 0.021122999489307404, + 0.2570609748363495 ], - "min": [ - -0.021960999816656113, - 0.22428098320960999, - -0.021122999489307404 - ] + "size": [ + 0.04017399996519089, + 0.036109999753534794, + 0.0327799916267395 + ], + "units": "m" }, "center_of_mass": [ -0.0011235231067985296, @@ -160,7 +307,7 @@ 1.4391845297723194e-06, 1.5960821428961935e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "wood", "name": "D00555 Oil", "physics_type": "rigid", @@ -168,25 +315,28 @@ "object_name": "D00555 Oil", "part_name": "D00555 Oil" }, - "volume": 1.1111110862758424e-05 + "volume": 1.1111110862758424e-05, + "source_prim_path": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 8.899997919797897e-05, - 0.22950298339128494, - -0.0029770005494356155 + "min": [ + -0.021960999816656113, + -0.018643999472260475, + 0.224061980843544 ], "max": [ 0.02213899977505207, - 0.23494398593902588, - 0.018643999472260475 + 0.024598000571131706, + 0.23494398593902588 ], - "min": [ - -0.021960999816656113, - 0.224061980843544, - -0.024598000571131706 - ] + "size": [ + 0.04409999959170818, + 0.04324200004339218, + 0.010882005095481873 + ], + "units": "m" }, "center_of_mass": [ 8.788426930550486e-05, @@ -201,7 +351,7 @@ 5.096837298879109e-07, 9.12809241526702e-07 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "wood", "name": "D00555 Oil", "physics_type": "rigid", @@ -209,10 +359,27 @@ "object_name": "D00555 Oil", "part_name": "D00555 Oil" }, - "volume": 5.555555431379212e-06 + "volume": 5.555555431379212e-06, + "source_prim_path": "/World/textured_mesh_6a82e2e8b7a9c4204ad16c02/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fe0f6b790875b1007dd2a8ce51c5913ed58c5d38e36175ab65b275c12585764a" + }, + "usd_path": "batch32/D00555 Oil/IsaacSim_assets_6a82e2e8b7a9c4204ad16c02/IsaacSim_asset_6a82e2e8b7a9c4204ad16c02.usd", + "usd_sha256": "5f383469774a7a956c8112dce0f1ca7fd35dc822b766b0993e97fdea62637927", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -231,24 +398,58 @@ "up_axis": "Z", "bounds_m": [ 0.0694429986178875, - 0.25585199473425746, - 0.06985099986195564 - ] + 0.06985099986195564, + 0.25585199473425746 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f383469774a7a956c8112dce0f1ca7fd35dc822b766b0993e97fdea62637927", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.52 + "value_kg": 0.5199999995529652, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f383469774a7a956c8112dce0f1ca7fd35dc822b766b0993e97fdea62637927", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5199999995529652, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 94, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f383469774a7a956c8112dce0f1ca7fd35dc822b766b0993e97fdea62637927", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 94, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f383469774a7a956c8112dce0f1ca7fd35dc822b766b0993e97fdea62637927", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00592 Pasta Jar/IsaacSim_assets_6a7f2571b7a9c4204aa7babe/physics_6a7f2571b7a9c4204aa7babe.json b/batch32/D00592 Pasta Jar/IsaacSim_assets_6a7f2571b7a9c4204aa7babe/physics_6a7f2571b7a9c4204aa7babe.json index 4ed08cebc40410b4756dacd8fc4f8e55c0e7b11f..3c9c4688a5bfee3f489f14d3ba6611db4166df5e 100644 --- a/batch32/D00592 Pasta Jar/IsaacSim_assets_6a7f2571b7a9c4204aa7babe/physics_6a7f2571b7a9c4204aa7babe.json +++ b/batch32/D00592 Pasta Jar/IsaacSim_assets_6a7f2571b7a9c4204aa7babe/physics_6a7f2571b7a9c4204aa7babe.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a7f2571b7a9c4204aa7babe/part_01", "body1": "/World/textured_mesh_6a7f2571b7a9c4204aa7babe/part_00", "joint_path": "/World/textured_mesh_6a7f2571b7a9c4204aa7babe/Joints/joint_jar_body__lid", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_body__lid", + "path": "/World/textured_mesh_6a7f2571b7a9c4204aa7babe/Joints/joint_jar_body__lid", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7f2571b7a9c4204aa7babe/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a7f2571b7a9c4204aa7babe/part_00" + ], + "authored_usd": { + "id": "joint_jar_body__lid", + "source_prim_path": "/World/textured_mesh_6a7f2571b7a9c4204aa7babe/Joints/joint_jar_body__lid", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7f2571b7a9c4204aa7babe/part_01" + ], + "body1": [ + "/World/textured_mesh_6a7f2571b7a9c4204aa7babe/part_00" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0007918400224298239 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0007918400224298239 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03361000120639801, - 0.1657688319683075, - 0.03348499909043312 - ], "min": [ -0.03239800035953522, - 0.0007788400398567319, - -0.0330669991672039 + -0.03348499909043312, + 0.0007788400398567319 + ], + "max": [ + 0.03361000120639801, + 0.0330669991672039, + 0.1657688319683075 ], "size": [ 0.06600800156593323, - 0.16498999192845076, - 0.06655199825763702 - ] + 0.06655199825763702, + 0.16498999192845076 + ], + "units": "m" }, "description": "D00592 Pasta Jar", "name": "D00592 Pasta Jar", "object_type": "rigid_bodies", - "total_mass": 0.38 + "total_mass": 0.37999999336898327, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00592", "parts": [ { "bounds": { - "center": [ - 0.0006060004234313965, - 0.15834083408117294, - 0.00020899996161460876 + "min": [ + -0.03239800035953522, + -0.03348499909043312, + 0.1509128361940384 ], "max": [ 0.03361000120639801, - 0.1657688319683075, - 0.03348499909043312 + 0.0330669991672039, + 0.1657688319683075 ], - "min": [ - -0.03239800035953522, - 0.1509128361940384, - -0.0330669991672039 - ] + "size": [ + 0.06600800156593323, + 0.06655199825763702, + 0.014855995774269104 + ], + "units": "m" }, "center_of_mass": [ 0.0007077754125930369, @@ -66,7 +117,7 @@ 8.554882697353605e-06, 1.587996302987449e-05 ], - "mass": 0.03, + "mass": 0.029999999329447746, "material": "metal", "name": "D00592 Pasta Jar", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00592 Pasta Jar", "part_name": "D00592 Pasta Jar" }, - "volume": 3.846153760185608e-06 + "volume": 3.846153760185608e-06, + "source_prim_path": "/World/textured_mesh_6a7f2571b7a9c4204aa7babe/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0006575006991624832, - 0.07641683571273461, - 0.00019999966025352478 + "min": [ + -0.032079000025987625, + -0.033362001180648804, + 0.0007788400398567319 ], "max": [ 0.03339400142431259, - 0.1520548313856125, - 0.033362001180648804 + 0.032962001860141754, + 0.1520548313856125 ], - "min": [ - -0.032079000025987625, - 0.0007788400398567319, - -0.032962001860141754 - ] + "size": [ + 0.06547300145030022, + 0.06632400304079056, + 0.15127599134575576 + ], + "units": "m" }, "center_of_mass": [ 0.0005847654538229108, @@ -107,7 +161,7 @@ 0.0007500315550714731, 0.0007521048537455499 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "ceramic_or_glass", "name": "D00592 Pasta Jar", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00592 Pasta Jar", "part_name": "D00592 Pasta Jar" }, - "volume": 0.0001399999976158142 + "volume": 0.0001399999976158142, + "source_prim_path": "/World/textured_mesh_6a7f2571b7a9c4204aa7babe/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "875a33f164d58ff07c77a03c84afcffcd85b16fb458e89232769d2f30ddb2e0b" + }, + "usd_path": "batch32/D00592 Pasta Jar/IsaacSim_assets_6a7f2571b7a9c4204aa7babe/IsaacSim_asset_6a7f2571b7a9c4204aa7babe.usd", + "usd_sha256": "5b9fab707f3cca0794b914fbe3d8d6f1bb04107ce1abfe926e217142135d9e3c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.06600800156593323, - 0.16498999192845076, - 0.06655199825763702 - ] + 0.06655199825763702, + 0.16498999192845076 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5b9fab707f3cca0794b914fbe3d8d6f1bb04107ce1abfe926e217142135d9e3c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.38 + "value_kg": 0.37999999336898327, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5b9fab707f3cca0794b914fbe3d8d6f1bb04107ce1abfe926e217142135d9e3c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.37999999336898327, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 28, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5b9fab707f3cca0794b914fbe3d8d6f1bb04107ce1abfe926e217142135d9e3c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 28, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5b9fab707f3cca0794b914fbe3d8d6f1bb04107ce1abfe926e217142135d9e3c", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00745_Soy_Sauce_Vinegar/IsaacSim_assets_6a7d53efb7a9c4204a71ee30/physics_6a7d53efb7a9c4204a71ee30.json b/batch32/D00745_Soy_Sauce_Vinegar/IsaacSim_assets_6a7d53efb7a9c4204a71ee30/physics_6a7d53efb7a9c4204a71ee30.json index f2a07f4b24806188b7f66ac729033828c0b954c7..aaa088d0da3eeee92c494709a7dd3d4000b95f10 100644 --- a/batch32/D00745_Soy_Sauce_Vinegar/IsaacSim_assets_6a7d53efb7a9c4204a71ee30/physics_6a7d53efb7a9c4204a71ee30.json +++ b/batch32/D00745_Soy_Sauce_Vinegar/IsaacSim_assets_6a7d53efb7a9c4204a71ee30/physics_6a7d53efb7a9c4204a71ee30.json @@ -6,64 +6,205 @@ "body0": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_01", "body1": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_00", "joint_path": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/Joints/joint_bottle__back_label", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle__back_label", + "path": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/Joints/joint_bottle__back_label", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_00" + ], + "authored_usd": { + "id": "joint_bottle__back_label", + "source_prim_path": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/Joints/joint_bottle__back_label", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_01" + ], + "body1": [ + "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_00" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_01", "body1": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_02", "joint_path": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/Joints/joint_bottle__cap", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle__cap", + "path": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/Joints/joint_bottle__cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_02" + ], + "authored_usd": { + "id": "joint_bottle__cap", + "source_prim_path": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/Joints/joint_bottle__cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_01" + ], + "body1": [ + "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_01", "body1": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_03", "joint_path": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/Joints/joint_bottle__front_label", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle__front_label", + "path": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/Joints/joint_bottle__front_label", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_03" + ], + "authored_usd": { + "id": "joint_bottle__front_label", + "source_prim_path": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/Joints/joint_bottle__front_label", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_01" + ], + "body1": [ + "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_03" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03215400129556656, - 0.25995461642742157, - 0.030654000118374825 - ], "min": [ -0.032120998948812485, - 0.00038763009342801524, - -0.030875999480485916 + -0.030654000118374825, + 0.00038763009342801524 + ], + "max": [ + 0.03215400129556656, + 0.030875999480485916, + 0.25995461642742157 ], "size": [ 0.06427500024437904, - 0.25956698633399355, - 0.06152999959886074 - ] + 0.06152999959886074, + 0.25956698633399355 + ], + "units": "m" }, "description": "D00745 Soy_Sauce_Vinegar", "name": "D00745 Soy_Sauce_Vinegar", "object_type": "rigid_bodies", - "total_mass": 0.875 + "total_mass": 0.8750000232830644, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00745", "parts": [ { "bounds": { - "center": [ - 0.0001509999856352806, - 0.09153913054615259, - -0.03020399995148182 + "min": [ + -0.023483000695705414, + 0.029532000422477722, + 0.020666630938649178 ], "max": [ 0.023785000666975975, - 0.162411630153656, - -0.029532000422477722 + 0.030875999480485916, + 0.162411630153656 ], - "min": [ - -0.023483000695705414, - 0.020666630938649178, - -0.030875999480485916 - ] + "size": [ + 0.04726800136268139, + 0.001343999058008194, + 0.14174499921500683 + ], + "units": "m" }, "center_of_mass": [ 0.00014644379552919418, @@ -78,7 +219,7 @@ 7.630493200849742e-06, 8.480714313918725e-06 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "wood", "name": "D00745 Soy_Sauce_Vinegar", "physics_type": "rigid", @@ -86,25 +227,28 @@ "object_name": "D00745 Soy_Sauce_Vinegar", "part_name": "D00745 Soy_Sauce_Vinegar" }, - "volume": 6.249999860301613e-06 + "volume": 6.249999860301613e-06, + "source_prim_path": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 1.650117337703705e-05, - 0.1032456265033943, - -6.54999166727066e-05 + "min": [ + -0.032120998948812485, + -0.03056200034916401, + 0.00038763009342801524 ], "max": [ 0.03215400129556656, - 0.2061036229133606, - 0.03056200034916401 + 0.030693000182509422, + 0.2061036229133606 ], - "min": [ - -0.032120998948812485, - 0.00038763009342801524, - -0.030693000182509422 - ] + "size": [ + 0.06427500024437904, + 0.06125500053167343, + 0.20571599281993258 + ], + "units": "m" }, "center_of_mass": [ 4.545235242403578e-06, @@ -119,7 +263,7 @@ 0.002825702540576458, 0.0028503332287073135 ], - "mass": 0.85, + "mass": 0.8500000238418579, "material": "ceramic_or_glass", "name": "D00745 Soy_Sauce_Vinegar", "physics_type": "rigid", @@ -127,25 +271,28 @@ "object_name": "D00745 Soy_Sauce_Vinegar", "part_name": "D00745 Soy_Sauce_Vinegar" }, - "volume": 0.00034000000953674316 + "volume": 0.00034000000953674316, + "source_prim_path": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -6.04996457695961e-05, - 0.2325316220521927, - -6.099976599216461e-05 + "min": [ + -0.01796099916100502, + -0.017854999750852585, + 0.2051086276769638 ], "max": [ 0.017839999869465828, - 0.25995461642742157, - 0.017854999750852585 + 0.017976999282836914, + 0.25995461642742157 ], - "min": [ - -0.01796099916100502, - 0.2051086276769638, - -0.017976999282836914 - ] + "size": [ + 0.03580099903047085, + 0.0358319990336895, + 0.054845988750457764 + ], + "units": "m" }, "center_of_mass": [ -0.004859359469264746, @@ -160,7 +307,7 @@ 4.174097557552159e-05, 4.2194329580524936e-05 ], - "mass": 0.015, + "mass": 0.014999999664723873, "material": "ceramic_or_glass", "name": "D00745 Soy_Sauce_Vinegar", "physics_type": "rigid", @@ -168,25 +315,28 @@ "object_name": "D00745 Soy_Sauce_Vinegar", "part_name": "D00745 Soy_Sauce_Vinegar" }, - "volume": 5.555555431379212e-06 + "volume": 5.555555431379212e-06, + "source_prim_path": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00014699995517730713, - 0.09146812930703163, - 0.029986999928951263 + "min": [ + -0.02356800064444542, + -0.030654000118374825, + 0.020569629967212677 ], "max": [ 0.023862000554800034, - 0.16236662864685059, - 0.030654000118374825 + -0.029319999739527702, + 0.16236662864685059 ], - "min": [ - -0.02356800064444542, - 0.020569629967212677, - 0.029319999739527702 - ] + "size": [ + 0.04743000119924545, + 0.0013340003788471222, + 0.1417969986796379 + ], + "units": "m" }, "center_of_mass": [ 0.0001523843384347856, @@ -201,7 +351,7 @@ 7.665571502002422e-06, 8.515970876032952e-06 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "wood", "name": "D00745 Soy_Sauce_Vinegar", "physics_type": "rigid", @@ -209,10 +359,27 @@ "object_name": "D00745 Soy_Sauce_Vinegar", "part_name": "D00745 Soy_Sauce_Vinegar" }, - "volume": 6.249999860301613e-06 + "volume": 6.249999860301613e-06, + "source_prim_path": "/World/textured_mesh_6a7d53efb7a9c4204a71ee30/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "df0ebe27b593f2dc1ca0576f914c556468a8ba9e157061d50d6911d7080f49d5" + }, + "usd_path": "batch32/D00745_Soy_Sauce_Vinegar/IsaacSim_assets_6a7d53efb7a9c4204a71ee30/IsaacSim_asset_6a7d53efb7a9c4204a71ee30.usd", + "usd_sha256": "8904637c0b602e5969d5c47ba2cc3248c1f107d14aef31f01296965f310826ec", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -231,24 +398,58 @@ "up_axis": "Z", "bounds_m": [ 0.06427500024437904, - 0.25956698633399355, - 0.06152999959886074 - ] + 0.06152999959886074, + 0.25956698633399355 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8904637c0b602e5969d5c47ba2cc3248c1f107d14aef31f01296965f310826ec", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.875 + "value_kg": 0.8750000232830644, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8904637c0b602e5969d5c47ba2cc3248c1f107d14aef31f01296965f310826ec", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8750000232830644, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 50, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8904637c0b602e5969d5c47ba2cc3248c1f107d14aef31f01296965f310826ec", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 50, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8904637c0b602e5969d5c47ba2cc3248c1f107d14aef31f01296965f310826ec", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00746_Soy_Sauce_Vinegar_Oil/IsaacSim_assets_6a7edf1cb7a9c4204a9f6fb0/physics_6a7edf1cb7a9c4204a9f6fb0.json b/batch32/D00746_Soy_Sauce_Vinegar_Oil/IsaacSim_assets_6a7edf1cb7a9c4204a9f6fb0/physics_6a7edf1cb7a9c4204a9f6fb0.json index 22f1234756fb645701a95127be3e3b8672d78def..6436b0d3bccccd74cb753130a4bb680bc68c2da2 100644 --- a/batch32/D00746_Soy_Sauce_Vinegar_Oil/IsaacSim_assets_6a7edf1cb7a9c4204a9f6fb0/physics_6a7edf1cb7a9c4204a9f6fb0.json +++ b/batch32/D00746_Soy_Sauce_Vinegar_Oil/IsaacSim_assets_6a7edf1cb7a9c4204a9f6fb0/physics_6a7edf1cb7a9c4204a9f6fb0.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_00", "body1": "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_01", "joint_path": "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/Joints/joint_bottle_body__cap", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__cap", + "path": "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/Joints/joint_bottle_body__cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_01" + ], + "authored_usd": { + "id": "joint_bottle_body__cap", + "source_prim_path": "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/Joints/joint_bottle_body__cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_00" + ], + "body1": [ + "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_00", "body1": "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_02", "joint_path": "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/Joints/joint_bottle_body__label", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__label", + "path": "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/Joints/joint_bottle_body__label", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_02" + ], + "authored_usd": { + "id": "joint_bottle_body__label", + "source_prim_path": "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/Joints/joint_bottle_body__label", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_00" + ], + "body1": [ + "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.036421999335289, - 0.25186699628829956, - 0.035578999668359756 - ], "min": [ -0.03654899820685387, - 2.2000000171829015e-05, - -0.03790700063109398 + -0.035578999668359756, + 2.2000000171829015e-05 + ], + "max": [ + 0.036421999335289, + 0.03790700063109398, + 0.25186699628829956 ], "size": [ 0.07297099754214287, - 0.25184499628812773, - 0.07348600029945374 - ] + 0.07348600029945374, + 0.25184499628812773 + ], + "units": "m" }, "description": "D00746 Soy_Sauce_Vinegar_Oil", "name": "D00746 Soy_Sauce_Vinegar_Oil", "object_type": "rigid_bodies", - "total_mass": 0.765 + "total_mass": 0.7649999996647239, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00746", "parts": [ { "bounds": { - "center": [ - -6.349943578243256e-05, - 0.11397800143822678, - -0.0015785004943609238 + "min": [ + -0.03654899820685387, + -0.03474999964237213, + 2.2000000171829015e-05 ], "max": [ 0.036421999335289, - 0.22793400287628174, - 0.03474999964237213 + 0.03790700063109398, + 0.22793400287628174 ], - "min": [ - -0.03654899820685387, - 2.2000000171829015e-05, - -0.03790700063109398 - ] + "size": [ + 0.07297099754214287, + 0.07265700027346611, + 0.2279120028761099 + ], + "units": "m" }, "center_of_mass": [ -0.0001014718582155183, @@ -80,25 +176,28 @@ "object_name": "D00746 Soy_Sauce_Vinegar_Oil", "part_name": "D00746 Soy_Sauce_Vinegar_Oil" }, - "volume": 0.0008152173913043478 + "volume": 0.0008152173913043478, + "source_prim_path": "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -4.700012505054474e-05, - 0.23892699927091599, - -0.001529000699520111 + "min": [ + -0.01795100048184395, + -0.016303999349474907, + 0.2259870022535324 ], "max": [ 0.01785700023174286, - 0.25186699628829956, - 0.016303999349474907 + 0.01936200074851513, + 0.25186699628829956 ], - "min": [ - -0.01795100048184395, - 0.2259870022535324, - -0.01936200074851513 - ] + "size": [ + 0.03580800071358681, + 0.035666000097990036, + 0.02587999403476715 + ], + "units": "m" }, "center_of_mass": [ -0.0066159688867628574, @@ -113,7 +212,7 @@ 1.967681964742951e-05, 1.9773355234065093e-05 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "plastic", "name": "D00746 Soy_Sauce_Vinegar_Oil", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00746 Soy_Sauce_Vinegar_Oil", "part_name": "D00746 Soy_Sauce_Vinegar_Oil" }, - "volume": 9.090908887711438e-06 + "volume": 9.090908887711438e-06, + "source_prim_path": "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -1.600012183189392e-05, - 0.1095919981598854, - 0.029498999938368797 + "min": [ + -0.026781000196933746, + -0.035578999668359756, + 0.05196399986743927 ], "max": [ 0.02674899995326996, - 0.16721999645233154, - 0.035578999668359756 + -0.023419000208377838, + 0.16721999645233154 ], - "min": [ - -0.026781000196933746, - 0.05196399986743927, - 0.023419000208377838 - ] + "size": [ + 0.053530000150203705, + 0.012159999459981918, + 0.11525599658489227 + ], + "units": "m" }, "center_of_mass": [ 0.00015442553558386862, @@ -154,7 +256,7 @@ 5.500088263943326e-06, 6.228498477867106e-06 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "wood", "name": "D00746 Soy_Sauce_Vinegar_Oil", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00746 Soy_Sauce_Vinegar_Oil", "part_name": "D00746 Soy_Sauce_Vinegar_Oil" }, - "volume": 6.249999860301613e-06 + "volume": 6.249999860301613e-06, + "source_prim_path": "/World/textured_mesh_6a7edf1cb7a9c4204a9f6fb0/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d91de367283676bd38a67f563b199295caed16c61312d3ef7348999c4f05e070" + }, + "usd_path": "batch32/D00746_Soy_Sauce_Vinegar_Oil/IsaacSim_assets_6a7edf1cb7a9c4204a9f6fb0/IsaacSim_asset_6a7edf1cb7a9c4204a9f6fb0.usd", + "usd_sha256": "a566b8a17f0db8590775db37e373e8624c431484b036306d0e4a9e063f98d506", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,58 @@ "up_axis": "Z", "bounds_m": [ 0.07297099754214287, - 0.25184499628812773, - 0.07348600029945374 - ] + 0.07348600029945374, + 0.25184499628812773 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a566b8a17f0db8590775db37e373e8624c431484b036306d0e4a9e063f98d506", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.765 + "value_kg": 0.7649999996647239, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a566b8a17f0db8590775db37e373e8624c431484b036306d0e4a9e063f98d506", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.7649999996647239, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 37, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a566b8a17f0db8590775db37e373e8624c431484b036306d0e4a9e063f98d506", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 37, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a566b8a17f0db8590775db37e373e8624c431484b036306d0e4a9e063f98d506", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00770_Spice_Shaker/IsaacSim_assets_6a7e9b07b7a9c4204a9824b2/physics_6a7e9b07b7a9c4204a9824b2.json b/batch32/D00770_Spice_Shaker/IsaacSim_assets_6a7e9b07b7a9c4204a9824b2/physics_6a7e9b07b7a9c4204a9824b2.json index c97bfc3d93171d1382541bf5a962ec148937da8f..939a65b59de73210338bcf84ed4d536083b15e70 100644 --- a/batch32/D00770_Spice_Shaker/IsaacSim_assets_6a7e9b07b7a9c4204a9824b2/physics_6a7e9b07b7a9c4204a9824b2.json +++ b/batch32/D00770_Spice_Shaker/IsaacSim_assets_6a7e9b07b7a9c4204a9824b2/physics_6a7e9b07b7a9c4204a9824b2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03178299963474274, - 0.1011870913207531, - 0.031943000853061676 - ], "min": [ -0.032016001641750336, - 0.0005240908434416269, - -0.03190299868583679 + -0.031943000853061676, + 0.0005240908434416269 + ], + "max": [ + 0.03178299963474274, + 0.03190299868583679, + 0.1011870913207531 ], "size": [ 0.06379900127649307, - 0.10066300047731147, - 0.06384599953889847 - ] + 0.06384599953889847, + 0.10066300047731147 + ], + "units": "m" }, "description": "D00770 Spice_Shaker", "name": "D00770 Spice_Shaker", "object_type": "rigid_bodies", - "total_mass": 0.143 + "total_mass": 0.14300000667572021, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00770", "parts": [ { "bounds": { - "center": [ - -0.00011650100350379944, - 0.05085559108209736, - 2.0001083612442017e-05 + "min": [ + -0.032016001641750336, + -0.031943000853061676, + 0.0005240908434416269 ], "max": [ 0.03178299963474274, - 0.1011870913207531, - 0.031943000853061676 + 0.03190299868583679, + 0.1011870913207531 ], - "min": [ - -0.032016001641750336, - 0.0005240908434416269, - -0.03190299868583679 - ] + "size": [ + 0.06379900127649307, + 0.06384599953889847, + 0.10066300047731147 + ], + "units": "m" }, "center_of_mass": [ -0.0001222407736349851, @@ -59,7 +65,7 @@ 0.0001493412855779752, 0.00014935144281480461 ], - "mass": 0.143, + "mass": 0.14300000667572021, "material": "metal", "name": "D00770 Spice_Shaker", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00770 Spice_Shaker", "part_name": "D00770 Spice_Shaker" }, - "volume": 1.7875000834465026e-05 + "volume": 1.7875000834465026e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2a2d44425f7eb5aee45538ea727535c56b398842e336a2b6e5d75a69bfa8fda5" + }, + "usd_path": "batch32/D00770_Spice_Shaker/IsaacSim_assets_6a7e9b07b7a9c4204a9824b2/IsaacSim_asset_6a7e9b07b7a9c4204a9824b2.usd", + "usd_sha256": "46e75f79c1c37ad111d4e6d175a99521cf0c62b8b4ce69fce345d0bdd33cb837", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.06379900127649307, - 0.10066300047731147, - 0.06384599953889847 - ] + 0.06384599953889847, + 0.10066300047731147 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "46e75f79c1c37ad111d4e6d175a99521cf0c62b8b4ce69fce345d0bdd33cb837", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.143 + "value_kg": 0.14300000667572021, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "46e75f79c1c37ad111d4e6d175a99521cf0c62b8b4ce69fce345d0bdd33cb837", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.14300000667572021, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "46e75f79c1c37ad111d4e6d175a99521cf0c62b8b4ce69fce345d0bdd33cb837", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "46e75f79c1c37ad111d4e6d175a99521cf0c62b8b4ce69fce345d0bdd33cb837", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00821 Storage Jar/IsaacSim_assets_6a82ed33b7a9c4204ad315c6/physics_6a82ed33b7a9c4204ad315c6.json b/batch32/D00821 Storage Jar/IsaacSim_assets_6a82ed33b7a9c4204ad315c6/physics_6a82ed33b7a9c4204ad315c6.json index 01a9c8187a1cb1186870e4a9a3459c3636cab83c..84e705ed9ca3ee9886849642e976e3784681471f 100644 --- a/batch32/D00821 Storage Jar/IsaacSim_assets_6a82ed33b7a9c4204ad315c6/physics_6a82ed33b7a9c4204ad315c6.json +++ b/batch32/D00821 Storage Jar/IsaacSim_assets_6a82ed33b7a9c4204ad315c6/physics_6a82ed33b7a9c4204ad315c6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06387200206518173, - 0.13330340385437012, - 0.06344100087881088 - ], "min": [ -0.06380999833345413, - 0.0007114098407328129, - -0.06352099776268005 + -0.06344100087881088, + 0.0007114098407328129 + ], + "max": [ + 0.06387200206518173, + 0.06352099776268005, + 0.13330340385437012 ], "size": [ 0.12768200039863586, - 0.1325919940136373, - 0.12696199864149094 - ] + 0.12696199864149094, + 0.1325919940136373 + ], + "units": "m" }, "description": "D00821 Storage Jar", "name": "D00821 Storage Jar", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.30000001192092896, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00821", "parts": [ { "bounds": { - "center": [ - 3.100186586380005e-05, - 0.06700740684755147, - -3.999844193458557e-05 + "min": [ + -0.06380999833345413, + -0.06344100087881088, + 0.0007114098407328129 ], "max": [ 0.06387200206518173, - 0.13330340385437012, - 0.06344100087881088 + 0.06352099776268005, + 0.13330340385437012 ], - "min": [ - -0.06380999833345413, - 0.0007114098407328129, - -0.06352099776268005 - ] + "size": [ + 0.12768200039863586, + 0.12696199864149094, + 0.1325919940136373 + ], + "units": "m" }, "center_of_mass": [ 3.124705472146161e-05, @@ -59,7 +65,7 @@ 0.000661273195873946, 0.0006635033641941845 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "ceramic_or_glass", "name": "D00821 Storage Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00821 Storage Jar", "part_name": "D00821 Storage Jar" }, - "volume": 0.00012000000476837159 + "volume": 0.00012000000476837159, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "74e2746b1f36eed07815ee0b9f656c59e715f023b25bf6d2cff16c388890f927" + }, + "usd_path": "batch32/D00821 Storage Jar/IsaacSim_assets_6a82ed33b7a9c4204ad315c6/IsaacSim_asset_6a82ed33b7a9c4204ad315c6.usd", + "usd_sha256": "f7072d49fa0aa519903719949f4445a53e3b27264a24f2cd841427c4c749e1c8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.12768200039863586, - 0.1325919940136373, - 0.12696199864149094 - ] + 0.12696199864149094, + 0.1325919940136373 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f7072d49fa0aa519903719949f4445a53e3b27264a24f2cd841427c4c749e1c8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.30000001192092896, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f7072d49fa0aa519903719949f4445a53e3b27264a24f2cd841427c4c749e1c8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.30000001192092896, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 66, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f7072d49fa0aa519903719949f4445a53e3b27264a24f2cd841427c4c749e1c8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 66, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f7072d49fa0aa519903719949f4445a53e3b27264a24f2cd841427c4c749e1c8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00827 Stovetop/IsaacSim_assets_6a7ec46ab7a9c4204a9c49df/physics_6a7ec46ab7a9c4204a9c49df.json b/batch32/D00827 Stovetop/IsaacSim_assets_6a7ec46ab7a9c4204a9c49df/physics_6a7ec46ab7a9c4204a9c49df.json index 9e0e02c0072a714ace9293f4fdd4e800e56955a8..777138c52ecb20b859dac4b0faab5bd160c807e8 100644 --- a/batch32/D00827 Stovetop/IsaacSim_assets_6a7ec46ab7a9c4204a9c49df/physics_6a7ec46ab7a9c4204a9c49df.json +++ b/batch32/D00827 Stovetop/IsaacSim_assets_6a7ec46ab7a9c4204a9c49df/physics_6a7ec46ab7a9c4204a9c49df.json @@ -6,58 +6,160 @@ "body0": "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_0", "body1": "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_1", "joint_path": "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/Joints/joint_part_00__part_01", - "type": "revolute" + "type": "revolute", + "id": "joint_part_00__part_01", + "path": "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/Joints/joint_part_00__part_01", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_1" + ], + "authored_usd": { + "id": "joint_part_00__part_01", + "source_prim_path": "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/Joints/joint_part_00__part_01", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_0" + ], + "body1": [ + "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_1" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -140.0, + "upperLimit": 40.0, + "localPos0": [ + 0.12527450919151306, + -0.323122501373291, + 0.07580400258302689 + ], + "localPos1": [ + 0.12527450919151306, + -0.323122501373291, + 0.07580400258302689 + ], + "localRot0": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "localRot1": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_0", "body1": "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_2", "joint_path": "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/Joints/joint_part_00__part_02", - "type": "revolute" + "type": "revolute", + "id": "joint_part_00__part_02", + "path": "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/Joints/joint_part_00__part_02", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_2" + ], + "authored_usd": { + "id": "joint_part_00__part_02", + "source_prim_path": "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/Joints/joint_part_00__part_02", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_0" + ], + "body1": [ + "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_2" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -180.0, + "upperLimit": 0.0, + "localPos0": [ + -0.1325875073671341, + -0.32325148582458496, + 0.07070250064134598 + ], + "localPos1": [ + -0.1325875073671341, + -0.32325148582458496, + 0.07070250064134598 + ], + "localRot0": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "localRot1": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 2, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2816689908504486, - 0.13909699022769928, - 0.3443009853363037 - ], "min": [ -0.2827470004558563, - 0.0, - -0.34927400946617126 + -0.3443009853363037, + 0.0 + ], + "max": [ + 0.2816689908504486, + 0.34927400946617126, + 0.13909699022769928 ], "size": [ 0.5644159913063049, - 0.13909699022769928, - 0.693574994802475 - ] + 0.693574994802475, + 0.13909699022769928 + ], + "units": "m" }, "description": "D00827 Stovetop", "name": "D00827 Stovetop", "object_type": "rigid_bodies", - "total_mass": 12.2 + "total_mass": 12.200000002980232, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00827", "parts": [ { "bounds": { - "center": [ - -0.0005390048027038574, - 0.06954849511384964, - -0.02076449990272522 + "min": [ + -0.2827470004558563, + -0.3077450096607208, + 0.0 ], "max": [ 0.2816689908504486, - 0.13909699022769928, - 0.3077450096607208 + 0.34927400946617126, + 0.13909699022769928 ], - "min": [ - -0.2827470004558563, - 0.0, - -0.34927400946617126 - ] + "size": [ + 0.5644159913063049, + 0.6570190191268921, + 0.13909699022769928 + ], + "units": "m" }, "center_of_mass": [ -0.0005089101614430547, @@ -80,25 +182,28 @@ "object_name": "D00827 Stovetop", "part_name": "D00827 Stovetop" }, - "volume": 0.05106382978723404 + "volume": 0.05106382978723404, + "source_prim_path": "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.12527450174093246, - 0.07580400072038174, - 0.323122501373291 + "min": [ + 0.08553899824619293, + -0.3442769944667816, + 0.035165999084711075 ], "max": [ 0.165010005235672, - 0.1164420023560524, - 0.3442769944667816 + -0.3019680082798004, + 0.1164420023560524 ], - "min": [ - 0.08553899824619293, - 0.035165999084711075, - 0.3019680082798004 - ] + "size": [ + 0.07947100698947906, + 0.0423089861869812, + 0.08127600327134132 + ], + "units": "m" }, "center_of_mass": [ 0.12498688697814941, @@ -113,7 +218,7 @@ 5.416512431111187e-05, 7.172967161750421e-05 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "light_wood_or_paper", "name": "D00827 Stovetop", "physics_type": "rigid", @@ -121,25 +226,28 @@ "object_name": "D00827 Stovetop", "part_name": "D00827 Stovetop" }, - "volume": 0.0002500000037252903 + "volume": 0.0002500000037252903, + "source_prim_path": "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.1325875036418438, - 0.07070249877870083, - 0.32325148582458496 + "min": [ + -0.1708970069885254, + -0.3443009853363037, + 0.029337000101804733 ], "max": [ -0.0942780002951622, - 0.11206799745559692, - 0.3443009853363037 + -0.3022019863128662, + 0.11206799745559692 ], - "min": [ - -0.1708970069885254, - 0.029337000101804733, - 0.3022019863128662 - ] + "size": [ + 0.07661900669336319, + 0.0420989990234375, + 0.08273099735379219 + ], + "units": "m" }, "center_of_mass": [ -0.1329832822084427, @@ -154,7 +262,7 @@ 7.640646799700335e-05, 9.491023956798017e-05 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "light_wood_or_paper", "name": "D00827 Stovetop", "physics_type": "rigid", @@ -162,10 +270,27 @@ "object_name": "D00827 Stovetop", "part_name": "D00827 Stovetop" }, - "volume": 0.0002500000037252903 + "volume": 0.0002500000037252903, + "source_prim_path": "/World/textured_mesh_6a7ec46ab7a9c4204a9c49df/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "275945568a06d46f76a89244a2fe94dda1dcf8cdc899e21be1d8b3f66e2b39bd" + }, + "usd_path": "batch32/D00827 Stovetop/IsaacSim_assets_6a7ec46ab7a9c4204a9c49df/IsaacSim_asset_6a7ec46ab7a9c4204a9c49df.usd", + "usd_sha256": "3356347d69134a932fd87695a7d509017684d9c16fbd1bcfb7c133d908df379a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +309,58 @@ "up_axis": "Z", "bounds_m": [ 0.5644159913063049, - 0.13909699022769928, - 0.693574994802475 - ] + 0.693574994802475, + 0.13909699022769928 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3356347d69134a932fd87695a7d509017684d9c16fbd1bcfb7c133d908df379a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 12.2 + "value_kg": 12.200000002980232, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3356347d69134a932fd87695a7d509017684d9c16fbd1bcfb7c133d908df379a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 12.200000002980232, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 75, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3356347d69134a932fd87695a7d509017684d9c16fbd1bcfb7c133d908df379a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 75, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3356347d69134a932fd87695a7d509017684d9c16fbd1bcfb7c133d908df379a", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00901 Utensils Whisk/IsaacSim_assets_6a7f2456b7a9c4204aa78ec6/physics_6a7f2456b7a9c4204aa78ec6.json b/batch32/D00901 Utensils Whisk/IsaacSim_assets_6a7f2456b7a9c4204aa78ec6/physics_6a7f2456b7a9c4204aa78ec6.json index 01fab30a3f3d7aaf26fc9b56f8a8a4597066e4b6..42a5dd9028969cfe69ed136dd4092cc4918c7fed 100644 --- a/batch32/D00901 Utensils Whisk/IsaacSim_assets_6a7f2456b7a9c4204aa78ec6/physics_6a7f2456b7a9c4204aa78ec6.json +++ b/batch32/D00901 Utensils Whisk/IsaacSim_assets_6a7f2456b7a9c4204aa78ec6/physics_6a7f2456b7a9c4204aa78ec6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.028599999845027924, - 0.055188968777656555, - 0.10292799770832062 - ], "min": [ -0.028596000745892525, - 0.0014439700171351433, - -0.19858500361442566 + -0.10292799770832062, + 0.0014439700171351433 + ], + "max": [ + 0.028599999845027924, + 0.19858500361442566, + 0.055188968777656555 ], "size": [ 0.05719600059092045, - 0.05374499876052141, - 0.3015130013227463 - ] + 0.3015130013227463, + 0.05374499876052141 + ], + "units": "m" }, "description": "D00901 Utensils Whisk", "name": "D00901 Utensils Whisk", "object_type": "rigid_bodies", - "total_mass": 0.075 + "total_mass": 0.07500000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00901", "parts": [ { "bounds": { - "center": [ - 1.9995495676994324e-06, - 0.02831646939739585, - -0.04782850295305252 + "min": [ + -0.028596000745892525, + -0.10292799770832062, + 0.0014439700171351433 ], "max": [ 0.028599999845027924, - 0.055188968777656555, - 0.10292799770832062 + 0.19858500361442566, + 0.055188968777656555 ], - "min": [ - -0.028596000745892525, - 0.0014439700171351433, - -0.19858500361442566 - ] + "size": [ + 0.05719600059092045, + 0.3015130013227463, + 0.05374499876052141 + ], + "units": "m" }, "center_of_mass": [ 6.430883513530716e-05, @@ -59,7 +65,7 @@ 0.000518284912686795, 0.0005187325878068805 ], - "mass": 0.075, + "mass": 0.07500000298023224, "material": "wood", "name": "D00901 Utensils Whisk", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00901 Utensils Whisk", "part_name": "D00901 Utensils Whisk" }, - "volume": 0.00010714286140033177 + "volume": 0.00010714286140033177, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ffa36438f4ee9b8f778e3a2b2c201fe479b9bf9b5a03757df28c5ad36b56a6bd" + }, + "usd_path": "batch32/D00901 Utensils Whisk/IsaacSim_assets_6a7f2456b7a9c4204aa78ec6/IsaacSim_asset_6a7f2456b7a9c4204aa78ec6.usd", + "usd_sha256": "0ea35084541a5399ea73428072ed8851702ea5c00eb868e7e9ea79fad4321a65", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.05719600059092045, - 0.05374499876052141, - 0.3015130013227463 - ] + 0.3015130013227463, + 0.05374499876052141 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ea35084541a5399ea73428072ed8851702ea5c00eb868e7e9ea79fad4321a65", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.075 + "value_kg": 0.07500000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ea35084541a5399ea73428072ed8851702ea5c00eb868e7e9ea79fad4321a65", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07500000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ea35084541a5399ea73428072ed8851702ea5c00eb868e7e9ea79fad4321a65", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0ea35084541a5399ea73428072ed8851702ea5c00eb868e7e9ea79fad4321a65", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00905 Vegetable Oil Bottle/IsaacSim_assets_6a827053b7a9c4204ac0afbd/physics_6a827053b7a9c4204ac0afbd.json b/batch32/D00905 Vegetable Oil Bottle/IsaacSim_assets_6a827053b7a9c4204ac0afbd/physics_6a827053b7a9c4204ac0afbd.json index 7b6e49216c708a38100a89c47481737278c3cac5..f814bd9bea0fddfa7fbac8e9d27560d261ed21ae 100644 --- a/batch32/D00905 Vegetable Oil Bottle/IsaacSim_assets_6a827053b7a9c4204ac0afbd/physics_6a827053b7a9c4204ac0afbd.json +++ b/batch32/D00905 Vegetable Oil Bottle/IsaacSim_assets_6a827053b7a9c4204ac0afbd/physics_6a827053b7a9c4204ac0afbd.json @@ -6,64 +6,205 @@ "body0": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_02", "body1": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_00", "joint_path": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/Joints/joint_bottle_body__front_label", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__front_label", + "path": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/Joints/joint_bottle_body__front_label", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_02" + ], + "body1_targets": [ + "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_00" + ], + "authored_usd": { + "id": "joint_bottle_body__front_label", + "source_prim_path": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/Joints/joint_bottle_body__front_label", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_02" + ], + "body1": [ + "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_00" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0010912679135799408 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0010912679135799408 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_02", "body1": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_01", "joint_path": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/Joints/joint_bottle_body__back_label", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__back_label", + "path": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/Joints/joint_bottle_body__back_label", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_02" + ], + "body1_targets": [ + "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_01" + ], + "authored_usd": { + "id": "joint_bottle_body__back_label", + "source_prim_path": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/Joints/joint_bottle_body__back_label", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_02" + ], + "body1": [ + "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0010912679135799408 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0010912679135799408 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_02", "body1": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_03", "joint_path": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/Joints/joint_bottle_body__cap", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__cap", + "path": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/Joints/joint_bottle_body__cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_02" + ], + "body1_targets": [ + "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_03" + ], + "authored_usd": { + "id": "joint_bottle_body__cap", + "source_prim_path": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/Joints/joint_bottle_body__cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_02" + ], + "body1": [ + "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_03" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0010912679135799408 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0010912679135799408 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03853699937462807, - 0.2595052719116211, - 0.038352999836206436 - ], "min": [ -0.03881800174713135, - 0.0010882678907364607, - -0.03850400075316429 + -0.038352999836206436, + 0.0010882678907364607 + ], + "max": [ + 0.03853699937462807, + 0.03850400075316429, + 0.2595052719116211 ], "size": [ 0.07735500112175941, - 0.25841700402088463, - 0.07685700058937073 - ] + 0.07685700058937073, + 0.25841700402088463 + ], + "units": "m" }, "description": "D00905 Vegetable Oil Bottle", "name": "D00905 Vegetable Oil Bottle", "object_type": "rigid_bodies", - "total_mass": 1.12 + "total_mass": 1.120000023394823, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00905", "parts": [ { "bounds": { - "center": [ - 0.000341000035405159, - 0.1061982735991478, - 0.03600450046360493 + "min": [ + -0.02911599911749363, + -0.03835099935531616, + 0.032287269830703735 ], "max": [ 0.029797999188303947, - 0.18010927736759186, - 0.03835099935531616 + -0.03365800157189369, + 0.18010927736759186 ], - "min": [ - -0.02911599911749363, - 0.032287269830703735, - 0.03365800157189369 - ] + "size": [ + 0.05891399830579758, + 0.00469299778342247, + 0.14782200753688812 + ], + "units": "m" }, "center_of_mass": [ 0.002052944153547287, @@ -78,7 +219,7 @@ 7.820649443601724e-06, 8.953077667683829e-06 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "wood", "name": "D00905 Vegetable Oil Bottle", "physics_type": "rigid", @@ -86,25 +227,28 @@ "object_name": "D00905 Vegetable Oil Bottle", "part_name": "D00905 Vegetable Oil Bottle" }, - "volume": 6.249999860301613e-06 + "volume": 6.249999860301613e-06, + "source_prim_path": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00039250031113624573, - 0.10415277071297169, - -0.03771449998021126 + "min": [ + -0.027919000014662743, + 0.036924999207258224, + 0.032208267599344254 ], "max": [ 0.028704000636935234, - 0.17609727382659912, - -0.036924999207258224 + 0.03850400075316429, + 0.17609727382659912 ], - "min": [ - -0.027919000014662743, - 0.032208267599344254, - -0.03850400075316429 - ] + "size": [ + 0.05662300065159798, + 0.001579001545906067, + 0.14388900622725487 + ], + "units": "m" }, "center_of_mass": [ -1.3055432646069676e-05, @@ -119,7 +263,7 @@ 8.502746823069174e-06, 9.78301432041917e-06 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "wood", "name": "D00905 Vegetable Oil Bottle", "physics_type": "rigid", @@ -127,25 +271,28 @@ "object_name": "D00905 Vegetable Oil Bottle", "part_name": "D00905 Vegetable Oil Bottle" }, - "volume": 6.249999860301613e-06 + "volume": 6.249999860301613e-06, + "source_prim_path": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00014050118625164032, - 0.10584227310027927, - -2.5000423192977905e-05 + "min": [ + -0.03881800174713135, + -0.038352999836206436, + 0.0010882678907364607 ], "max": [ 0.03853699937462807, - 0.21059627830982208, - 0.038352999836206436 + 0.03840300068259239, + 0.21059627830982208 ], - "min": [ - -0.03881800174713135, - 0.0010882678907364607, - -0.03840300068259239 - ] + "size": [ + 0.07735500112175941, + 0.07675600051879883, + 0.20950801041908562 + ], + "units": "m" }, "center_of_mass": [ -0.00014451293100137264, @@ -160,7 +307,7 @@ 0.004417218267917633, 0.0044295769184827805 ], - "mass": 1.1, + "mass": 1.100000023841858, "material": "plastic", "name": "D00905 Vegetable Oil Bottle", "physics_type": "rigid", @@ -168,25 +315,28 @@ "object_name": "D00905 Vegetable Oil Bottle", "part_name": "D00905 Vegetable Oil Bottle" }, - "volume": 0.0011578947619387979 + "volume": 0.0011578947619387979, + "source_prim_path": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00010399986058473587, - 0.23097727447748184, - -0.00011899974197149277 + "min": [ + -0.02570600062608719, + -0.025449000298976898, + 0.2024492770433426 ], "max": [ 0.025498000904917717, - 0.2595052719116211, - 0.025449000298976898 + 0.025686999782919884, + 0.2595052719116211 ], - "min": [ - -0.02570600062608719, - 0.2024492770433426, - -0.025686999782919884 - ] + "size": [ + 0.051204001531004906, + 0.05113600008189678, + 0.0570559948682785 + ], + "units": "m" }, "center_of_mass": [ -0.00016917508037295192, @@ -201,7 +351,7 @@ 4.114509920327691e-06, 4.12270674132742e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "plastic", "name": "D00905 Vegetable Oil Bottle", "physics_type": "rigid", @@ -209,10 +359,27 @@ "object_name": "D00905 Vegetable Oil Bottle", "part_name": "D00905 Vegetable Oil Bottle" }, - "volume": 9.523809310935793e-06 + "volume": 9.523809310935793e-06, + "source_prim_path": "/World/textured_mesh_6a827053b7a9c4204ac0afbd/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8c36c7b02889421afffc0782a653d6794f8ccc6173fb4c77059a4d4fcfa47485" + }, + "usd_path": "batch32/D00905 Vegetable Oil Bottle/IsaacSim_assets_6a827053b7a9c4204ac0afbd/IsaacSim_asset_6a827053b7a9c4204ac0afbd.usd", + "usd_sha256": "653f1181f2b3ad4c28389a84132abd8e590d05eb8d0fec11b16f25c0934d2b2f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -231,24 +398,58 @@ "up_axis": "Z", "bounds_m": [ 0.07735500112175941, - 0.25841700402088463, - 0.07685700058937073 - ] + 0.07685700058937073, + 0.25841700402088463 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "653f1181f2b3ad4c28389a84132abd8e590d05eb8d0fec11b16f25c0934d2b2f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.12 + "value_kg": 1.120000023394823, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "653f1181f2b3ad4c28389a84132abd8e590d05eb8d0fec11b16f25c0934d2b2f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.120000023394823, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 13, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "653f1181f2b3ad4c28389a84132abd8e590d05eb8d0fec11b16f25c0934d2b2f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 13, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "653f1181f2b3ad4c28389a84132abd8e590d05eb8d0fec11b16f25c0934d2b2f", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00907 Vinegar/IsaacSim_assets_6a84630ea08484187f66d083/physics_6a84630ea08484187f66d083.json b/batch32/D00907 Vinegar/IsaacSim_assets_6a84630ea08484187f66d083/physics_6a84630ea08484187f66d083.json index eee0243f3fba0826d43ad2ebffd6b8c6e92bd768..793ff5f7631e1e2dfae1f77f64c842c7574c3118 100644 --- a/batch32/D00907 Vinegar/IsaacSim_assets_6a84630ea08484187f66d083/physics_6a84630ea08484187f66d083.json +++ b/batch32/D00907 Vinegar/IsaacSim_assets_6a84630ea08484187f66d083/physics_6a84630ea08484187f66d083.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a84630ea08484187f66d083/part_0", "body1": "/World/textured_mesh_6a84630ea08484187f66d083/part_1", "joint_path": "/World/textured_mesh_6a84630ea08484187f66d083/Joints/joint_part_0__part_1", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a84630ea08484187f66d083/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a84630ea08484187f66d083/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a84630ea08484187f66d083/part_1" + ], + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a84630ea08484187f66d083/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a84630ea08484187f66d083/part_0" + ], + "body1": [ + "/World/textured_mesh_6a84630ea08484187f66d083/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0007954314351081848 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0007954314351081848 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a84630ea08484187f66d083/part_0", "body1": "/World/textured_mesh_6a84630ea08484187f66d083/part_2", "joint_path": "/World/textured_mesh_6a84630ea08484187f66d083/Joints/joint_part_0__part_2", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_2", + "path": "/World/textured_mesh_6a84630ea08484187f66d083/Joints/joint_part_0__part_2", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a84630ea08484187f66d083/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a84630ea08484187f66d083/part_2" + ], + "authored_usd": { + "id": "joint_part_0__part_2", + "source_prim_path": "/World/textured_mesh_6a84630ea08484187f66d083/Joints/joint_part_0__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a84630ea08484187f66d083/part_0" + ], + "body1": [ + "/World/textured_mesh_6a84630ea08484187f66d083/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0007954314351081848 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0007954314351081848 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03691000118851662, - 0.17181143164634705, - 0.034596998244524 - ], "min": [ -0.03671199828386307, - 0.0008164314203895628, - -0.03975300118327141 + -0.034596998244524, + 0.0008164314203895628 + ], + "max": [ + 0.03691000118851662, + 0.03975300118327141, + 0.17181143164634705 ], "size": [ 0.07362199947237968, - 0.17099500022595748, - 0.07434999942779541 - ] + 0.07434999942779541, + 0.17099500022595748 + ], + "units": "m" }, "description": "D00907 Vinegar", "name": "D00907 Vinegar", "object_type": "rigid_bodies", - "total_mass": 0.415 + "total_mass": 0.41500000562518835, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00907", "parts": [ { "bounds": { - "center": [ - 9.90014523267746e-05, - 0.07871442873147316, - -0.0030410010367631912 + "min": [ + -0.03671199828386307, + -0.033670999109745026, + 0.0008164314203895628 ], "max": [ 0.03691000118851662, - 0.15661242604255676, - 0.033670999109745026 + 0.03975300118327141, + 0.15661242604255676 ], - "min": [ - -0.03671199828386307, - 0.0008164314203895628, - -0.03975300118327141 - ] + "size": [ + 0.07362199947237968, + 0.07342400029301643, + 0.1557959946221672 + ], + "units": "m" }, "center_of_mass": [ 8.134420204441994e-05, @@ -72,7 +168,7 @@ 0.0007642200798727572, 0.0007648263708688319 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic_or_glass", "name": "D00907 Vinegar", "physics_type": "rigid", @@ -80,25 +176,28 @@ "object_name": "D00907 Vinegar", "part_name": "D00907 Vinegar" }, - "volume": 0.0001600000023841858 + "volume": 0.0001600000023841858, + "source_prim_path": "/World/textured_mesh_6a84630ea08484187f66d083/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00012199953198432922, - 0.09670143015682697, - 0.014136499026790261 + "min": [ + -0.031321000307798386, + -0.034596998244524, + 0.03408342972397804 ], "max": [ 0.031564999371767044, - 0.1593194305896759, - 0.034596998244524 + 0.0063240001909434795, + 0.1593194305896759 ], - "min": [ - -0.031321000307798386, - 0.03408342972397804, - -0.0063240001909434795 - ] + "size": [ + 0.06288599967956543, + 0.04092099843546748, + 0.12523600086569786 + ], + "units": "m" }, "center_of_mass": [ -0.0021978113800287247, @@ -113,7 +212,7 @@ 3.9970814214029815e-06, 4.755842383019626e-06 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "wood", "name": "D00907 Vinegar", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00907 Vinegar", "part_name": "D00907 Vinegar" }, - "volume": 6.249999860301613e-06 + "volume": 6.249999860301613e-06, + "source_prim_path": "/World/textured_mesh_6a84630ea08484187f66d083/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 5.7999975979328156e-05, - 0.16361293196678162, - -0.002827499993145466 + "min": [ + -0.01662999950349331, + -0.01396699994802475, + 0.1554144322872162 ], "max": [ 0.016745999455451965, - 0.17181143164634705, - 0.01396699994802475 + 0.01962199993431568, + 0.17181143164634705 ], - "min": [ - -0.01662999950349331, - 0.1554144322872162, - -0.01962199993431568 - ] + "size": [ + 0.033375998958945274, + 0.03358899988234043, + 0.01639699935913086 + ], + "units": "m" }, "center_of_mass": [ 0.0001173001728602685, @@ -154,7 +256,7 @@ 8.729282399144722e-07, 1.3006068684262573e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "ceramic_or_glass", "name": "D00907 Vinegar", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00907 Vinegar", "part_name": "D00907 Vinegar" }, - "volume": 3.703703620919475e-06 + "volume": 3.703703620919475e-06, + "source_prim_path": "/World/textured_mesh_6a84630ea08484187f66d083/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d0c7f62f35fb5710e8e7508946d7e9cc9d3d97b5f5c90625f0aba506f2565084" + }, + "usd_path": "batch32/D00907 Vinegar/IsaacSim_assets_6a84630ea08484187f66d083/IsaacSim_asset_6a84630ea08484187f66d083.usd", + "usd_sha256": "fcdf20469a86c487b27f2c25ce8dc29c882baab77f8f6ad295b77216a671dfa3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,58 @@ "up_axis": "Z", "bounds_m": [ 0.07362199947237968, - 0.17099500022595748, - 0.07434999942779541 - ] + 0.07434999942779541, + 0.17099500022595748 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcdf20469a86c487b27f2c25ce8dc29c882baab77f8f6ad295b77216a671dfa3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.415 + "value_kg": 0.41500000562518835, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcdf20469a86c487b27f2c25ce8dc29c882baab77f8f6ad295b77216a671dfa3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.41500000562518835, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 49, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcdf20469a86c487b27f2c25ce8dc29c882baab77f8f6ad295b77216a671dfa3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 49, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcdf20469a86c487b27f2c25ce8dc29c882baab77f8f6ad295b77216a671dfa3", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00909 Vinegar Dienser Spice Jar/IsaacSim_assets_6a827c82b7a9c4204ac2a1cf/physics_6a827c82b7a9c4204ac2a1cf.json b/batch32/D00909 Vinegar Dienser Spice Jar/IsaacSim_assets_6a827c82b7a9c4204ac2a1cf/physics_6a827c82b7a9c4204ac2a1cf.json index 79b0507b2df4e94b29c20a04cf811c8ddff91cdf..01b20e351dc9eec3eb303e8eb0a31a28f853ddca 100644 --- a/batch32/D00909 Vinegar Dienser Spice Jar/IsaacSim_assets_6a827c82b7a9c4204ac2a1cf/physics_6a827c82b7a9c4204ac2a1cf.json +++ b/batch32/D00909 Vinegar Dienser Spice Jar/IsaacSim_assets_6a827c82b7a9c4204ac2a1cf/physics_6a827c82b7a9c4204ac2a1cf.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_02", "body1": "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_01", "joint_path": "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/Joints/joint_lid__pour_spout", - "type": "fixed" + "type": "fixed", + "id": "joint_lid__pour_spout", + "path": "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/Joints/joint_lid__pour_spout", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_02" + ], + "body1_targets": [ + "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_01" + ], + "authored_usd": { + "id": "joint_lid__pour_spout", + "source_prim_path": "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/Joints/joint_lid__pour_spout", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_02" + ], + "body1": [ + "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.00040119991172105074 + ], + "localPos1": [ + 0.0, + 0.0, + 0.00040119991172105074 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_00", "body1": "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_02", "joint_path": "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/Joints/joint_jar_body__lid", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_body__lid", + "path": "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/Joints/joint_jar_body__lid", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_02" + ], + "authored_usd": { + "id": "joint_jar_body__lid", + "source_prim_path": "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/Joints/joint_jar_body__lid", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_00" + ], + "body1": [ + "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.00040119991172105074 + ], + "localPos1": [ + 0.0, + 0.0, + 0.00040119991172105074 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.028920000419020653, - 0.12832319736480713, - 0.02903199940919876 - ], "min": [ -0.029374999925494194, - 0.00042719990597106516, - -0.029100999236106873 + -0.02903199940919876, + 0.00042719990597106516 + ], + "max": [ + 0.028920000419020653, + 0.029100999236106873, + 0.12832319736480713 ], "size": [ 0.05829500034451485, - 0.12789599745883606, - 0.058132998645305634 - ] + 0.058132998645305634, + 0.12789599745883606 + ], + "units": "m" }, "description": "D00909 Vinegar Dienser Spice Jar", "name": "D00909 Vinegar Dienser Spice Jar", "object_type": "rigid_bodies", - "total_mass": 0.175 + "total_mass": 0.17500000540167093, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00909", "parts": [ { "bounds": { - "center": [ - -0.00022749975323677063, - 0.04977669865183998, - -3.4499913454055786e-05 + "min": [ + -0.029374999925494194, + -0.02903199940919876, + 0.00042719990597106516 ], "max": [ 0.028920000419020653, - 0.09912619739770889, - 0.02903199940919876 + 0.029100999236106873, + 0.09912619739770889 ], - "min": [ - -0.029374999925494194, - 0.00042719990597106516, - -0.029100999236106873 - ] + "size": [ + 0.05829500034451485, + 0.058132998645305634, + 0.09869899749173783 + ], + "units": "m" }, "center_of_mass": [ -0.00034047605004161596, @@ -72,7 +168,7 @@ 0.00012534651614259928, 0.00012543854245450348 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "ceramic_or_glass", "name": "D00909 Vinegar Dienser Spice Jar", "physics_type": "rigid", @@ -80,25 +176,28 @@ "object_name": "D00909 Vinegar Dienser Spice Jar", "part_name": "D00909 Vinegar Dienser Spice Jar" }, - "volume": 6.000000238418579e-05 + "volume": 6.000000238418579e-05, + "source_prim_path": "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.011371499625965953, - 0.10421469807624817, - -0.00019650068134069443 + "min": [ + -0.02884499914944172, + -0.02866699919104576, + 0.08010619878768921 ], "max": [ 0.006101999897509813, - 0.12832319736480713, - 0.02866699919104576 + 0.02906000055372715, + 0.12832319736480713 ], - "min": [ - -0.02884499914944172, - 0.08010619878768921, - -0.02906000055372715 - ] + "size": [ + 0.03494699904695153, + 0.05772699974477291, + 0.04821699857711792 + ], + "units": "m" }, "center_of_mass": [ -0.007837689481675625, @@ -113,7 +212,7 @@ 8.224110388255212e-07, 1.2357397736195708e-06 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "metal", "name": "D00909 Vinegar Dienser Spice Jar", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00909 Vinegar Dienser Spice Jar", "part_name": "D00909 Vinegar Dienser Spice Jar" }, - "volume": 6.410256266976014e-07 + "volume": 6.410256266976014e-07, + "source_prim_path": "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00018100067973136902, - 0.08970619738101959, - -1.3499520719051361e-05 + "min": [ + -0.029231000691652298, + -0.028913000598549843, + 0.08005519956350327 ], "max": [ 0.02886899933218956, - 0.09935719519853592, - 0.028913000598549843 + 0.028939999639987946, + 0.09935719519853592 ], - "min": [ - -0.029231000691652298, - 0.08005519956350327, - -0.028939999639987946 - ] + "size": [ + 0.05810000002384186, + 0.05785300023853779, + 0.019301995635032654 + ], + "units": "m" }, "center_of_mass": [ -0.00019481869821902364, @@ -154,7 +256,7 @@ 4.46902640760527e-06, 7.750136319373269e-06 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "metal", "name": "D00909 Vinegar Dienser Spice Jar", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00909 Vinegar Dienser Spice Jar", "part_name": "D00909 Vinegar Dienser Spice Jar" }, - "volume": 2.5641025067904055e-06 + "volume": 2.5641025067904055e-06, + "source_prim_path": "/World/textured_mesh_6a827c82b7a9c4204ac2a1cf/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7a7fd897c8e85035a9c53104f87b1eb0e1c6189660460616ecaab346a58497d0" + }, + "usd_path": "batch32/D00909 Vinegar Dienser Spice Jar/IsaacSim_assets_6a827c82b7a9c4204ac2a1cf/IsaacSim_asset_6a827c82b7a9c4204ac2a1cf.usd", + "usd_sha256": "8d39b6f653c420af0d4a4f22ac84b4105b60a647bc6a0ac3de554d0aeaa7ab90", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,58 @@ "up_axis": "Z", "bounds_m": [ 0.05829500034451485, - 0.12789599745883606, - 0.058132998645305634 - ] + 0.058132998645305634, + 0.12789599745883606 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d39b6f653c420af0d4a4f22ac84b4105b60a647bc6a0ac3de554d0aeaa7ab90", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.175 + "value_kg": 0.17500000540167093, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d39b6f653c420af0d4a4f22ac84b4105b60a647bc6a0ac3de554d0aeaa7ab90", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.17500000540167093, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 36, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d39b6f653c420af0d4a4f22ac84b4105b60a647bc6a0ac3de554d0aeaa7ab90", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 36, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d39b6f653c420af0d4a4f22ac84b4105b60a647bc6a0ac3de554d0aeaa7ab90", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00916 Water/IsaacSim_assets_6a827348b7a9c4204ac10818/physics_6a827348b7a9c4204ac10818.json b/batch32/D00916 Water/IsaacSim_assets_6a827348b7a9c4204ac10818/physics_6a827348b7a9c4204ac10818.json index 0d8a14becd486c9f56a13c7057ff27a28cb93cb0..53177a8c7fa5845fe2ad5b34761cefdeba3fac9a 100644 --- a/batch32/D00916 Water/IsaacSim_assets_6a827348b7a9c4204ac10818/physics_6a827348b7a9c4204ac10818.json +++ b/batch32/D00916 Water/IsaacSim_assets_6a827348b7a9c4204ac10818/physics_6a827348b7a9c4204ac10818.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a827348b7a9c4204ac10818/part_00", "body1": "/World/textured_mesh_6a827348b7a9c4204ac10818/part_01", "joint_path": "/World/textured_mesh_6a827348b7a9c4204ac10818/Joints/joint_bottle_body__label", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__label", + "path": "/World/textured_mesh_6a827348b7a9c4204ac10818/Joints/joint_bottle_body__label", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a827348b7a9c4204ac10818/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a827348b7a9c4204ac10818/part_01" + ], + "authored_usd": { + "id": "joint_bottle_body__label", + "source_prim_path": "/World/textured_mesh_6a827348b7a9c4204ac10818/Joints/joint_bottle_body__label", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a827348b7a9c4204ac10818/part_00" + ], + "body1": [ + "/World/textured_mesh_6a827348b7a9c4204ac10818/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0005154907703399658 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0005154907703399658 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a827348b7a9c4204ac10818/part_00", "body1": "/World/textured_mesh_6a827348b7a9c4204ac10818/part_02", "joint_path": "/World/textured_mesh_6a827348b7a9c4204ac10818/Joints/joint_bottle_body__cap", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__cap", + "path": "/World/textured_mesh_6a827348b7a9c4204ac10818/Joints/joint_bottle_body__cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a827348b7a9c4204ac10818/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a827348b7a9c4204ac10818/part_02" + ], + "authored_usd": { + "id": "joint_bottle_body__cap", + "source_prim_path": "/World/textured_mesh_6a827348b7a9c4204ac10818/Joints/joint_bottle_body__cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a827348b7a9c4204ac10818/part_00" + ], + "body1": [ + "/World/textured_mesh_6a827348b7a9c4204ac10818/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0005154907703399658 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0005154907703399658 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04267000034451485, - 0.24771849811077118, - 0.038816001266241074 - ], "min": [ -0.0425340011715889, - 0.0005364907556213439, - -0.04449399933218956 + -0.038816001266241074, + 0.0005364907556213439 + ], + "max": [ + 0.04267000034451485, + 0.04449399933218956, + 0.24771849811077118 ], "size": [ 0.08520400151610374, - 0.24718200735514984, - 0.08331000059843063 - ] + 0.08331000059843063, + 0.24718200735514984 + ], + "units": "m" }, "description": "D00916 Water", "name": "D00916 Water", "object_type": "rigid_bodies", - "total_mass": 1.52 + "total_mass": 1.5200000097975135, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00916", "parts": [ { "bounds": { - "center": [ - 6.799958646297455e-05, - 0.10903999421861954, - -0.0029914993792772293 + "min": [ + -0.0425340011715889, + -0.0385110005736351, + 0.0005364907556213439 ], "max": [ 0.04267000034451485, - 0.21754349768161774, - 0.0385110005736351 + 0.04449399933218956, + 0.21754349768161774 ], - "min": [ - -0.0425340011715889, - 0.0005364907556213439, - -0.04449399933218956 - ] + "size": [ + 0.08520400151610374, + 0.08300499990582466, + 0.2170070069259964 + ], + "units": "m" }, "center_of_mass": [ 6.065121488063596e-05, @@ -72,7 +168,7 @@ 0.006351592484861612, 0.006400403566658497 ], - "mass": 1.49, + "mass": 1.4900000095367432, "material": "plastic", "name": "D00916 Water", "physics_type": "rigid", @@ -80,25 +176,28 @@ "object_name": "D00916 Water", "part_name": "D00916 Water" }, - "volume": 0.0014900000095367431 + "volume": 0.0014900000095367431, + "source_prim_path": "/World/textured_mesh_6a827348b7a9c4204ac10818/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00010299868881702423, - 0.12676449120044708, - 0.0035430006682872772 + "min": [ + -0.032333001494407654, + -0.038816001266241074, + 0.03606349229812622 ], "max": [ 0.0325389988720417, - 0.21746549010276794, - 0.038816001266241074 + 0.03172999992966652, + 0.21746549010276794 ], - "min": [ - -0.032333001494407654, - 0.03606349229812622, - -0.03172999992966652 - ] + "size": [ + 0.06487200036644936, + 0.07054600119590759, + 0.18140199780464172 + ], + "units": "m" }, "center_of_mass": [ 0.0004565201816149056, @@ -113,7 +212,7 @@ 1.030017028824659e-05, 1.0960145118588116e-05 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "plastic", "name": "D00916 Water", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00916 Water", "part_name": "D00916 Water" }, - "volume": 4.166666573534409e-06 + "volume": 4.166666573534409e-06, + "source_prim_path": "/World/textured_mesh_6a827348b7a9c4204ac10818/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 5.550030618906021e-05, - 0.2319764941930771, - -0.003200499340891838 + "min": [ + -0.02938299998641014, + -0.025975000113248825, + 0.216234490275383 ], "max": [ 0.02949400059878826, - 0.24771849811077118, - 0.025975000113248825 + 0.0323759987950325, + 0.24771849811077118 ], - "min": [ - -0.02938299998641014, - 0.216234490275383, - -0.0323759987950325 - ] + "size": [ + 0.0588770005851984, + 0.058350998908281326, + 0.031484007835388184 + ], + "units": "m" }, "center_of_mass": [ 6.40086509520188e-05, @@ -154,7 +256,7 @@ 7.2936227297759615e-06, 1.0436593584017828e-05 ], - "mass": 0.025, + "mass": 0.02500000037252903, "material": "ceramic_or_glass", "name": "D00916 Water", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00916 Water", "part_name": "D00916 Water" }, - "volume": 9.259259397232974e-06 + "volume": 9.259259397232974e-06, + "source_prim_path": "/World/textured_mesh_6a827348b7a9c4204ac10818/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "72ee331fc64b47997f228b4885017392892a921a396c92f71cc15e5a55db5039" + }, + "usd_path": "batch32/D00916 Water/IsaacSim_assets_6a827348b7a9c4204ac10818/IsaacSim_asset_6a827348b7a9c4204ac10818.usd", + "usd_sha256": "1faf3fffd4fefd4770e9e5ab14e75e584028e049eb93023d55771ab7b66f466b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,58 @@ "up_axis": "Z", "bounds_m": [ 0.08520400151610374, - 0.24718200735514984, - 0.08331000059843063 - ] + 0.08331000059843063, + 0.24718200735514984 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1faf3fffd4fefd4770e9e5ab14e75e584028e049eb93023d55771ab7b66f466b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.52 + "value_kg": 1.5200000097975135, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1faf3fffd4fefd4770e9e5ab14e75e584028e049eb93023d55771ab7b66f466b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5200000097975135, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1faf3fffd4fefd4770e9e5ab14e75e584028e049eb93023d55771ab7b66f466b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1faf3fffd4fefd4770e9e5ab14e75e584028e049eb93023d55771ab7b66f466b", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00922 Vanilla Extract Bottle/IsaacSim_assets_6a840f0ca08484187f5dd543/physics_6a840f0ca08484187f5dd543.json b/batch32/D00922 Vanilla Extract Bottle/IsaacSim_assets_6a840f0ca08484187f5dd543/physics_6a840f0ca08484187f5dd543.json index db60e7dd286cc545f28a5be038bcc5dcf817e16e..0b7a0f2e553a2aae530d9f44bd932833f0dc2c42 100644 --- a/batch32/D00922 Vanilla Extract Bottle/IsaacSim_assets_6a840f0ca08484187f5dd543/physics_6a840f0ca08484187f5dd543.json +++ b/batch32/D00922 Vanilla Extract Bottle/IsaacSim_assets_6a840f0ca08484187f5dd543/physics_6a840f0ca08484187f5dd543.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a840f0ca08484187f5dd543/part_00", "body1": "/World/textured_mesh_6a840f0ca08484187f5dd543/part_01", "joint_path": "/World/textured_mesh_6a840f0ca08484187f5dd543/Joints/joint_bottle__cap", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle__cap", + "path": "/World/textured_mesh_6a840f0ca08484187f5dd543/Joints/joint_bottle__cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a840f0ca08484187f5dd543/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a840f0ca08484187f5dd543/part_01" + ], + "authored_usd": { + "id": "joint_bottle__cap", + "source_prim_path": "/World/textured_mesh_6a840f0ca08484187f5dd543/Joints/joint_bottle__cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a840f0ca08484187f5dd543/part_00" + ], + "body1": [ + "/World/textured_mesh_6a840f0ca08484187f5dd543/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.00043321773409843445 + ], + "localPos1": [ + 0.0, + 0.0, + 0.00043321773409843445 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a840f0ca08484187f5dd543/part_00", "body1": "/World/textured_mesh_6a840f0ca08484187f5dd543/part_02", "joint_path": "/World/textured_mesh_6a840f0ca08484187f5dd543/Joints/joint_bottle__label", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle__label", + "path": "/World/textured_mesh_6a840f0ca08484187f5dd543/Joints/joint_bottle__label", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a840f0ca08484187f5dd543/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a840f0ca08484187f5dd543/part_02" + ], + "authored_usd": { + "id": "joint_bottle__label", + "source_prim_path": "/World/textured_mesh_6a840f0ca08484187f5dd543/Joints/joint_bottle__label", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a840f0ca08484187f5dd543/part_00" + ], + "body1": [ + "/World/textured_mesh_6a840f0ca08484187f5dd543/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.00043321773409843445 + ], + "localPos1": [ + 0.0, + 0.0, + 0.00043321773409843445 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.020719999447464943, - 0.09679022431373596, - 0.020228000357747078 - ], "min": [ -0.020788000896573067, - 0.00045321774086914957, - -0.021278999745845795 + -0.020228000357747078, + 0.00045321774086914957 + ], + "max": [ + 0.020719999447464943, + 0.021278999745845795, + 0.09679022431373596 ], "size": [ 0.04150800034403801, - 0.09633700657286681, - 0.04150700010359287 - ] + 0.04150700010359287, + 0.09633700657286681 + ], + "units": "m" }, "description": "D00922 Vanilla Extract Bottle", "name": "D00922 Vanilla Extract Bottle", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.24999999511055648, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00922", "parts": [ { "bounds": { - "center": [ - -3.400072455406189e-05, - 0.0438577154855011, - -0.0006914995610713959 + "min": [ + -0.020788000896573067, + -0.019896000623703003, + 0.00045321774086914957 ], "max": [ 0.020719999447464943, - 0.08726221323013306, - 0.019896000623703003 + 0.021278999745845795, + 0.08726221323013306 ], - "min": [ - -0.020788000896573067, - 0.00045321774086914957, - -0.021278999745845795 - ] + "size": [ + 0.04150800034403801, + 0.0411750003695488, + 0.08680899548926391 + ], + "units": "m" }, "center_of_mass": [ -4.737049312097952e-05, @@ -72,7 +168,7 @@ 0.00014663122419733554, 0.00014681693573947996 ], - "mass": 0.24, + "mass": 0.23999999463558197, "material": "ceramic_or_glass", "name": "D00922 Vanilla Extract Bottle", "physics_type": "rigid", @@ -80,25 +176,28 @@ "object_name": "D00922 Vanilla Extract Bottle", "part_name": "D00922 Vanilla Extract Bottle" }, - "volume": 9.599999785423278e-05 + "volume": 9.599999785423278e-05, + "source_prim_path": "/World/textured_mesh_6a840f0ca08484187f5dd543/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0016974997706711292, - 0.056787220761179924, - 0.004150500055402517 + "min": [ + -0.01697699911892414, + -0.019863000139594078, + 0.016784217208623886 ], "max": [ 0.013581999577581882, - 0.09679022431373596, - 0.019863000139594078 + 0.011562000028789043, + 0.09679022431373596 ], - "min": [ - -0.01697699911892414, - 0.016784217208623886, - -0.011562000028789043 - ] + "size": [ + 0.030558998696506023, + 0.03142500016838312, + 0.08000600710511208 + ], + "units": "m" }, "center_of_mass": [ -0.0012107762740924954, @@ -113,7 +212,7 @@ 3.5255682178103598e-06, 3.715643515533884e-06 ], - "mass": 0.008, + "mass": 0.00800000037997961, "material": "wood", "name": "D00922 Vanilla Extract Bottle", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00922 Vanilla Extract Bottle", "part_name": "D00922 Vanilla Extract Bottle" }, - "volume": 8.888889311088456e-06 + "volume": 8.888889311088456e-06, + "source_prim_path": "/World/textured_mesh_6a840f0ca08484187f5dd543/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.03837171755731106, - 0.015608500223606825 + "min": [ + -0.016959000378847122, + -0.020228000357747078, + 0.01862521842122078 ], "max": [ 0.016959000378847122, - 0.05811821669340134, - 0.020228000357747078 + -0.010989000089466572, + 0.05811821669340134 ], - "min": [ - -0.016959000378847122, - 0.01862521842122078, - 0.010989000089466572 - ] + "size": [ + 0.033918000757694244, + 0.009239000268280506, + 0.03949299827218056 + ], + "units": "m" }, "center_of_mass": [ -1.6048734323703684e-05, @@ -154,7 +256,7 @@ 2.665850047378626e-07, 3.808494000168139e-07 ], - "mass": 0.002, + "mass": 0.0020000000949949026, "material": "wood", "name": "D00922 Vanilla Extract Bottle", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00922 Vanilla Extract Bottle", "part_name": "D00922 Vanilla Extract Bottle" }, - "volume": 2.5000001187436284e-06 + "volume": 2.5000001187436284e-06, + "source_prim_path": "/World/textured_mesh_6a840f0ca08484187f5dd543/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "37932968a7c0f8bd4144737a1892e8a18d1375d89bbdcfa3b9154947824448d4" + }, + "usd_path": "batch32/D00922 Vanilla Extract Bottle/IsaacSim_assets_6a840f0ca08484187f5dd543/IsaacSim_asset_6a840f0ca08484187f5dd543.usd", + "usd_sha256": "bea21ff645b2f70bf309b4e17beb5beb6a5ec42e0bf5bb6cd83821388ad3905b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,58 @@ "up_axis": "Z", "bounds_m": [ 0.04150800034403801, - 0.09633700657286681, - 0.04150700010359287 - ] + 0.04150700010359287, + 0.09633700657286681 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bea21ff645b2f70bf309b4e17beb5beb6a5ec42e0bf5bb6cd83821388ad3905b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.24999999511055648, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bea21ff645b2f70bf309b4e17beb5beb6a5ec42e0bf5bb6cd83821388ad3905b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.24999999511055648, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 42, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bea21ff645b2f70bf309b4e17beb5beb6a5ec42e0bf5bb6cd83821388ad3905b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 42, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bea21ff645b2f70bf309b4e17beb5beb6a5ec42e0bf5bb6cd83821388ad3905b", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00930 Flour Bag/IsaacSim_assets_6a8279e0b7a9c4204ac1db6f/physics_6a8279e0b7a9c4204ac1db6f.json b/batch32/D00930 Flour Bag/IsaacSim_assets_6a8279e0b7a9c4204ac1db6f/physics_6a8279e0b7a9c4204ac1db6f.json index f57f1d6a3c1da65d88d5bc815b464e2f57ef1790..bd24300d298d9fcae2931f1009d784b33c722648 100644 --- a/batch32/D00930 Flour Bag/IsaacSim_assets_6a8279e0b7a9c4204ac1db6f/physics_6a8279e0b7a9c4204ac1db6f.json +++ b/batch32/D00930 Flour Bag/IsaacSim_assets_6a8279e0b7a9c4204ac1db6f/physics_6a8279e0b7a9c4204ac1db6f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08333499729633331, - 0.24119456112384796, - 0.04405700042843819 - ], "min": [ -0.08191300183534622, - 0.001315560657531023, - -0.05053500086069107 + -0.04405700042843819, + 0.001315560657531023 + ], + "max": [ + 0.08333499729633331, + 0.05053500086069107, + 0.24119456112384796 ], "size": [ 0.16524799913167953, - 0.23987900046631694, - 0.09459200128912926 - ] + 0.09459200128912926, + 0.23987900046631694 + ], + "units": "m" }, "description": "D00930 Flour Bag", "name": "D00930 Flour Bag", "object_type": "rigid_bodies", - "total_mass": 11.34 + "total_mass": 11.34000015258789, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00930", "parts": [ { "bounds": { - "center": [ - 0.0007109977304935455, - 0.12125506089068949, - -0.003239000216126442 + "min": [ + -0.08191300183534622, + -0.04405700042843819, + 0.001315560657531023 ], "max": [ 0.08333499729633331, - 0.24119456112384796, - 0.04405700042843819 + 0.05053500086069107, + 0.24119456112384796 ], - "min": [ - -0.08191300183534622, - 0.001315560657531023, - -0.05053500086069107 - ] + "size": [ + 0.16524799913167953, + 0.09459200128912926, + 0.23987900046631694 + ], + "units": "m" }, "center_of_mass": [ 0.0005391239537857473, @@ -59,7 +65,7 @@ 0.047596659511327744, 0.0620574951171875 ], - "mass": 11.34, + "mass": 11.34000015258789, "material": "glass_or_stone", "name": "D00930 Flour Bag", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00930 Flour Bag", "part_name": "D00930 Flour Bag" }, - "volume": 0.003910344880202721 + "volume": 0.003910344880202721, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ffc87dcbf5412fbe8607a63b2a146ac3a777ec558e23e12ed49121e3ba93d504" + }, + "usd_path": "batch32/D00930 Flour Bag/IsaacSim_assets_6a8279e0b7a9c4204ac1db6f/IsaacSim_asset_6a8279e0b7a9c4204ac1db6f.usd", + "usd_sha256": "97456b7612837d6955aae0c2b91ff6f32c91d8c0e29f5fc940bac86b253d2946", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.16524799913167953, - 0.23987900046631694, - 0.09459200128912926 - ] + 0.09459200128912926, + 0.23987900046631694 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "97456b7612837d6955aae0c2b91ff6f32c91d8c0e29f5fc940bac86b253d2946", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 11.34 + "value_kg": 11.34000015258789, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "97456b7612837d6955aae0c2b91ff6f32c91d8c0e29f5fc940bac86b253d2946", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 11.34000015258789, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "97456b7612837d6955aae0c2b91ff6f32c91d8c0e29f5fc940bac86b253d2946", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "97456b7612837d6955aae0c2b91ff6f32c91d8c0e29f5fc940bac86b253d2946", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00941 Wine Bottle/IsaacSim_assets_6a81e6b0b7a9c4204abd1511/physics_6a81e6b0b7a9c4204abd1511.json b/batch32/D00941 Wine Bottle/IsaacSim_assets_6a81e6b0b7a9c4204abd1511/physics_6a81e6b0b7a9c4204abd1511.json index 7215fde98b4c80515e598f976e1d34e4e9581d9d..bcd1add6e3324ecdad417c0c0cb0c9373ec4805e 100644 --- a/batch32/D00941 Wine Bottle/IsaacSim_assets_6a81e6b0b7a9c4204abd1511/physics_6a81e6b0b7a9c4204abd1511.json +++ b/batch32/D00941 Wine Bottle/IsaacSim_assets_6a81e6b0b7a9c4204abd1511/physics_6a81e6b0b7a9c4204abd1511.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a81e6b0b7a9c4204abd1511/part_00", "body1": "/World/textured_mesh_6a81e6b0b7a9c4204abd1511/part_01", "joint_path": "/World/textured_mesh_6a81e6b0b7a9c4204abd1511/Joints/joint_bottle_body__screw_cap", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__screw_cap", + "path": "/World/textured_mesh_6a81e6b0b7a9c4204abd1511/Joints/joint_bottle_body__screw_cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a81e6b0b7a9c4204abd1511/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a81e6b0b7a9c4204abd1511/part_01" + ], + "authored_usd": { + "id": "joint_bottle_body__screw_cap", + "source_prim_path": "/World/textured_mesh_6a81e6b0b7a9c4204abd1511/Joints/joint_bottle_body__screw_cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a81e6b0b7a9c4204abd1511/part_00" + ], + "body1": [ + "/World/textured_mesh_6a81e6b0b7a9c4204abd1511/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0012129545211791992 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0012129545211791992 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.038134001195430756, - 0.29518696665763855, - 0.03802400082349777 - ], "min": [ -0.03825199976563454, - 0.0012329545570537448, - -0.038270000368356705 + -0.03802400082349777, + 0.0012329545570537448 + ], + "max": [ + 0.038134001195430756, + 0.038270000368356705, + 0.29518696665763855 ], "size": [ 0.07638600096106529, - 0.2939540121005848, - 0.07629400119185448 - ] + 0.07629400119185448, + 0.2939540121005848 + ], + "units": "m" }, "description": "D00941 Wine Bottle", "name": "D00941 Wine Bottle", "object_type": "rigid_bodies", - "total_mass": 0.51 + "total_mass": 0.5099999997764826, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00941", "parts": [ { "bounds": { - "center": [ - -5.8999285101890564e-05, - 0.13751545682316646, - -0.00012299977242946625 + "min": [ + -0.03825199976563454, + -0.03802400082349777, + 0.0012329545570537448 ], "max": [ 0.038134001195430756, - 0.2737979590892792, - 0.03802400082349777 + 0.038270000368356705, + 0.2737979590892792 ], - "min": [ - -0.03825199976563454, - 0.0012329545570537448, - -0.038270000368356705 - ] + "size": [ + 0.07638600096106529, + 0.07629400119185448, + 0.27256500453222543 + ], + "units": "m" }, "center_of_mass": [ -0.00040503765922039747, @@ -74,25 +125,28 @@ "object_name": "D00941 Wine Bottle", "part_name": "D00941 Wine Bottle" }, - "volume": 0.0002 + "volume": 0.0002, + "source_prim_path": "/World/textured_mesh_6a81e6b0b7a9c4204abd1511/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 2.7000438421964645e-05, - 0.2652684599161148, - -0.0001050001010298729 + "min": [ + -0.015573999844491482, + -0.015572000294923782, + 0.23534995317459106 ], "max": [ 0.01562800072133541, - 0.29518696665763855, - 0.015572000294923782 + 0.015782000496983528, + 0.29518696665763855 ], - "min": [ - -0.015573999844491482, - 0.23534995317459106, - -0.015782000496983528 - ] + "size": [ + 0.031202000565826893, + 0.03135400079190731, + 0.059837013483047485 + ], + "units": "m" }, "center_of_mass": [ -1.5560752217425033e-05, @@ -107,7 +161,7 @@ 3.4631320886546746e-06, 3.4653264719963772e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "ceramic_or_glass", "name": "D00941 Wine Bottle", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00941 Wine Bottle", "part_name": "D00941 Wine Bottle" }, - "volume": 3.703703620919475e-06 + "volume": 3.703703620919475e-06, + "source_prim_path": "/World/textured_mesh_6a81e6b0b7a9c4204abd1511/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bbfc3b35272baa694be190a49a3a1974555e9802b54e143a1f28672c82a6dce5" + }, + "usd_path": "batch32/D00941 Wine Bottle/IsaacSim_assets_6a81e6b0b7a9c4204abd1511/IsaacSim_asset_6a81e6b0b7a9c4204abd1511.usd", + "usd_sha256": "ce59cbcd1c3a697a70e61a4e0b6dc25b36f3bb074b2e994fb8d62d2a3dd9c30d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.07638600096106529, - 0.2939540121005848, - 0.07629400119185448 - ] + 0.07629400119185448, + 0.2939540121005848 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ce59cbcd1c3a697a70e61a4e0b6dc25b36f3bb074b2e994fb8d62d2a3dd9c30d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.51 + "value_kg": 0.5099999997764826, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ce59cbcd1c3a697a70e61a4e0b6dc25b36f3bb074b2e994fb8d62d2a3dd9c30d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5099999997764826, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 7, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ce59cbcd1c3a697a70e61a4e0b6dc25b36f3bb074b2e994fb8d62d2a3dd9c30d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 7, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ce59cbcd1c3a697a70e61a4e0b6dc25b36f3bb074b2e994fb8d62d2a3dd9c30d", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00947 Chicken Drumstick/IsaacSim_assets_6a827ac4b7a9c4204ac2114c/physics_6a827ac4b7a9c4204ac2114c.json b/batch32/D00947 Chicken Drumstick/IsaacSim_assets_6a827ac4b7a9c4204ac2114c/physics_6a827ac4b7a9c4204ac2114c.json index e521e9eca5ebbe602243d9250602a2f03975530e..a61709493713f5a208d41eac6b82772b6f865c57 100644 --- a/batch32/D00947 Chicken Drumstick/IsaacSim_assets_6a827ac4b7a9c4204ac2114c/physics_6a827ac4b7a9c4204ac2114c.json +++ b/batch32/D00947 Chicken Drumstick/IsaacSim_assets_6a827ac4b7a9c4204ac2114c/physics_6a827ac4b7a9c4204ac2114c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.017576999962329865, - 0.038134001195430756, - 0.0661190003156662 - ], "min": [ -0.02150999940931797, - -1.2418954708723074e-18, - -0.04179000109434128 + -0.0661190003156662, + -1.2418954708723074e-18 + ], + "max": [ + 0.017576999962329865, + 0.04179000109434128, + 0.038134001195430756 ], "size": [ 0.039086999371647835, - 0.038134001195430756, - 0.10790900141000748 - ] + 0.10790900141000748, + 0.038134001195430756 + ], + "units": "m" }, "description": "D00947 Chicken Drumstick", "name": "D00947 Chicken Drumstick", "object_type": "rigid_bodies", - "total_mass": 0.12 + "total_mass": 0.11999999731779099, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00947", "parts": [ { "bounds": { - "center": [ - -0.001966499723494053, - 0.019067000597715378, - 0.01216449961066246 + "min": [ + -0.02150999940931797, + -0.0661190003156662, + -1.2418954708723074e-18 ], "max": [ 0.017576999962329865, - 0.038134001195430756, - 0.0661190003156662 + 0.04179000109434128, + 0.038134001195430756 ], - "min": [ - -0.02150999940931797, - -1.2418954708723074e-18, - -0.04179000109434128 - ] + "size": [ + 0.039086999371647835, + 0.10790900141000748, + 0.038134001195430756 + ], + "units": "m" }, "center_of_mass": [ -0.0012817471288144588, @@ -59,7 +65,7 @@ 7.361696771113202e-05, 7.51371044316329e-05 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "plastic", "name": "D00947 Chicken Drumstick", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00947 Chicken Drumstick", "part_name": "D00947 Chicken Drumstick" }, - "volume": 0.00011428571173122952 + "volume": 0.00011428571173122952, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c201d0e20d419b596e15d5984161207a7c36b49bb347e87fe33815060a67ea26" + }, + "usd_path": "batch32/D00947 Chicken Drumstick/IsaacSim_assets_6a827ac4b7a9c4204ac2114c/IsaacSim_asset_6a827ac4b7a9c4204ac2114c.usd", + "usd_sha256": "bf9cf61a2f46a52ac62bb5c29441c0f58b917fbcc252e53c20cbd44c8e5d242c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.039086999371647835, - 0.038134001195430756, - 0.10790900141000748 - ] + 0.10790900141000748, + 0.038134001195430756 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf9cf61a2f46a52ac62bb5c29441c0f58b917fbcc252e53c20cbd44c8e5d242c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.12 + "value_kg": 0.11999999731779099, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf9cf61a2f46a52ac62bb5c29441c0f58b917fbcc252e53c20cbd44c8e5d242c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11999999731779099, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf9cf61a2f46a52ac62bb5c29441c0f58b917fbcc252e53c20cbd44c8e5d242c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf9cf61a2f46a52ac62bb5c29441c0f58b917fbcc252e53c20cbd44c8e5d242c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00955 Croquette/IsaacSim_assets_6a827b05b7a9c4204ac22303/physics_6a827b05b7a9c4204ac22303.json b/batch32/D00955 Croquette/IsaacSim_assets_6a827b05b7a9c4204ac22303/physics_6a827b05b7a9c4204ac22303.json index d0df6ea74da97a681fd5666d4c40ef10729750c6..6ec2782695479a2da5b0d89ec4649c3507d90135 100644 --- a/batch32/D00955 Croquette/IsaacSim_assets_6a827b05b7a9c4204ac22303/physics_6a827b05b7a9c4204ac22303.json +++ b/batch32/D00955 Croquette/IsaacSim_assets_6a827b05b7a9c4204ac22303/physics_6a827b05b7a9c4204ac22303.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03992599993944168, - 0.0387520007789135, - 0.0236859992146492 - ], "min": [ -0.04022999852895737, - 0.0, - -0.021278999745845795 + -0.0236859992146492, + 0.0 + ], + "max": [ + 0.03992599993944168, + 0.021278999745845795, + 0.0387520007789135 ], "size": [ 0.08015599846839905, - 0.0387520007789135, - 0.044964998960494995 - ] + 0.044964998960494995, + 0.0387520007789135 + ], + "units": "m" }, "description": "D00955 Croquette", "name": "D00955 Croquette", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00955", "parts": [ { "bounds": { - "center": [ - -0.00015199929475784302, - 0.01937600038945675, - 0.0012034997344017029 + "min": [ + -0.04022999852895737, + -0.0236859992146492, + 0.0 ], "max": [ 0.03992599993944168, - 0.0387520007789135, - 0.0236859992146492 + 0.021278999745845795, + 0.0387520007789135 ], - "min": [ - -0.04022999852895737, - 0.0, - -0.021278999745845795 - ] + "size": [ + 0.08015599846839905, + 0.044964998960494995, + 0.0387520007789135 + ], + "units": "m" }, "center_of_mass": [ -0.0005714377039112151, @@ -59,7 +65,7 @@ 2.279540967720095e-05, 2.4206918169511482e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "wood", "name": "D00955 Croquette", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00955 Croquette", "part_name": "D00955 Croquette" }, - "volume": 6.250000093132258e-05 + "volume": 6.250000093132258e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d8b73f12fa61886f6fc17b71184ecc341990f99520c077a30974883eb767cac2" + }, + "usd_path": "batch32/D00955 Croquette/IsaacSim_assets_6a827b05b7a9c4204ac22303/IsaacSim_asset_6a827b05b7a9c4204ac22303.usd", + "usd_sha256": "13ad9740a49fa177f762f88a93de91f8cb4223461f1d2a3ff7bd943bce8d1e76", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.08015599846839905, - 0.0387520007789135, - 0.044964998960494995 - ] + 0.044964998960494995, + 0.0387520007789135 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "13ad9740a49fa177f762f88a93de91f8cb4223461f1d2a3ff7bd943bce8d1e76", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "13ad9740a49fa177f762f88a93de91f8cb4223461f1d2a3ff7bd943bce8d1e76", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "13ad9740a49fa177f762f88a93de91f8cb4223461f1d2a3ff7bd943bce8d1e76", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "13ad9740a49fa177f762f88a93de91f8cb4223461f1d2a3ff7bd943bce8d1e76", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00973 Gingerbread Cookie/IsaacSim_assets_6a8282edb7a9c4204ac3e34f/physics_6a8282edb7a9c4204ac3e34f.json b/batch32/D00973 Gingerbread Cookie/IsaacSim_assets_6a8282edb7a9c4204ac3e34f/physics_6a8282edb7a9c4204ac3e34f.json index 62165b5258c50963a40fc066f20540fbda55b74b..1fb390254e2bcb5a38f2483209f22743c4a8928b 100644 --- a/batch32/D00973 Gingerbread Cookie/IsaacSim_assets_6a8282edb7a9c4204ac3e34f/physics_6a8282edb7a9c4204ac3e34f.json +++ b/batch32/D00973 Gingerbread Cookie/IsaacSim_assets_6a8282edb7a9c4204ac3e34f/physics_6a8282edb7a9c4204ac3e34f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03988200053572655, - 0.014417480677366257, - 0.043797001242637634 - ], "min": [ -0.040073998272418976, - 0.0005424802657216787, - -0.055181000381708145 + -0.043797001242637634, + 0.0005424802657216787 + ], + "max": [ + 0.03988200053572655, + 0.055181000381708145, + 0.014417480677366257 ], "size": [ 0.07995599880814552, - 0.013875000411644578, - 0.09897800162434578 - ] + 0.09897800162434578, + 0.013875000411644578 + ], + "units": "m" }, "description": "D00973 Gingerbread Cookie", "name": "D00973 Gingerbread Cookie", "object_type": "rigid_bodies", - "total_mass": 0.025 + "total_mass": 0.02500000037252903, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00973", "parts": [ { "bounds": { - "center": [ - -9.59988683462143e-05, - 0.007479980471543968, - -0.005691999569535255 + "min": [ + -0.040073998272418976, + -0.043797001242637634, + 0.0005424802657216787 ], "max": [ 0.03988200053572655, - 0.014417480677366257, - 0.043797001242637634 + 0.055181000381708145, + 0.014417480677366257 ], - "min": [ - -0.040073998272418976, - 0.0005424802657216787, - -0.055181000381708145 - ] + "size": [ + 0.07995599880814552, + 0.09897800162434578, + 0.013875000411644578 + ], + "units": "m" }, "center_of_mass": [ -3.9744405512465164e-05, @@ -59,7 +65,7 @@ 1.5789893950568512e-05, 2.5227465812349692e-05 ], - "mass": 0.025, + "mass": 0.02500000037252903, "material": "wood", "name": "D00973 Gingerbread Cookie", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00973 Gingerbread Cookie", "part_name": "D00973 Gingerbread Cookie" }, - "volume": 5.000000074505806e-05 + "volume": 5.000000074505806e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f2f5ea2eac0ac292d75e385c9c1bd56e045828ae9ad8942b64c9d118b32dba72" + }, + "usd_path": "batch32/D00973 Gingerbread Cookie/IsaacSim_assets_6a8282edb7a9c4204ac3e34f/IsaacSim_asset_6a8282edb7a9c4204ac3e34f.usd", + "usd_sha256": "75245ee5eefee0fe6b8ae02ce88955c2cf068a4a012ce35cf7158f687d7b0e53", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.07995599880814552, - 0.013875000411644578, - 0.09897800162434578 - ] + 0.09897800162434578, + 0.013875000411644578 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "75245ee5eefee0fe6b8ae02ce88955c2cf068a4a012ce35cf7158f687d7b0e53", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.025 + "value_kg": 0.02500000037252903, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "75245ee5eefee0fe6b8ae02ce88955c2cf068a4a012ce35cf7158f687d7b0e53", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.02500000037252903, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "75245ee5eefee0fe6b8ae02ce88955c2cf068a4a012ce35cf7158f687d7b0e53", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "75245ee5eefee0fe6b8ae02ce88955c2cf068a4a012ce35cf7158f687d7b0e53", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch32/D00983 Wooden Steamer/IsaacSim_assets_6a82df2fb7a9c4204ad09f8a/physics_6a82df2fb7a9c4204ad09f8a.json b/batch32/D00983 Wooden Steamer/IsaacSim_assets_6a82df2fb7a9c4204ad09f8a/physics_6a82df2fb7a9c4204ad09f8a.json index aa24a3f7300e764ef3ffb8e91d0d806e1349baad..ea06fe9b001e2401b79152d8d9fdf3e5863f030f 100644 --- a/batch32/D00983 Wooden Steamer/IsaacSim_assets_6a82df2fb7a9c4204ad09f8a/physics_6a82df2fb7a9c4204ad09f8a.json +++ b/batch32/D00983 Wooden Steamer/IsaacSim_assets_6a82df2fb7a9c4204ad09f8a/physics_6a82df2fb7a9c4204ad09f8a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09154299646615982, - 0.05310207977890968, - 0.09033100306987762 - ], "min": [ -0.09164799749851227, - 0.0006830799393355846, - -0.09072799980640411 + -0.09033100306987762, + 0.0006830799393355846 + ], + "max": [ + 0.09154299646615982, + 0.09072799980640411, + 0.05310207977890968 ], "size": [ 0.1831909939646721, - 0.0524189998395741, - 0.18105900287628174 - ] + 0.18105900287628174, + 0.0524189998395741 + ], + "units": "m" }, "description": "D00983 Wooden Steamer", "name": "D00983 Wooden Steamer", "object_type": "rigid_bodies", - "total_mass": 0.128 + "total_mass": 0.12800000607967377, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00983", "parts": [ { "bounds": { - "center": [ - -5.2500516176223755e-05, - 0.026892579859122634, - -0.00019849836826324463 + "min": [ + -0.09164799749851227, + -0.09033100306987762, + 0.0006830799393355846 ], "max": [ 0.09154299646615982, - 0.05310207977890968, - 0.09033100306987762 + 0.09072799980640411, + 0.05310207977890968 ], - "min": [ - -0.09164799749851227, - 0.0006830799393355846, - -0.09072799980640411 - ] + "size": [ + 0.1831909939646721, + 0.18105900287628174, + 0.0524189998395741 + ], + "units": "m" }, "center_of_mass": [ -0.00017631982336752117, @@ -59,7 +65,7 @@ 0.0002858914667740464, 0.0005135321989655495 ], - "mass": 0.128, + "mass": 0.12800000607967377, "material": "wood", "name": "D00983 Wooden Steamer", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00983 Wooden Steamer", "part_name": "D00983 Wooden Steamer" }, - "volume": 0.00021333334346612293 + "volume": 0.00021333334346612293, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "79984d85c1a973c9302ea6e9bae9210e2c80479a68deff0b0da033ecfe03b48b" + }, + "usd_path": "batch32/D00983 Wooden Steamer/IsaacSim_assets_6a82df2fb7a9c4204ad09f8a/IsaacSim_asset_6a82df2fb7a9c4204ad09f8a.usd", + "usd_sha256": "1e9a1b842cf4a51a1094ee0a0be28da24c737cfe008ef0a1c38f851e6557bdab", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.1831909939646721, - 0.0524189998395741, - 0.18105900287628174 - ] + 0.18105900287628174, + 0.0524189998395741 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e9a1b842cf4a51a1094ee0a0be28da24c737cfe008ef0a1c38f851e6557bdab", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.128 + "value_kg": 0.12800000607967377, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e9a1b842cf4a51a1094ee0a0be28da24c737cfe008ef0a1c38f851e6557bdab", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.12800000607967377, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e9a1b842cf4a51a1094ee0a0be28da24c737cfe008ef0a1c38f851e6557bdab", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e9a1b842cf4a51a1094ee0a0be28da24c737cfe008ef0a1c38f851e6557bdab", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00176_Container_Box/IsaacSim_assets_6a7d9035b7a9c4204a795288/physics_6a7d9035b7a9c4204a795288.json b/batch33/D00176_Container_Box/IsaacSim_assets_6a7d9035b7a9c4204a795288/physics_6a7d9035b7a9c4204a795288.json index bbeb7f0d2640befbc3ac6ec77accffefe031b114..228b34870a4ccccf547495389bbc429df6ded451 100644 --- a/batch33/D00176_Container_Box/IsaacSim_assets_6a7d9035b7a9c4204a795288/physics_6a7d9035b7a9c4204a795288.json +++ b/batch33/D00176_Container_Box/IsaacSim_assets_6a7d9035b7a9c4204a795288/physics_6a7d9035b7a9c4204a795288.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2812255565744954, - 0.3069412677820771, - 0.22501890362833152 - ], "min": [ - -0.2910423655339692, - 0.002784476615488529, - -0.22272332096907457 + -0.2909648288530143, + -0.22488737384707294, + 0.002784476615488529 + ], + "max": [ + 0.28112800408587424, + 0.22267181344118253, + 0.3069065714700065 ], "size": [ - 0.5722679221084646, - 0.30415679116658856, - 0.4477422245974061 - ] + 0.5720928329388886, + 0.4475591872882555, + 0.30412209485451797 + ], + "units": "m" }, "description": "D00176 Container_Box", "name": "D00176 Container_Box", "object_type": "rigid_bodies", - "total_mass": 2.0 + "total_mass": 2.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00176", "parts": [ { "bounds": { - "center": [ - -1.0919466149061918e-06, - 0.13578847842290998, - -0.00024042115546762943 + "min": [ + -0.27454708932782523, + -0.21281007840298116, + 0.002784476615488529 ], "max": [ 0.2745449054345954, - 0.2687924802303314, - 0.21281007840298116 + 0.21329092071391642, + 0.2687924802303314 ], - "min": [ - -0.27454708932782523, - 0.002784476615488529, - -0.21329092071391642 - ] + "size": [ + 0.5490919947624207, + 0.4261009991168976, + 0.2660080036148429 + ], + "units": "m" }, "center_of_mass": [ -0.0005080301780253649, @@ -67,25 +73,28 @@ "object_name": "D00176 Container_Box", "part_name": "D00176 Container_Box" }, - "volume": 0.0016574585635359116 + "volume": 0.0016574585635359116, + "source_prim_path": "/World/textured_mesh_6a7d9035b7a9c4204a795288/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.004908404479736922, - 0.2885634767194241, - 0.0011477913296284725 + "min": [ + -0.2909648288530143, + -0.22488737384707294, + 0.27021871148743337 ], "max": [ - 0.2812255565744954, - 0.3069412677820771, - 0.22501890362833152 + 0.28112800408587424, + 0.22267181344118253, + 0.3069065714700065 ], - "min": [ - -0.2910423655339692, - 0.27018568565677115, - -0.22272332096907457 - ] + "size": [ + 0.5720928329388886, + 0.4475591872882555, + 0.03668785998257312 + ], + "units": "m" }, "center_of_mass": [ -0.0005484331049956381, @@ -108,10 +117,27 @@ "object_name": "D00176 Container_Box", "part_name": "D00176 Container_Box" }, - "volume": 0.0005524861878453039 + "volume": 0.0005524861878453039, + "source_prim_path": "/World/textured_mesh_6a7d9035b7a9c4204a795288/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "60e17bcd55dfc7e087a8cbab1563ce07cd97c59fb514390727fff30902fa0945" + }, + "usd_path": "batch33/D00176_Container_Box/IsaacSim_assets_6a7d9035b7a9c4204a795288/IsaacSim_asset_6a7d9035b7a9c4204a795288.usd", + "usd_sha256": "648e6602c00597a33b4dc28d932e8908246defcf758d2539842349005c0c35b1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -129,25 +155,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.5722679221084646, - 0.30415679116658856, - 0.4477422245974061 - ] + 0.5720928329388886, + 0.4475591872882555, + 0.30412209485451797 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "648e6602c00597a33b4dc28d932e8908246defcf758d2539842349005c0c35b1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.0 + "value_kg": 2.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "648e6602c00597a33b4dc28d932e8908246defcf758d2539842349005c0c35b1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 23, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "648e6602c00597a33b4dc28d932e8908246defcf758d2539842349005c0c35b1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 23, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "648e6602c00597a33b4dc28d932e8908246defcf758d2539842349005c0c35b1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "648e6602c00597a33b4dc28d932e8908246defcf758d2539842349005c0c35b1", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:46.353914+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "8c218018339150bbb1f249ef316a282262ed817d6cfe8b9d3adfb155f3848fe4", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00249_Cutlery_Holder/IsaacSim_assets_6a85280ca08484187f72e932/physics_6a85280ca08484187f72e932.json b/batch33/D00249_Cutlery_Holder/IsaacSim_assets_6a85280ca08484187f72e932/physics_6a85280ca08484187f72e932.json index 95b7700530bedd340f81f98936a209c76cb7ca3d..0b649a674ea823a2f479b7a1e4644c09769152f3 100644 --- a/batch33/D00249_Cutlery_Holder/IsaacSim_assets_6a85280ca08484187f72e932/physics_6a85280ca08484187f72e932.json +++ b/batch33/D00249_Cutlery_Holder/IsaacSim_assets_6a85280ca08484187f72e932/physics_6a85280ca08484187f72e932.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14242400228977203, - 0.21768795605748892, - 0.09503000229597092 - ], "min": [ -0.1439339965581894, - 0.0015729598159168745, - -0.07955099642276764 + -0.09503000229597092, + 0.0015729598159168745 + ], + "max": [ + 0.14242400228977203, + 0.07955099642276764, + 0.21768795605748892 ], "size": [ 0.2863579988479614, - 0.21611499624157204, - 0.17458099871873856 - ] + 0.17458099871873856, + 0.21611499624157204 + ], + "units": "m" }, "description": "D00249 Cutlery_Holder", "name": "D00249 Cutlery_Holder", "object_type": "rigid_bodies", - "total_mass": 0.7 + "total_mass": 0.699999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00249", "parts": [ { "bounds": { - "center": [ - -0.0007549971342086792, - 0.1096304579367029, - 0.007739502936601639 + "min": [ + -0.1439339965581894, + -0.09503000229597092, + 0.0015729598159168745 ], "max": [ 0.14242400228977203, - 0.21768795605748892, - 0.09503000229597092 + 0.07955099642276764, + 0.21768795605748892 ], - "min": [ - -0.1439339965581894, - 0.0015729598159168745, - -0.07955099642276764 - ] + "size": [ + 0.2863579988479614, + 0.17458099871873856, + 0.21611499624157204 + ], + "units": "m" }, "center_of_mass": [ -0.000996127724647522, @@ -59,7 +65,7 @@ 0.007595143746584654, 0.009013978764414787 ], - "mass": 0.7, + "mass": 0.699999988079071, "material": "wood", "name": "D00249 Cutlery_Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00249 Cutlery_Holder", "part_name": "D00249 Cutlery_Holder" }, - "volume": 0.0009999999829701015 + "volume": 0.0009999999829701015, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4d0fdcde506ba831e4ddffbe2b8fa3d29c17711d4e68b33bfd9a5d3472ffde3b" + }, + "usd_path": "batch33/D00249_Cutlery_Holder/IsaacSim_assets_6a85280ca08484187f72e932/IsaacSim_asset_6a85280ca08484187f72e932.usd", + "usd_sha256": "f195e7f75ac25a06f8882071ebff89e5fee92d4f336a2e10f1da0ba1d3186472", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.2863579988479614, - 0.21611499624157204, - 0.17458099871873856 - ] + 0.17458099871873856, + 0.21611499624157204 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f195e7f75ac25a06f8882071ebff89e5fee92d4f336a2e10f1da0ba1d3186472", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.7 + "value_kg": 0.699999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f195e7f75ac25a06f8882071ebff89e5fee92d4f336a2e10f1da0ba1d3186472", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.699999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 31, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f195e7f75ac25a06f8882071ebff89e5fee92d4f336a2e10f1da0ba1d3186472", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 31, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f195e7f75ac25a06f8882071ebff89e5fee92d4f336a2e10f1da0ba1d3186472", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00314_Fork_Knife/IsaacSim_assets_6a8286eab7a9c4204ac4de91/physics_6a8286eab7a9c4204ac4de91.json b/batch33/D00314_Fork_Knife/IsaacSim_assets_6a8286eab7a9c4204ac4de91/physics_6a8286eab7a9c4204ac4de91.json index 5bb7849c0a5124a6a34c550ba610ab03bc3d8c49..2e796fbcc62181828c7b4fe228cc8e629a3cf4c3 100644 --- a/batch33/D00314_Fork_Knife/IsaacSim_assets_6a8286eab7a9c4204ac4de91/physics_6a8286eab7a9c4204ac4de91.json +++ b/batch33/D00314_Fork_Knife/IsaacSim_assets_6a8286eab7a9c4204ac4de91/physics_6a8286eab7a9c4204ac4de91.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.013140999712049961, - 0.019971000030636774, - 0.12080100178718567 - ], "min": [ -0.013225000351667404, - 3.152302596378333e-20, - -0.07631099969148636 + -0.12080100178718567, + 3.152302596378333e-20 + ], + "max": [ + 0.013140999712049961, + 0.07631099969148636, + 0.019971000030636774 ], "size": [ 0.026366000063717365, - 0.019971000030636774, - 0.19711200147867203 - ] + 0.19711200147867203, + 0.019971000030636774 + ], + "units": "m" }, "description": "D00314 Fork_Knife", "name": "D00314 Fork_Knife", "object_type": "rigid_bodies", - "total_mass": 0.0912 + "total_mass": 0.09120000153779984, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00314", "parts": [ { "bounds": { - "center": [ - -4.200031980872154e-05, - 0.009985500015318387, - 0.022245001047849655 + "min": [ + -0.013225000351667404, + -0.12080100178718567, + 3.152302596378333e-20 ], "max": [ 0.013140999712049961, - 0.019971000030636774, - 0.12080100178718567 + 0.07631099969148636, + 0.019971000030636774 ], - "min": [ - -0.013225000351667404, - 3.152302596378333e-20, - -0.07631099969148636 - ] + "size": [ + 0.026366000063717365, + 0.19711200147867203, + 0.019971000030636774 + ], + "units": "m" }, "center_of_mass": [ -4.869929762207903e-05, @@ -59,7 +65,7 @@ 0.0002179457078455016, 0.00021974775881972164 ], - "mass": 0.0912, + "mass": 0.09120000153779984, "material": "metal", "name": "D00314 Fork_Knife", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00314 Fork_Knife", "part_name": "D00314 Fork_Knife" }, - "volume": 1.1400000192224979e-05 + "volume": 1.1400000192224979e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7c0b9bc31a6fd96ca65dcd9c3a1cdecf399bf82c81f52b1ac01113f63ee212ff" + }, + "usd_path": "batch33/D00314_Fork_Knife/IsaacSim_assets_6a8286eab7a9c4204ac4de91/IsaacSim_asset_6a8286eab7a9c4204ac4de91.usd", + "usd_sha256": "8e8b8313dd124d2ead7114a95e1a4774feac29ad084a6d7a83ebef3eb3bb41fd", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.026366000063717365, - 0.019971000030636774, - 0.19711200147867203 - ] + 0.19711200147867203, + 0.019971000030636774 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e8b8313dd124d2ead7114a95e1a4774feac29ad084a6d7a83ebef3eb3bb41fd", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0912 + "value_kg": 0.09120000153779984, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e8b8313dd124d2ead7114a95e1a4774feac29ad084a6d7a83ebef3eb3bb41fd", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.09120000153779984, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e8b8313dd124d2ead7114a95e1a4774feac29ad084a6d7a83ebef3eb3bb41fd", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e8b8313dd124d2ead7114a95e1a4774feac29ad084a6d7a83ebef3eb3bb41fd", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00348_Whiskey_Glass/IsaacSim_assets_6a83e133a08484187f57fcca/physics_6a83e133a08484187f57fcca.json b/batch33/D00348_Whiskey_Glass/IsaacSim_assets_6a83e133a08484187f57fcca/physics_6a83e133a08484187f57fcca.json index 538b383342b33043f2972855bdbef841c1d9ed80..421e591969de098e5d4ed7c85257e2681e6dbbb0 100644 --- a/batch33/D00348_Whiskey_Glass/IsaacSim_assets_6a83e133a08484187f57fcca/physics_6a83e133a08484187f57fcca.json +++ b/batch33/D00348_Whiskey_Glass/IsaacSim_assets_6a83e133a08484187f57fcca/physics_6a83e133a08484187f57fcca.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.036476001143455505, - 0.08469628752209246, - 0.03687300160527229 - ], "min": [ -0.03696800023317337, - 0.0004142900073702549, - -0.03658299893140793 + -0.03687300160527229, + 0.0004142900073702549 + ], + "max": [ + 0.036476001143455505, + 0.03658299893140793, + 0.08469628752209246 ], "size": [ 0.07344400137662888, - 0.0842819975147222, - 0.07345600053668022 - ] + 0.07345600053668022, + 0.0842819975147222 + ], + "units": "m" }, "description": "D00348 Whiskey_Glass", "name": "D00348 Whiskey_Glass", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00348", "parts": [ { "bounds": { - "center": [ - -0.0002459995448589325, - 0.04255528876473136, - 0.0001450013369321823 + "min": [ + -0.03696800023317337, + -0.03687300160527229, + 0.0004142900073702549 ], "max": [ 0.036476001143455505, - 0.08469628752209246, - 0.03687300160527229 + 0.03658299893140793, + 0.08469628752209246 ], - "min": [ - -0.03696800023317337, - 0.0004142900073702549, - -0.03658299893140793 - ] + "size": [ + 0.07344400137662888, + 0.07345600053668022, + 0.0842819975147222 + ], + "units": "m" }, "center_of_mass": [ -0.00023815403983462602, @@ -67,10 +73,27 @@ "object_name": "D00348 Whiskey_Glass", "part_name": "D00348 Whiskey_Glass" }, - "volume": 0.0001 + "volume": 0.0001, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "78123181503b7b2207d38a8a6b5677ca57ef20c33997f369ab434b5df46d0bb7" + }, + "usd_path": "batch33/D00348_Whiskey_Glass/IsaacSim_assets_6a83e133a08484187f57fcca/IsaacSim_asset_6a83e133a08484187f57fcca.usd", + "usd_sha256": "a28b0b1f9c40114ec0023427a8f8b56dee5828572ce85b24bcc517c7d3bf10eb", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.07344400137662888, - 0.0842819975147222, - 0.07345600053668022 - ] + 0.07345600053668022, + 0.0842819975147222 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a28b0b1f9c40114ec0023427a8f8b56dee5828572ce85b24bcc517c7d3bf10eb", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a28b0b1f9c40114ec0023427a8f8b56dee5828572ce85b24bcc517c7d3bf10eb", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a28b0b1f9c40114ec0023427a8f8b56dee5828572ce85b24bcc517c7d3bf10eb", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a28b0b1f9c40114ec0023427a8f8b56dee5828572ce85b24bcc517c7d3bf10eb", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00349 Champagne Flute/IsaacSim_assets_6a82cd37b7a9c4204acca8f7/physics_6a82cd37b7a9c4204acca8f7.json b/batch33/D00349 Champagne Flute/IsaacSim_assets_6a82cd37b7a9c4204acca8f7/physics_6a82cd37b7a9c4204acca8f7.json index 13b3fc8282994625d95f2e48d1ca6fdc9934c233..3bb4380edab68b04b0f3793fb0e42a0f3bf4f63b 100644 --- a/batch33/D00349 Champagne Flute/IsaacSim_assets_6a82cd37b7a9c4204acca8f7/physics_6a82cd37b7a9c4204acca8f7.json +++ b/batch33/D00349 Champagne Flute/IsaacSim_assets_6a82cd37b7a9c4204acca8f7/physics_6a82cd37b7a9c4204acca8f7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03331099823117256, - 0.22149340389296412, - 0.033406998962163925 - ], "min": [ -0.033555999398231506, - 0.001127409970649751, - -0.03351899981498718 + -0.033406998962163925, + 0.001127409970649751 + ], + "max": [ + 0.03331099823117256, + 0.03351899981498718, + 0.22149340389296412 ], "size": [ 0.06686699762940407, - 0.22036599392231437, - 0.06692599877715111 - ] + 0.06692599877715111, + 0.22036599392231437 + ], + "units": "m" }, "description": "D00349 Champagne Flute", "name": "D00349 Champagne Flute", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00349", "parts": [ { "bounds": { - "center": [ - -0.00012250058352947235, - 0.11131040693180694, - -5.600042641162872e-05 + "min": [ + -0.033555999398231506, + -0.033406998962163925, + 0.001127409970649751 ], "max": [ 0.03331099823117256, - 0.22149340389296412, - 0.033406998962163925 + 0.03351899981498718, + 0.22149340389296412 ], - "min": [ - -0.033555999398231506, - 0.001127409970649751, - -0.03351899981498718 - ] + "size": [ + 0.06686699762940407, + 0.06692599877715111, + 0.22036599392231437 + ], + "units": "m" }, "center_of_mass": [ -4.9789687182055786e-05, @@ -59,7 +65,7 @@ 0.0005973660154268146, 0.0005977322580292821 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "ceramic_or_glass", "name": "D00349 Champagne Flute", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00349 Champagne Flute", "part_name": "D00349 Champagne Flute" }, - "volume": 6.000000238418579e-05 + "volume": 6.000000238418579e-05, + "source_prim_path": "/World/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f1a97d21ef0f71193e23d4c940c9c745515f31d6c2e2235c23c6b072caf377da" + }, + "usd_path": "batch33/D00349 Champagne Flute/IsaacSim_assets_6a82cd37b7a9c4204acca8f7/IsaacSim_asset_6a82cd37b7a9c4204acca8f7.usd", + "usd_sha256": "cac140a96f1c1dd9bed28c551fa5b4cc196d7191a14c0604006604ae0fe65add", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.06686699762940407, - 0.22036599392231437, - 0.06692599877715111 - ] + 0.06692599877715111, + 0.22036599392231437 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cac140a96f1c1dd9bed28c551fa5b4cc196d7191a14c0604006604ae0fe65add", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cac140a96f1c1dd9bed28c551fa5b4cc196d7191a14c0604006604ae0fe65add", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cac140a96f1c1dd9bed28c551fa5b4cc196d7191a14c0604006604ae0fe65add", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cac140a96f1c1dd9bed28c551fa5b4cc196d7191a14c0604006604ae0fe65add", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00357_Glass_Olive_Oil_Bottle/IsaacSim_assets_6a82ebb2b7a9c4204ad2e048/physics_6a82ebb2b7a9c4204ad2e048.json b/batch33/D00357_Glass_Olive_Oil_Bottle/IsaacSim_assets_6a82ebb2b7a9c4204ad2e048/physics_6a82ebb2b7a9c4204ad2e048.json index 390d505aad8b73438606d289b56d9483b81ef977..669c40e706e0bf948362887b7086b8592d83b03f 100644 --- a/batch33/D00357_Glass_Olive_Oil_Bottle/IsaacSim_assets_6a82ebb2b7a9c4204ad2e048/physics_6a82ebb2b7a9c4204ad2e048.json +++ b/batch33/D00357_Glass_Olive_Oil_Bottle/IsaacSim_assets_6a82ebb2b7a9c4204ad2e048/physics_6a82ebb2b7a9c4204ad2e048.json @@ -6,64 +6,205 @@ "body0": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_00", "body1": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_01", "joint_path": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/Joints/joint_bottle_body__spout_collar", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__spout_collar", + "path": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/Joints/joint_bottle_body__spout_collar", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_01" + ], + "authored_usd": { + "id": "joint_bottle_body__spout_collar", + "source_prim_path": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/Joints/joint_bottle_body__spout_collar", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_00" + ], + "body1": [ + "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_01", "body1": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_02", "joint_path": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/Joints/joint_spout_collar__pourer_tube", - "type": "fixed" + "type": "fixed", + "id": "joint_spout_collar__pourer_tube", + "path": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/Joints/joint_spout_collar__pourer_tube", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_02" + ], + "authored_usd": { + "id": "joint_spout_collar__pourer_tube", + "source_prim_path": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/Joints/joint_spout_collar__pourer_tube", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_01" + ], + "body1": [ + "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_00", "body1": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_03", "joint_path": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/Joints/joint_bottle_body__spout_seal", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__spout_seal", + "path": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/Joints/joint_bottle_body__spout_seal", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_03" + ], + "authored_usd": { + "id": "joint_bottle_body__spout_seal", + "source_prim_path": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/Joints/joint_bottle_body__spout_seal", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_00" + ], + "body1": [ + "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_03" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.025035999715328217, - 0.25979161262512207, - 0.02546199969947338 - ], "min": [ -0.024430999532341957, - 0.0005186102807783755, - -0.025741999968886375 + -0.02546199969947338, + 0.0005186102807783755 + ], + "max": [ + 0.025035999715328217, + 0.025741999968886375, + 0.25979161262512207 ], "size": [ 0.049466999247670174, - 0.2592730023443437, - 0.051203999668359756 - ] + 0.051203999668359756, + 0.2592730023443437 + ], + "units": "m" }, "description": "D00357 Glass_Olive_Oil_Bottle", "name": "D00357 Glass_Olive_Oil_Bottle", "object_type": "rigid_bodies", - "total_mass": 0.44 + "total_mass": 0.4400000050663948, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00357", "parts": [ { "bounds": { - "center": [ - 0.00030250009149312973, - 0.10816210766734002, - -0.0001400001347064972 + "min": [ + -0.024430999532341957, + -0.02546199969947338, + 0.0005186102807783755 ], "max": [ 0.025035999715328217, - 0.21580560505390167, - 0.02546199969947338 + 0.025741999968886375, + 0.21580560505390167 ], - "min": [ - -0.024430999532341957, - 0.0005186102807783755, - -0.025741999968886375 - ] + "size": [ + 0.049466999247670174, + 0.051203999668359756, + 0.2152869947731233 + ], + "units": "m" }, "center_of_mass": [ 0.00014512189954984933, @@ -78,7 +219,7 @@ 0.0012555326102301478, 0.001259945216588676 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic_or_glass", "name": "D00357 Glass_Olive_Oil_Bottle", "physics_type": "rigid", @@ -86,25 +227,28 @@ "object_name": "D00357 Glass_Olive_Oil_Bottle", "part_name": "D00357 Glass_Olive_Oil_Bottle" }, - "volume": 0.0001600000023841858 + "volume": 0.0001600000023841858, + "source_prim_path": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00036300020292401314, - 0.22242110967636108, - -0.00024399999529123306 + "min": [ + -0.014430999755859375, + -0.014670000411570072, + 0.21509161591529846 ], "max": [ 0.015157000161707401, - 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0.25979161262512207, - 0.008771000429987907 + 0.011408000253140926, + 0.25979161262512207 ], - "min": [ - -0.012575999833643436, - 0.20546060800552368, - -0.011408000253140926 - ] + "size": [ + 0.021964999847114086, + 0.020179000683128834, + 0.05433100461959839 + ], + "units": "m" }, "center_of_mass": [ -0.0007867935346439481, @@ -160,7 +307,7 @@ 1.9898593563993927e-06, 2.0354875687189633e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "metal", "name": "D00357 Glass_Olive_Oil_Bottle", "physics_type": "rigid", @@ -168,25 +315,28 @@ "object_name": "D00357 Glass_Olive_Oil_Bottle", "part_name": "D00357 Glass_Olive_Oil_Bottle" }, - "volume": 1.2820512533952028e-06 + "volume": 1.2820512533952028e-06, + "source_prim_path": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0003170003183186054, - 0.21020860970020294, - -0.00022799987345933914 + "min": [ + -0.012540999799966812, + -0.012858999893069267, + 0.2042476087808609 ], "max": [ 0.013175000436604023, - 0.21616961061954498, - 0.012858999893069267 + 0.013314999639987946, + 0.21616961061954498 ], - "min": [ - -0.012540999799966812, - 0.2042476087808609, - -0.013314999639987946 - ] + "size": [ + 0.025716000236570835, + 0.026173999533057213, + 0.011922001838684082 + ], + "units": "m" }, "center_of_mass": [ 0.00031192557071335614, @@ -201,7 +351,7 @@ 5.265850973046327e-07, 8.094477834674763e-07 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "plastic", "name": "D00357 Glass_Olive_Oil_Bottle", "physics_type": "rigid", @@ -209,10 +359,27 @@ "object_name": "D00357 Glass_Olive_Oil_Bottle", "part_name": "D00357 Glass_Olive_Oil_Bottle" }, - "volume": 8.333333147068818e-06 + "volume": 8.333333147068818e-06, + "source_prim_path": "/World/textured_mesh_6a82ebb2b7a9c4204ad2e048/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f330904e65814cfb78ab3826d1dfb68080abd18b0b0c74bbd6c60e4879d5ce76" + }, + "usd_path": "batch33/D00357_Glass_Olive_Oil_Bottle/IsaacSim_assets_6a82ebb2b7a9c4204ad2e048/IsaacSim_asset_6a82ebb2b7a9c4204ad2e048.usd", + "usd_sha256": "449028ebd2a4015868c4b7126601484eebed702a9ff61e864651f47c94a59c92", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -231,24 +398,58 @@ "up_axis": "Z", "bounds_m": [ 0.049466999247670174, - 0.2592730023443437, - 0.051203999668359756 - ] + 0.051203999668359756, + 0.2592730023443437 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "449028ebd2a4015868c4b7126601484eebed702a9ff61e864651f47c94a59c92", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.44 + "value_kg": 0.4400000050663948, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "449028ebd2a4015868c4b7126601484eebed702a9ff61e864651f47c94a59c92", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4400000050663948, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 99, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "449028ebd2a4015868c4b7126601484eebed702a9ff61e864651f47c94a59c92", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 99, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "449028ebd2a4015868c4b7126601484eebed702a9ff61e864651f47c94a59c92", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00383 Honey Jar/IsaacSim_assets_6a8423efa08484187f606f9e/physics_6a8423efa08484187f606f9e.json b/batch33/D00383 Honey Jar/IsaacSim_assets_6a8423efa08484187f606f9e/physics_6a8423efa08484187f606f9e.json index 4f144ca17ad3e9aca7349fafb1b0ea405b32126a..f5e0e22ed875e7ed1673d5148186bb19e453f714 100644 --- a/batch33/D00383 Honey Jar/IsaacSim_assets_6a8423efa08484187f606f9e/physics_6a8423efa08484187f606f9e.json +++ b/batch33/D00383 Honey Jar/IsaacSim_assets_6a8423efa08484187f606f9e/physics_6a8423efa08484187f606f9e.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a8423efa08484187f606f9e/part_0", "body1": "/World/textured_mesh_6a8423efa08484187f606f9e/part_2", "joint_path": "/World/textured_mesh_6a8423efa08484187f606f9e/Joints/joint_jar_body__front_label", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_body__front_label", + "path": "/World/textured_mesh_6a8423efa08484187f606f9e/Joints/joint_jar_body__front_label", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a8423efa08484187f606f9e/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a8423efa08484187f606f9e/part_2" + ], + "authored_usd": { + "id": "joint_jar_body__front_label", + "source_prim_path": "/World/textured_mesh_6a8423efa08484187f606f9e/Joints/joint_jar_body__front_label", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8423efa08484187f606f9e/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8423efa08484187f606f9e/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a8423efa08484187f606f9e/part_0", "body1": "/World/textured_mesh_6a8423efa08484187f606f9e/part_1", "joint_path": "/World/textured_mesh_6a8423efa08484187f606f9e/Joints/joint_jar_body__closed_lid", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_body__closed_lid", + "path": "/World/textured_mesh_6a8423efa08484187f606f9e/Joints/joint_jar_body__closed_lid", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a8423efa08484187f606f9e/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a8423efa08484187f606f9e/part_1" + ], + "authored_usd": { + "id": "joint_jar_body__closed_lid", + "source_prim_path": "/World/textured_mesh_6a8423efa08484187f606f9e/Joints/joint_jar_body__closed_lid", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8423efa08484187f606f9e/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8423efa08484187f606f9e/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.045604001730680466, - 0.11885099997743964, - 0.042970000004768374 - ], "min": [ -0.04614799842238426, - 0.0005580001270573121, - -0.04736199975013733 + -0.042970000004768374, + 0.0005580001270573121 + ], + "max": [ + 0.045604001730680466, + 0.04736199975013733, + 0.11885099997743964 ], "size": [ 0.09175200015306473, - 0.11829299985038233, - 0.0903319997549057 - ] + 0.0903319997549057, + 0.11829299985038233 + ], + "units": "m" }, "description": "D00383 Honey Jar", "name": "D00383 Honey Jar", "object_type": "rigid_bodies", - "total_mass": 0.631 + "total_mass": 0.6310000232188031, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00383", "parts": [ { "bounds": { - "center": [ - -0.0002719983458518982, - 0.05295599884084368, - -0.0024414993822574615 + "min": [ + -0.04614799842238426, + -0.042479000985622406, + 0.0005580001270573121 ], "max": [ 0.045604001730680466, - 0.10535399755463004, - 0.042479000985622406 + 0.04736199975013733, + 0.10535399755463004 ], - "min": [ - -0.04614799842238426, - 0.0005580001270573121, - -0.04736199975013733 - ] + "size": [ + 0.09175200015306473, + 0.08984100073575974, + 0.10479599742757273 + ], + "units": "m" }, "center_of_mass": [ -0.0006460234872065485, @@ -72,7 +168,7 @@ 0.0008617525454610586, 0.0008753284346312284 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "ceramic_or_glass", "name": "D00383 Honey Jar", "physics_type": "rigid", @@ -80,25 +176,28 @@ "object_name": "D00383 Honey Jar", "part_name": "D00383 Honey Jar" }, - "volume": 0.00024000000953674317 + "volume": 0.00024000000953674317, + "source_prim_path": "/World/textured_mesh_6a8423efa08484187f606f9e/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00025750137865543365, - 0.10882000019773841, - -0.0022870004177093506 + "min": [ + -0.04031100124120712, + -0.03750799968838692, + 0.09878900041803718 ], "max": [ 0.039795998483896255, - 0.11885099997743964, - 0.03750799968838692 + 0.04208200052380562, + 0.11885099997743964 ], - "min": [ - -0.04031100124120712, - 0.09878900041803718, - -0.04208200052380562 - ] + "size": [ + 0.08010699972510338, + 0.07959000021219254, + 0.020061999559402466 + ], + "units": "m" }, "center_of_mass": [ -0.002746735466644168, @@ -113,7 +212,7 @@ 2.6617435651132837e-05, 3.057706999243237e-05 ], - "mass": 0.03, + "mass": 0.029999999329447746, "material": "metal", "name": "D00383 Honey Jar", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00383 Honey Jar", "part_name": "D00383 Honey Jar" }, - "volume": 3.529411685817382e-06 + "volume": 3.529411685817382e-06, + "source_prim_path": "/World/textured_mesh_6a8423efa08484187f606f9e/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00042499974370002747, - 0.04981949971988797, - 0.03624449966698885 + "min": [ + -0.031957998871803284, + -0.042970000004768374, + 0.01776000065729022 ], "max": [ 0.03110799938440323, - 0.08187899878248572, - 0.042970000004768374 + -0.029518999329209327, + 0.08187899878248572 ], - "min": [ - -0.031957998871803284, - 0.01776000065729022, - 0.029518999329209327 - ] + "size": [ + 0.06306599825620651, + 0.013451000675559047, + 0.0641189981251955 + ], + "units": "m" }, "center_of_mass": [ -0.001967173768207431, @@ -154,7 +256,7 @@ 8.782480449553987e-07, 9.571705277267029e-07 ], - "mass": 0.001, + "mass": 0.0010000000474974513, "material": "wood", "name": "D00383 Honey Jar", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00383 Honey Jar", "part_name": "D00383 Honey Jar" }, - "volume": 1.2500000593718142e-06 + "volume": 1.2500000593718142e-06, + "source_prim_path": "/World/textured_mesh_6a8423efa08484187f606f9e/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0770371db51f10d1c81f043ffe0d01a6a4be7e22bd046571af27fb465fb36d7d" + }, + "usd_path": "batch33/D00383 Honey Jar/IsaacSim_assets_6a8423efa08484187f606f9e/IsaacSim_asset_6a8423efa08484187f606f9e.usd", + "usd_sha256": "864c9d1a40fe6a328b058e4fa3f84c35f4092121f042e347959eb08afe19bc5f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,58 @@ "up_axis": "Z", "bounds_m": [ 0.09175200015306473, - 0.11829299985038233, - 0.0903319997549057 - ] + 0.0903319997549057, + 0.11829299985038233 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "864c9d1a40fe6a328b058e4fa3f84c35f4092121f042e347959eb08afe19bc5f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.631 + "value_kg": 0.6310000232188031, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "864c9d1a40fe6a328b058e4fa3f84c35f4092121f042e347959eb08afe19bc5f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6310000232188031, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 39, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "864c9d1a40fe6a328b058e4fa3f84c35f4092121f042e347959eb08afe19bc5f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 39, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "864c9d1a40fe6a328b058e4fa3f84c35f4092121f042e347959eb08afe19bc5f", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00387 Immersion Blender/IsaacSim_assets_6a82cd4eb7a9c4204accaeb9/physics_6a82cd4eb7a9c4204accaeb9.json b/batch33/D00387 Immersion Blender/IsaacSim_assets_6a82cd4eb7a9c4204accaeb9/physics_6a82cd4eb7a9c4204accaeb9.json index 70cc6301cb83a1da1a2527b2ba2abb79478a842c..18a5c96bd05237b549f00be51a79fdd631ee6609 100644 --- a/batch33/D00387 Immersion Blender/IsaacSim_assets_6a82cd4eb7a9c4204accaeb9/physics_6a82cd4eb7a9c4204accaeb9.json +++ b/batch33/D00387 Immersion Blender/IsaacSim_assets_6a82cd4eb7a9c4204accaeb9/physics_6a82cd4eb7a9c4204accaeb9.json @@ -6,58 +6,157 @@ "body0": "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_3", "body1": "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_1", "joint_path": "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/Joints/joint_part_03__part_01", - "type": "revolute" + "type": "revolute", + "id": "joint_part_03__part_01", + "path": "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/Joints/joint_part_03__part_01", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_3" + ], + "body1_targets": [ + "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_1" + ], + "authored_usd": { + "id": "joint_part_03__part_01", + "source_prim_path": "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/Joints/joint_part_03__part_01", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_3" + ], + "body1": [ + "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_1" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -180.0, + "upperLimit": 180.0, + "localPos0": [ + -0.00014201688463799655, + -0.15643225610256195, + 0.02939828671514988 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 0.0, + 0.0, + 0.0, + -1.0 + ], + "localRot1": [ + 0.0, + 0.0, + 0.0, + -1.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_2", "body1": "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_3", "joint_path": "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/Joints/joint_part_02__part_03", - "type": "fixed" + "type": "fixed", + "id": "joint_part_02__part_03", + "path": "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/Joints/joint_part_02__part_03", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_3" + ], + "authored_usd": { + "id": "joint_part_02__part_03", + "source_prim_path": "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/Joints/joint_part_02__part_03", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_2" + ], + "body1": [ + "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_3" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02419699914753437, - 0.051525999791920185, - 0.17185600101947784 - ], "min": [ -0.024152999743819237, - 0.0, - -0.136244997382164 + -0.17185600101947784, + 0.0 + ], + "max": [ + 0.02419699914753437, + 0.136244997382164, + 0.051525999791920185 ], "size": [ 0.04834999889135361, - 0.051525999791920185, - 0.30810099840164185 - ] + 0.30810099840164185, + 0.051525999791920185 + ], + "units": "m" }, "description": "D00387 Immersion Blender", "name": "D00387 Immersion Blender", "object_type": "rigid_bodies", - "total_mass": 1.02 + "total_mass": 1.0200000144541264, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00387", "parts": [ { "bounds": { - "center": [ - -0.0058695003390312195, - 0.02469199988991022, - 0.01648849993944168 + "min": [ + -0.023396000266075134, + -0.1681559979915619, + 0.01360000018030405 ], "max": [ 0.011656999588012695, - 0.03578399959951639, - 0.1681559979915619 + 0.13517899811267853, + 0.03578399959951639 ], - "min": [ - -0.023396000266075134, - 0.01360000018030405, - -0.13517899811267853 - ] + "size": [ + 0.03505299985408783, + 0.3033349961042404, + 0.02218399941921234 + ], + "units": "m" }, "center_of_mass": [ -0.005785604938864708, @@ -72,7 +171,7 @@ 7.339732837863266e-05, 7.34391069272533e-05 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "metal", "name": "D00387 Immersion Blender", "physics_type": "rigid", @@ -80,25 +179,28 @@ "object_name": "D00387 Immersion Blender", "part_name": "D00387 Immersion Blender" }, - "volume": 2.5641025067904055e-06 + "volume": 2.5641025067904055e-06, + "source_prim_path": "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 4.799943417310715e-05, - 0.02677649981342256, - -0.042472999542951584 + "min": [ + -0.02393300086259842, + -0.051298998296260834, + 0.0020269998349249363 ], "max": [ 0.024028999730944633, - 0.051525999791920185, - 0.051298998296260834 + 0.136244997382164, + 0.051525999791920185 ], - "min": [ - -0.02393300086259842, - 0.0020269998349249363, - -0.136244997382164 - ] + "size": [ + 0.04796200059354305, + 0.18754399567842484, + 0.04949899995699525 + ], + "units": "m" }, "center_of_mass": [ -0.0013757342239841819, @@ -113,7 +215,7 @@ 0.003496178425848484, 0.003500038757920265 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "glass_or_stone", "name": "D00387 Immersion Blender", "physics_type": "rigid", @@ -121,25 +223,28 @@ "object_name": "D00387 Immersion Blender", "part_name": "D00387 Immersion Blender" }, - "volume": 0.00026666667064030965 + "volume": 0.00026666667064030965, + "source_prim_path": "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 2.1999701857566833e-05, - 0.024773499462753534, - 0.1096230000257492 + "min": [ + -0.024152999743819237, + -0.17185600101947784, + 0.0 ], "max": [ 0.02419699914753437, - 0.04954699892550707, - 0.17185600101947784 + -0.04738999903202057, + 0.04954699892550707 ], - "min": [ - -0.024152999743819237, - 0.0, - 0.04738999903202057 - ] + "size": [ + 0.04834999889135361, + 0.12446600198745728, + 0.04954699892550707 + ], + "units": "m" }, "center_of_mass": [ 2.5485531295998953e-05, @@ -154,7 +259,7 @@ 0.00020297089940868318, 0.00020375438907649368 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "ceramic_or_glass", "name": "D00387 Immersion Blender", "physics_type": "rigid", @@ -162,10 +267,27 @@ "object_name": "D00387 Immersion Blender", "part_name": "D00387 Immersion Blender" }, - "volume": 0.00010000000149011611 + "volume": 0.00010000000149011611, + "source_prim_path": "/World/textured_mesh_6a82cd4eb7a9c4204accaeb9/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "44548b8b7a3bee33ee18c7a8e4c53e028b8c3ff7334841771f52ecbe40b63061" + }, + "usd_path": "batch33/D00387 Immersion Blender/IsaacSim_assets_6a82cd4eb7a9c4204accaeb9/IsaacSim_asset_6a82cd4eb7a9c4204accaeb9.usd", + "usd_sha256": "397ecdf292b85a690a2ac1cb9957db70f35a4e3ec128c39976e681413879c67f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +306,58 @@ "up_axis": "Z", "bounds_m": [ 0.04834999889135361, - 0.051525999791920185, - 0.30810099840164185 - ] + 0.30810099840164185, + 0.051525999791920185 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "397ecdf292b85a690a2ac1cb9957db70f35a4e3ec128c39976e681413879c67f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.02 + "value_kg": 1.0200000144541264, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "397ecdf292b85a690a2ac1cb9957db70f35a4e3ec128c39976e681413879c67f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0200000144541264, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 49, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "397ecdf292b85a690a2ac1cb9957db70f35a4e3ec128c39976e681413879c67f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 49, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "397ecdf292b85a690a2ac1cb9957db70f35a4e3ec128c39976e681413879c67f", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00390_Mason_Jar/IsaacSim_assets_6a83ed65a08484187f5a7a9b/physics_6a83ed65a08484187f5a7a9b.json b/batch33/D00390_Mason_Jar/IsaacSim_assets_6a83ed65a08484187f5a7a9b/physics_6a83ed65a08484187f5a7a9b.json index 0b0b603927745f174a0b83149197c041337eda4f..c7771d4f34fd801bb5591221425a4b5135267392 100644 --- a/batch33/D00390_Mason_Jar/IsaacSim_assets_6a83ed65a08484187f5a7a9b/physics_6a83ed65a08484187f5a7a9b.json +++ b/batch33/D00390_Mason_Jar/IsaacSim_assets_6a83ed65a08484187f5a7a9b/physics_6a83ed65a08484187f5a7a9b.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a83ed65a08484187f5a7a9b/part_01", "body1": "/World/textured_mesh_6a83ed65a08484187f5a7a9b/part_00", "joint_path": "/World/textured_mesh_6a83ed65a08484187f5a7a9b/Joints/joint_jar_body__lid", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_body__lid", + "path": "/World/textured_mesh_6a83ed65a08484187f5a7a9b/Joints/joint_jar_body__lid", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a83ed65a08484187f5a7a9b/part_01" + ], + "body1_targets": [ + "/World/textured_mesh_6a83ed65a08484187f5a7a9b/part_00" + ], + "authored_usd": { + "id": "joint_jar_body__lid", + "source_prim_path": "/World/textured_mesh_6a83ed65a08484187f5a7a9b/Joints/joint_jar_body__lid", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a83ed65a08484187f5a7a9b/part_01" + ], + "body1": [ + "/World/textured_mesh_6a83ed65a08484187f5a7a9b/part_00" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0406309999525547, - 0.1345444095786661, - 0.04050799831748009 - ], "min": [ -0.04066099971532822, - 0.000624409973170259, - -0.04082300141453743 + -0.04050799831748009, + 0.000624409973170259 + ], + "max": [ + 0.0406309999525547, + 0.04082300141453743, + 0.1345444095786661 ], "size": [ 0.08129199966788292, - 0.13391999960549583, - 0.08133099973201752 - ] + 0.08133099973201752, + 0.13391999960549583 + ], + "units": "m" }, "description": "D00390 Mason_Jar", "name": "D00390 Mason_Jar", "object_type": "rigid_bodies", - "total_mass": 0.27 + "total_mass": 0.26999999955296516, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00390", "parts": [ { "bounds": { - "center": [ - 6.400048732757568e-05, - 0.1255894114729017, - -0.0001254994422197342 + "min": [ + -0.03667899966239929, + -0.03685599938035011, + 0.11663441336713731 ], "max": [ 0.03680700063705444, - 0.1345444095786661, - 0.03685599938035011 + 0.03710699826478958, + 0.1345444095786661 ], - "min": [ - -0.03667899966239929, - 0.11663441336713731, - -0.03710699826478958 - ] + "size": [ + 0.07348600029945374, + 0.0739629976451397, + 0.017909996211528778 + ], + "units": "m" }, "center_of_mass": [ -0.008357441984117031, @@ -66,7 +117,7 @@ 1.8613931388244964e-05, 1.9517483451636508e-05 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "metal", "name": "D00390 Mason_Jar", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00390 Mason_Jar", "part_name": "D00390 Mason_Jar" }, - "volume": 2.54777064368983e-06 + "volume": 2.54777064368983e-06, + "source_prim_path": "/World/textured_mesh_6a83ed65a08484187f5a7a9b/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -1.4999881386756897e-05, - 0.05900490975636785, - -0.00015750154852867126 + "min": [ + -0.04066099971532822, + -0.04050799831748009, + 0.000624409973170259 ], "max": [ 0.0406309999525547, - 0.11738540953956544, - 0.04050799831748009 + 0.04082300141453743, + 0.11738540953956544 ], - "min": [ - -0.04066099971532822, - 0.000624409973170259, - -0.04082300141453743 - ] + "size": [ + 0.08129199966788292, + 0.08133099973201752, + 0.11676099956639518 + ], + "units": "m" }, "center_of_mass": [ -1.1131815881526563e-05, @@ -115,10 +169,27 @@ "object_name": "D00390 Mason_Jar", "part_name": "D00390 Mason_Jar" }, - "volume": 0.0001 + "volume": 0.0001, + "source_prim_path": "/World/textured_mesh_6a83ed65a08484187f5a7a9b/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c4a5fd7acfc2c329f8407d5d25b6a86e7d76af3fa4d47e3beec3d577020b3b68" + }, + "usd_path": "batch33/D00390_Mason_Jar/IsaacSim_assets_6a83ed65a08484187f5a7a9b/IsaacSim_asset_6a83ed65a08484187f5a7a9b.usd", + "usd_sha256": "e446e52de1a33984ee93d16927e1ae31c3a9b38cd00e69a87ad75670f158bc47", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.08129199966788292, - 0.13391999960549583, - 0.08133099973201752 - ] + 0.08133099973201752, + 0.13391999960549583 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e446e52de1a33984ee93d16927e1ae31c3a9b38cd00e69a87ad75670f158bc47", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.27 + "value_kg": 0.26999999955296516, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e446e52de1a33984ee93d16927e1ae31c3a9b38cd00e69a87ad75670f158bc47", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.26999999955296516, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 61, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e446e52de1a33984ee93d16927e1ae31c3a9b38cd00e69a87ad75670f158bc47", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 61, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e446e52de1a33984ee93d16927e1ae31c3a9b38cd00e69a87ad75670f158bc47", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00392_Oil_Cruet/IsaacSim_assets_6a82d7a9b7a9c4204acef2d0/physics_6a82d7a9b7a9c4204acef2d0.json b/batch33/D00392_Oil_Cruet/IsaacSim_assets_6a82d7a9b7a9c4204acef2d0/physics_6a82d7a9b7a9c4204acef2d0.json index 1e296113d7f4302fd36f8132a72e5edbd6b2692c..0ef085c0d4518567c6447bc7dc9d74b00af033d3 100644 --- a/batch33/D00392_Oil_Cruet/IsaacSim_assets_6a82d7a9b7a9c4204acef2d0/physics_6a82d7a9b7a9c4204acef2d0.json +++ b/batch33/D00392_Oil_Cruet/IsaacSim_assets_6a82d7a9b7a9c4204acef2d0/physics_6a82d7a9b7a9c4204acef2d0.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_0", "body1": "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_1", "joint_path": "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/Joints/joint_part_0__part_1", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_1" + ], + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_0" + ], + "body1": [ + "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_1", "body1": "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_2", "joint_path": "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/Joints/joint_part_1__part_2", - "type": "fixed" + "type": "fixed", + "id": "joint_part_1__part_2", + "path": "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/Joints/joint_part_1__part_2", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_2" + ], + "authored_usd": { + "id": "joint_part_1__part_2", + "source_prim_path": "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/Joints/joint_part_1__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_1" + ], + "body1": [ + "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03492499887943268, - 0.1857626587152481, - 0.03519799932837486 - ], "min": [ -0.03511299937963486, - 0.0005546584579860792, - -0.035523999482393265 + -0.03519799932837486, + 0.0005546584579860792 + ], + "max": [ + 0.03492499887943268, + 0.035523999482393265, + 0.1857626587152481 ], "size": [ 0.07003799825906754, - 0.18520800025726203, - 0.07072199881076813 - ] + 0.07072199881076813, + 0.18520800025726203 + ], + "units": "m" }, "description": "D00392 Oil_Cruet", "name": "D00392 Oil_Cruet", "object_type": "rigid_bodies", - "total_mass": 0.23 + "total_mass": 0.23000000230967999, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00392", "parts": [ { "bounds": { - "center": [ - -9.400025010108948e-05, - 0.06643215938674984, - -0.00016300007700920105 + "min": [ + -0.03511299937963486, + -0.03519799932837486, + 0.0005546584579860792 ], "max": [ 0.03492499887943268, - 0.1323096603155136, - 0.03519799932837486 + 0.035523999482393265, + 0.1323096603155136 ], - "min": [ - -0.03511299937963486, - 0.0005546584579860792, - -0.035523999482393265 - ] + "size": [ + 0.07003799825906754, + 0.07072199881076813, + 0.13175500185752753 + ], + "units": "m" }, "center_of_mass": [ -9.219208004651591e-05, @@ -72,7 +168,7 @@ 0.0002564848982729018, 0.0002570028300397098 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "ceramic_or_glass", "name": "D00392 Oil_Cruet", "physics_type": "rigid", @@ -80,25 +176,28 @@ "object_name": "D00392 Oil_Cruet", "part_name": "D00392 Oil_Cruet" }, - "volume": 8.00000011920929e-05 + "volume": 8.00000011920929e-05, + "source_prim_path": "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -1.050066202878952e-05, - 0.13827916234731674, - -0.00016100052744150162 + "min": [ + -0.01881900057196617, + -0.018456999212503433, + 0.13142766058444977 ], "max": [ 0.018797999247908592, - 0.14513066411018372, - 0.018456999212503433 + 0.018779000267386436, + 0.14513066411018372 ], - "min": [ - -0.01881900057196617, - 0.13142766058444977, - -0.018779000267386436 - ] + "size": [ + 0.037616999819874763, + 0.03723599947988987, + 0.013703003525733948 + ], + "units": "m" }, "center_of_mass": [ 3.1288240279536694e-05, @@ -113,7 +212,7 @@ 3.015330321431975e-06, 5.155078270036029e-06 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "metal", "name": "D00392 Oil_Cruet", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00392 Oil_Cruet", "part_name": "D00392 Oil_Cruet" }, - "volume": 2.54777064368983e-06 + "volume": 2.54777064368983e-06, + "source_prim_path": "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -6.600003689527512e-05, - 0.16498766094446182, - -1.550000160932541e-05 + "min": [ + -0.0076060001738369465, + -0.007600999902933836, + 0.14421266317367554 ], "max": [ 0.007474000100046396, - 0.1857626587152481, - 0.007600999902933836 + 0.007631999906152487, + 0.1857626587152481 ], - "min": [ - -0.0076060001738369465, - 0.14421266317367554, - -0.007631999906152487 - ] + "size": [ + 0.015080000273883343, + 0.015232999809086323, + 0.04154999554157257 + ], + "units": "m" }, "center_of_mass": [ -2.9711503884755075e-05, @@ -154,7 +256,7 @@ 1.7536488030600594e-06, 1.7547043853483046e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "metal", "name": "D00392 Oil_Cruet", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00392 Oil_Cruet", "part_name": "D00392 Oil_Cruet" }, - "volume": 1.273885321844915e-06 + "volume": 1.273885321844915e-06, + "source_prim_path": "/World/textured_mesh_6a82d7a9b7a9c4204acef2d0/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "07a31a4f809106856b64cb6da9a68797a6078707326a4d2f84e9394678c53dad" + }, + "usd_path": "batch33/D00392_Oil_Cruet/IsaacSim_assets_6a82d7a9b7a9c4204acef2d0/IsaacSim_asset_6a82d7a9b7a9c4204acef2d0.usd", + "usd_sha256": "f896da77581489c1ffda74a756d141304e96a7d23696caa644778b879df6abbf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,58 @@ "up_axis": "Z", "bounds_m": [ 0.07003799825906754, - 0.18520800025726203, - 0.07072199881076813 - ] + 0.07072199881076813, + 0.18520800025726203 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f896da77581489c1ffda74a756d141304e96a7d23696caa644778b879df6abbf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.23 + "value_kg": 0.23000000230967999, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f896da77581489c1ffda74a756d141304e96a7d23696caa644778b879df6abbf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.23000000230967999, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 70, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f896da77581489c1ffda74a756d141304e96a7d23696caa644778b879df6abbf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 70, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f896da77581489c1ffda74a756d141304e96a7d23696caa644778b879df6abbf", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00393_Vinegar_Cruet/IsaacSim_assets_6a85425da08484187f74d62e/physics_6a85425da08484187f74d62e.json b/batch33/D00393_Vinegar_Cruet/IsaacSim_assets_6a85425da08484187f74d62e/physics_6a85425da08484187f74d62e.json index b79c32fbfabf308b47810c9b8aac28ef1f2fbf72..cd0ff8a3e86640a5e1169d7066636b6ef8832392 100644 --- a/batch33/D00393_Vinegar_Cruet/IsaacSim_assets_6a85425da08484187f74d62e/physics_6a85425da08484187f74d62e.json +++ b/batch33/D00393_Vinegar_Cruet/IsaacSim_assets_6a85425da08484187f74d62e/physics_6a85425da08484187f74d62e.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a85425da08484187f74d62e/part_0", "body1": "/World/textured_mesh_6a85425da08484187f74d62e/part_1", "joint_path": "/World/textured_mesh_6a85425da08484187f74d62e/Joints/joint_part_0__part_1", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a85425da08484187f74d62e/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a85425da08484187f74d62e/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a85425da08484187f74d62e/part_1" + ], + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a85425da08484187f74d62e/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a85425da08484187f74d62e/part_0" + ], + "body1": [ + "/World/textured_mesh_6a85425da08484187f74d62e/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.053293000906705856, - 0.1670609451830387, - 0.05305499956011772 - ], "min": [ -0.05408899858593941, - 0.0006739399796060752, - -0.053077999502420425 + -0.05305499956011772, + 0.0006739399796060752 + ], + "max": [ + 0.053293000906705856, + 0.053077999502420425, + 0.1670609451830387 ], "size": [ 0.10738199949264526, - 0.16638700520343264, - 0.10613299906253815 - ] + 0.10613299906253815, + 0.16638700520343264 + ], + "units": "m" }, "description": "D00393 Vinegar_Cruet", "name": "D00393 Vinegar_Cruet", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.350000012665987, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00393", "parts": [ { "bounds": { - "center": [ - -0.0003979988396167755, - 0.07617594001021644, - -1.1499971151351929e-05 + "min": [ + -0.05408899858593941, + -0.05305499956011772, + 0.0006739399796060752 ], "max": [ 0.053293000906705856, - 0.1516779400408268, - 0.05305499956011772 + 0.053077999502420425, + 0.1516779400408268 ], - "min": [ - -0.05408899858593941, - 0.0006739399796060752, - -0.053077999502420425 - ] + "size": [ + 0.10738199949264526, + 0.10613299906253815, + 0.15100400006122072 + ], + "units": "m" }, "center_of_mass": [ -0.00017369617125950754, @@ -66,7 +117,7 @@ 0.000502287526614964, 0.0005083109717816114 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "ceramic_or_glass", "name": "D00393 Vinegar_Cruet", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00393 Vinegar_Cruet", "part_name": "D00393 Vinegar_Cruet" }, - "volume": 0.00012000000476837159 + "volume": 0.00012000000476837159, + "source_prim_path": "/World/textured_mesh_6a85425da08484187f74d62e/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00010449998080730438, - 0.1445089429616928, - -3.54996882379055e-05 + "min": [ + -0.015696000307798386, + -0.015425000339746475, + 0.12195694074034691 ], "max": [ 0.015487000346183777, - 0.1670609451830387, - 0.015425000339746475 + 0.015495999716222286, + 0.1670609451830387 ], - "min": [ - -0.015696000307798386, - 0.12195694074034691, - -0.015495999716222286 - ] + "size": [ + 0.031183000653982162, + 0.03092100005596876, + 0.0451040044426918 + ], + "units": "m" }, "center_of_mass": [ -9.163146023638546e-05, @@ -107,7 +161,7 @@ 9.740562745719217e-06, 9.776029401109554e-06 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "ceramic_or_glass", "name": "D00393 Vinegar_Cruet", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00393 Vinegar_Cruet", "part_name": "D00393 Vinegar_Cruet" }, - "volume": 2.0000000298023225e-05 + "volume": 2.0000000298023225e-05, + "source_prim_path": "/World/textured_mesh_6a85425da08484187f74d62e/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4c94e3b051f09393425115695ea4fe2d33d08e57cb762062781d0a9c156ee360" + }, + "usd_path": "batch33/D00393_Vinegar_Cruet/IsaacSim_assets_6a85425da08484187f74d62e/IsaacSim_asset_6a85425da08484187f74d62e.usd", + "usd_sha256": "30adc31ba78bd2e43d8e6d34bd3e4388f6e24a4463bfacb7f35c702af6b7ace8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.10738199949264526, - 0.16638700520343264, - 0.10613299906253815 - ] + 0.10613299906253815, + 0.16638700520343264 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30adc31ba78bd2e43d8e6d34bd3e4388f6e24a4463bfacb7f35c702af6b7ace8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.350000012665987, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30adc31ba78bd2e43d8e6d34bd3e4388f6e24a4463bfacb7f35c702af6b7ace8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.350000012665987, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30adc31ba78bd2e43d8e6d34bd3e4388f6e24a4463bfacb7f35c702af6b7ace8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "30adc31ba78bd2e43d8e6d34bd3e4388f6e24a4463bfacb7f35c702af6b7ace8", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00394 Jar/IsaacSim_assets_6a83f1d1a08484187f5b0a78/physics_6a83f1d1a08484187f5b0a78.json b/batch33/D00394 Jar/IsaacSim_assets_6a83f1d1a08484187f5b0a78/physics_6a83f1d1a08484187f5b0a78.json index 66cc6f82b275dd4d2cdff3b579621d15f14ed0c0..407e858643cb1729f7c8317ccacc83dcc0447964 100644 --- a/batch33/D00394 Jar/IsaacSim_assets_6a83f1d1a08484187f5b0a78/physics_6a83f1d1a08484187f5b0a78.json +++ b/batch33/D00394 Jar/IsaacSim_assets_6a83f1d1a08484187f5b0a78/physics_6a83f1d1a08484187f5b0a78.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a83f1d1a08484187f5b0a78/part_00", "body1": "/World/textured_mesh_6a83f1d1a08484187f5b0a78/part_01", "joint_path": "/World/textured_mesh_6a83f1d1a08484187f5b0a78/Joints/joint_jar_body__metal_lid", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_body__metal_lid", + "path": "/World/textured_mesh_6a83f1d1a08484187f5b0a78/Joints/joint_jar_body__metal_lid", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a83f1d1a08484187f5b0a78/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a83f1d1a08484187f5b0a78/part_01" + ], + "authored_usd": { + "id": "joint_jar_body__metal_lid", + "source_prim_path": "/World/textured_mesh_6a83f1d1a08484187f5b0a78/Joints/joint_jar_body__metal_lid", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a83f1d1a08484187f5b0a78/part_00" + ], + "body1": [ + "/World/textured_mesh_6a83f1d1a08484187f5b0a78/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.043111998587846756, - 0.09025340084917843, - 0.04329000040888786 - ], "min": [ -0.04296199977397919, - 0.00046539999812011956, - -0.04316699877381325 + -0.04329000040888786, + 0.00046539999812011956 + ], + "max": [ + 0.043111998587846756, + 0.04316699877381325, + 0.09025340084917843 ], "size": [ 0.08607399836182594, - 0.08978800085105831, - 0.08645699918270111 - ] + 0.08645699918270111, + 0.08978800085105831 + ], + "units": "m" }, "description": "D00394 Jar", "name": "D00394 Jar", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.2500000037252903, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00394", "parts": [ { "bounds": { - "center": [ - 7.499940693378448e-05, - 0.03745589903223845, - 6.150081753730774e-05 + "min": [ + -0.04296199977397919, + -0.04329000040888786, + 0.00046539999812011956 ], "max": [ 0.043111998587846756, - 0.07444639806635678, - 0.04329000040888786 + 0.04316699877381325, + 0.07444639806635678 ], - "min": [ - -0.04296199977397919, - 0.00046539999812011956, - -0.04316699877381325 - ] + "size": [ + 0.08607399836182594, + 0.08645699918270111, + 0.07398099806823666 + ], + "units": "m" }, "center_of_mass": [ -0.0008865801501087844, @@ -66,7 +117,7 @@ 0.00019690708722919226, 0.00019854855781886727 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "ceramic_or_glass", "name": "D00394 Jar", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00394 Jar", "part_name": "D00394 Jar" }, - "volume": 8.00000011920929e-05 + "volume": 8.00000011920929e-05, + "source_prim_path": "/World/textured_mesh_6a83f1d1a08484187f5b0a78/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00010600127279758453, - 0.08196090091951191, - 3.750063478946686e-05 + "min": [ + -0.04287299886345863, + -0.04322100058197975, + 0.0736684009898454 ], "max": [ 0.0430850014090538, - 0.09025340084917843, - 0.04322100058197975 + 0.04314599931240082, + 0.09025340084917843 ], - "min": [ - -0.04287299886345863, - 0.0736684009898454, - -0.04314599931240082 - ] + "size": [ + 0.08595800027251244, + 0.08636699989438057, + 0.01658499985933304 + ], + "units": "m" }, "center_of_mass": [ 0.00016833265544846654, @@ -107,7 +161,7 @@ 2.482073068676982e-05, 4.6107084926916286e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "metal", "name": "D00394 Jar", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00394 Jar", "part_name": "D00394 Jar" }, - "volume": 6.4102565057766745e-06 + "volume": 6.4102565057766745e-06, + "source_prim_path": "/World/textured_mesh_6a83f1d1a08484187f5b0a78/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2c0ff64b6a6fe607b7abad6738008ce2a7f607ca3629ab4862d4ad1ae3be581f" + }, + "usd_path": "batch33/D00394 Jar/IsaacSim_assets_6a83f1d1a08484187f5b0a78/IsaacSim_asset_6a83f1d1a08484187f5b0a78.usd", + "usd_sha256": "616f0a4046af67a8b049d03ab39f8d96fa95ffcf1315d8688de4f8244c54b203", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.08607399836182594, - 0.08978800085105831, - 0.08645699918270111 - ] + 0.08645699918270111, + 0.08978800085105831 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "616f0a4046af67a8b049d03ab39f8d96fa95ffcf1315d8688de4f8244c54b203", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.2500000037252903, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "616f0a4046af67a8b049d03ab39f8d96fa95ffcf1315d8688de4f8244c54b203", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2500000037252903, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 33, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "616f0a4046af67a8b049d03ab39f8d96fa95ffcf1315d8688de4f8244c54b203", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 33, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "616f0a4046af67a8b049d03ab39f8d96fa95ffcf1315d8688de4f8244c54b203", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00395_Egg_Basket/IsaacSim_assets_6a84129da08484187f5e7dfd/physics_6a84129da08484187f5e7dfd.json b/batch33/D00395_Egg_Basket/IsaacSim_assets_6a84129da08484187f5e7dfd/physics_6a84129da08484187f5e7dfd.json index 6a29a03158ecc1b02fdecd671e4d76f19f403d56..6e79ca0849f063ce76e109a0c8c140f34599c4e2 100644 --- a/batch33/D00395_Egg_Basket/IsaacSim_assets_6a84129da08484187f5e7dfd/physics_6a84129da08484187f5e7dfd.json +++ b/batch33/D00395_Egg_Basket/IsaacSim_assets_6a84129da08484187f5e7dfd/physics_6a84129da08484187f5e7dfd.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1246350035071373, - 0.21737560769543052, - 0.1171410009264946 - ], "min": [ -0.12469000369310379, - 0.0011416103625379037, - -0.11717800050973892 + -0.1171410009264946, + 0.0011416103625379037 + ], + "max": [ + 0.1246350035071373, + 0.11717800050973892, + 0.21737560769543052 ], "size": [ 0.2493250072002411, - 0.2162339973328926, - 0.23431900143623352 - ] + 0.23431900143623352, + 0.2162339973328926 + ], + "units": "m" }, "description": "D00395 Egg_Basket", "name": "D00395 Egg_Basket", "object_type": "rigid_bodies", - "total_mass": 0.26 + "total_mass": 0.25999999046325684, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00395", "parts": [ { "bounds": { - "center": [ - -2.750009298324585e-05, - 0.10925860902898421, - -1.8499791622161865e-05 + "min": [ + -0.12469000369310379, + -0.1171410009264946, + 0.0011416103625379037 ], "max": [ 0.1246350035071373, - 0.21737560769543052, - 0.1171410009264946 + 0.11717800050973892, + 0.21737560769543052 ], - "min": [ - -0.12469000369310379, - 0.0011416103625379037, - -0.11717800050973892 - ] + "size": [ + 0.2493250072002411, + 0.23431900143623352, + 0.2162339973328926 + ], + "units": "m" }, "center_of_mass": [ -1.2570929357025307e-05, @@ -59,7 +65,7 @@ 0.002136220457032323, 0.0024467427283525467 ], - "mass": 0.26, + "mass": 0.25999999046325684, "material": "wood", "name": "D00395 Egg_Basket", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00395 Egg_Basket", "part_name": "D00395 Egg_Basket" }, - "volume": 0.0004333333174387614 + "volume": 0.0004333333174387614, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "960486e7490408d0e617199a38531e3ccea8c5e41e33f5ac04069b598116ee54" + }, + "usd_path": "batch33/D00395_Egg_Basket/IsaacSim_assets_6a84129da08484187f5e7dfd/IsaacSim_asset_6a84129da08484187f5e7dfd.usd", + "usd_sha256": "3c0fca15aebe211c4957c24e456b2ef9aff4c28832caa974ea16d0f146633658", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.2493250072002411, - 0.2162339973328926, - 0.23431900143623352 - ] + 0.23431900143623352, + 0.2162339973328926 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c0fca15aebe211c4957c24e456b2ef9aff4c28832caa974ea16d0f146633658", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.26 + "value_kg": 0.25999999046325684, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c0fca15aebe211c4957c24e456b2ef9aff4c28832caa974ea16d0f146633658", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25999999046325684, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 40, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c0fca15aebe211c4957c24e456b2ef9aff4c28832caa974ea16d0f146633658", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 40, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3c0fca15aebe211c4957c24e456b2ef9aff4c28832caa974ea16d0f146633658", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00396 Banana Hanger/IsaacSim_assets_6a82cd57b7a9c4204accb570/physics_6a82cd57b7a9c4204accb570.json b/batch33/D00396 Banana Hanger/IsaacSim_assets_6a82cd57b7a9c4204accb570/physics_6a82cd57b7a9c4204accb570.json index fcc974341ef13536ed9bc87d2ff9c38178b8bb49..51bdc8946913b0d0311998f5dc0bff1d0d04f0b7 100644 --- a/batch33/D00396 Banana Hanger/IsaacSim_assets_6a82cd57b7a9c4204accb570/physics_6a82cd57b7a9c4204accb570.json +++ b/batch33/D00396 Banana Hanger/IsaacSim_assets_6a82cd57b7a9c4204accb570/physics_6a82cd57b7a9c4204accb570.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06296700239181519, - 0.2616987582296133, - 0.08476199954748154 - ], "min": [ -0.0634479969739914, - 0.0011757502874161219, - -0.07213100045919418 + -0.08476199954748154, + 0.0011757502874161219 + ], + "max": [ + 0.06296700239181519, + 0.07213100045919418, + 0.2616987582296133 ], "size": [ 0.12641499936580658, - 0.2605230079421972, - 0.15689300000667572 - ] + 0.15689300000667572, + 0.2605230079421972 + ], + "units": "m" }, "description": "D00396 Banana Hanger", "name": "D00396 Banana Hanger", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00396", "parts": [ { "bounds": { - "center": [ - -0.00024049729108810425, - 0.1314372542585147, - 0.006315499544143677 + "min": [ + -0.0634479969739914, + -0.08476199954748154, + 0.0011757502874161219 ], "max": [ 0.06296700239181519, - 0.2616987582296133, - 0.08476199954748154 + 0.07213100045919418, + 0.2616987582296133 ], - "min": [ - -0.0634479969739914, - 0.0011757502874161219, - -0.07213100045919418 - ] + "size": [ + 0.12641499936580658, + 0.15689300000667572, + 0.2605230079421972 + ], + "units": "m" }, "center_of_mass": [ -0.00025026799994520843, @@ -59,7 +65,7 @@ 0.0017612206283956766, 0.0019964235834777355 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "wood", "name": "D00396 Banana Hanger", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00396 Banana Hanger", "part_name": "D00396 Banana Hanger" }, - "volume": 0.0006666666766007741 + "volume": 0.0006666666766007741, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9f110cba9d5846555020a671c1e66bd7f4b247cfa8e9ec73c3d7f6e43d8001eb" + }, + "usd_path": "batch33/D00396 Banana Hanger/IsaacSim_assets_6a82cd57b7a9c4204accb570/IsaacSim_asset_6a82cd57b7a9c4204accb570.usd", + "usd_sha256": "d6596c22e300bc281aa16f282374d1faae9e9ac9f72a89294eb4937a6d2f6ac0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.12641499936580658, - 0.2605230079421972, - 0.15689300000667572 - ] + 0.15689300000667572, + 0.2605230079421972 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6596c22e300bc281aa16f282374d1faae9e9ac9f72a89294eb4937a6d2f6ac0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6596c22e300bc281aa16f282374d1faae9e9ac9f72a89294eb4937a6d2f6ac0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6596c22e300bc281aa16f282374d1faae9e9ac9f72a89294eb4937a6d2f6ac0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6596c22e300bc281aa16f282374d1faae9e9ac9f72a89294eb4937a6d2f6ac0", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00445 Kitchen Clock/IsaacSim_assets_6a83c54ea08484187f546836/physics_6a83c54ea08484187f546836.json b/batch33/D00445 Kitchen Clock/IsaacSim_assets_6a83c54ea08484187f546836/physics_6a83c54ea08484187f546836.json index eb6720cd12428b9b8f8819f88589033e8b9ab993..2591dd111d1dd6081069ea983d446d7b712a72c3 100644 --- a/batch33/D00445 Kitchen Clock/IsaacSim_assets_6a83c54ea08484187f546836/physics_6a83c54ea08484187f546836.json +++ b/batch33/D00445 Kitchen Clock/IsaacSim_assets_6a83c54ea08484187f546836/physics_6a83c54ea08484187f546836.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13349300622940063, - 0.2679125666618347, - 0.02274700067937374 - ], "min": [ -0.13288000226020813, - 0.0014515495859086514, - -0.030212000012397766 + -0.02274700067937374, + 0.0014515495859086514 + ], + "max": [ + 0.13349300622940063, + 0.030212000012397766, + 0.2679125666618347 ], "size": [ 0.26637300848960876, - 0.26646101707592607, - 0.05295900069177151 - ] + 0.05295900069177151, + 0.26646101707592607 + ], + "units": "m" }, "description": "D00445 Kitchen Clock", "name": "D00445 Kitchen Clock", "object_type": "rigid_bodies", - "total_mass": 0.63 + "total_mass": 0.6299999952316284, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00445", "parts": [ { "bounds": { - "center": [ - 0.00030650198459625244, - 0.13468205812387168, - -0.0037324996665120125 + "min": [ + -0.13288000226020813, + -0.02274700067937374, + 0.0014515495859086514 ], "max": [ 0.13349300622940063, - 0.2679125666618347, - 0.02274700067937374 + 0.030212000012397766, + 0.2679125666618347 ], - "min": [ - -0.13288000226020813, - 0.0014515495859086514, - -0.030212000012397766 - ] + "size": [ + 0.26637300848960876, + 0.05295900069177151, + 0.26646101707592607 + ], + "units": "m" }, "center_of_mass": [ 0.00027360956300981343, @@ -59,7 +65,7 @@ 0.0029486236162483692, 0.0055962721817195415 ], - "mass": 0.63, + "mass": 0.6299999952316284, "material": "foam_or_hollow", "name": "D00445 Kitchen Clock", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00445 Kitchen Clock", "part_name": "D00445 Kitchen Clock" }, - "volume": 0.0031499999761581423 + "volume": 0.0031499999761581423, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1a9b2ba48dcdc17d4d438a74950d6406e6277b1ea23a5b6fa24e1249cd9f55e6" + }, + "usd_path": "batch33/D00445 Kitchen Clock/IsaacSim_assets_6a83c54ea08484187f546836/IsaacSim_asset_6a83c54ea08484187f546836.usd", + "usd_sha256": "72ffa976172400e84e9b6663fed76cbbd4a030c8d4a6876330605f8a45c133f1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.26637300848960876, - 0.26646101707592607, - 0.05295900069177151 - ] + 0.05295900069177151, + 0.26646101707592607 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "72ffa976172400e84e9b6663fed76cbbd4a030c8d4a6876330605f8a45c133f1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.63 + "value_kg": 0.6299999952316284, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "72ffa976172400e84e9b6663fed76cbbd4a030c8d4a6876330605f8a45c133f1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6299999952316284, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 23, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "72ffa976172400e84e9b6663fed76cbbd4a030c8d4a6876330605f8a45c133f1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 23, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "72ffa976172400e84e9b6663fed76cbbd4a030c8d4a6876330605f8a45c133f1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00447 Kitchen Griddle/IsaacSim_assets_6a842629a08484187f60cc9e/physics_6a842629a08484187f60cc9e.json b/batch33/D00447 Kitchen Griddle/IsaacSim_assets_6a842629a08484187f60cc9e/physics_6a842629a08484187f60cc9e.json index 1afe052f5c884632683cc2bad6e38777676bd682..31129b77a473a785e43ff98f5b74a4ee3a71b6ba 100644 --- a/batch33/D00447 Kitchen Griddle/IsaacSim_assets_6a842629a08484187f60cc9e/physics_6a842629a08484187f60cc9e.json +++ b/batch33/D00447 Kitchen Griddle/IsaacSim_assets_6a842629a08484187f60cc9e/physics_6a842629a08484187f60cc9e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.25765401124954224, - 0.027218390256166458, - 0.13666099309921265 - ], "min": [ -0.2568019926548004, - 0.002729390049353242, - -0.13792699575424194 + -0.13666099309921265, + 0.002729390049353242 + ], + "max": [ + 0.25765401124954224, + 0.13792699575424194, + 0.027218390256166458 ], "size": [ 0.5144560039043427, - 0.024489000206813216, - 0.2745879888534546 - ] + 0.2745879888534546, + 0.024489000206813216 + ], + "units": "m" }, "description": "D00447 Kitchen Griddle", "name": "D00447 Kitchen Griddle", "object_type": "rigid_bodies", - "total_mass": 7.43 + "total_mass": 7.429999828338623, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00447", "parts": [ { "bounds": { - "center": [ - 0.00042600929737091064, - 0.01497389015275985, - -0.0006330013275146484 + "min": [ + -0.2568019926548004, + -0.13666099309921265, + 0.002729390049353242 ], "max": [ 0.25765401124954224, - 0.027218390256166458, - 0.13666099309921265 + 0.13792699575424194, + 0.027218390256166458 ], - "min": [ - -0.2568019926548004, - 0.002729390049353242, - -0.13792699575424194 - ] + "size": [ + 0.5144560039043427, + 0.2745879888534546, + 0.024489000206813216 + ], + "units": "m" }, "center_of_mass": [ -2.0441617380129173e-05, @@ -59,7 +65,7 @@ 0.13823626935482025, 0.1822638064622879 ], - "mass": 7.43, + "mass": 7.429999828338623, "material": "metal", "name": "D00447 Kitchen Griddle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00447 Kitchen Griddle", "part_name": "D00447 Kitchen Griddle" }, - "volume": 0.0010178081956628252 + "volume": 0.0010178081956628252, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ca15b8684e4f5995f09e89b2557d8ff8666d00b222823b9a9f3324bcf8354053" + }, + "usd_path": "batch33/D00447 Kitchen Griddle/IsaacSim_assets_6a842629a08484187f60cc9e/IsaacSim_asset_6a842629a08484187f60cc9e.usd", + "usd_sha256": "01752471df89285060790f40ac389550027ed34bf1921f9fcb83dfbe4211e9f6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.5144560039043427, - 0.024489000206813216, - 0.2745879888534546 - ] + 0.2745879888534546, + 0.024489000206813216 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "01752471df89285060790f40ac389550027ed34bf1921f9fcb83dfbe4211e9f6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 7.43 + "value_kg": 7.429999828338623, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "01752471df89285060790f40ac389550027ed34bf1921f9fcb83dfbe4211e9f6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 7.429999828338623, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 24, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "01752471df89285060790f40ac389550027ed34bf1921f9fcb83dfbe4211e9f6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 24, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "01752471df89285060790f40ac389550027ed34bf1921f9fcb83dfbe4211e9f6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00450 Kitchen Knife Block/IsaacSim_assets_6a841cb2a08484187f5fac65/physics_6a841cb2a08484187f5fac65.json b/batch33/D00450 Kitchen Knife Block/IsaacSim_assets_6a841cb2a08484187f5fac65/physics_6a841cb2a08484187f5fac65.json index c45237de616430e7e39702905630fe8c79a3d7fd..74aedd3c9acb3b12e95c98b37d018d6c835ed7dc 100644 --- a/batch33/D00450 Kitchen Knife Block/IsaacSim_assets_6a841cb2a08484187f5fac65/physics_6a841cb2a08484187f5fac65.json +++ b/batch33/D00450 Kitchen Knife Block/IsaacSim_assets_6a841cb2a08484187f5fac65/physics_6a841cb2a08484187f5fac65.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05640700086951256, - 0.21758852899074554, - 0.10123500227928162 - ], "min": [ -0.055757999420166016, - 0.001190529903396964, - -0.10157500207424164 + -0.10123500227928162, + 0.001190529903396964 + ], + "max": [ + 0.05640700086951256, + 0.10157500207424164, + 0.21758852899074554 ], "size": [ 0.11216500028967857, - 0.21639799908734858, - 0.20281000435352325 - ] + 0.20281000435352325, + 0.21639799908734858 + ], + "units": "m" }, "description": "D00450 Kitchen Knife Block", "name": "D00450 Kitchen Knife Block", "object_type": "rigid_bodies", - "total_mass": 2.0 + "total_mass": 2.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00450", "parts": [ { "bounds": { - "center": [ - 0.0003245007246732712, - 0.10938952944707125, - -0.00016999989748001099 + "min": [ + -0.055757999420166016, + -0.10123500227928162, + 0.001190529903396964 ], "max": [ 0.05640700086951256, - 0.21758852899074554, - 0.10123500227928162 + 0.10157500207424164, + 0.21758852899074554 ], - "min": [ - -0.055757999420166016, - 0.001190529903396964, - -0.10157500207424164 - ] + "size": [ + 0.11216500028967857, + 0.20281000435352325, + 0.21639799908734858 + ], + "units": "m" }, "center_of_mass": [ 0.00032995353103615344, @@ -67,10 +73,27 @@ "object_name": "D00450 Kitchen Knife Block", "part_name": "D00450 Kitchen Knife Block" }, - "volume": 0.0033333333333333335 + "volume": 0.0033333333333333335, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b8d38ba24ee30f9e9c9cd6aedb9f7287e177ef669624671998946ddd398e23b0" + }, + "usd_path": "batch33/D00450 Kitchen Knife Block/IsaacSim_assets_6a841cb2a08484187f5fac65/IsaacSim_asset_6a841cb2a08484187f5fac65.usd", + "usd_sha256": "2420feaf78a72642efed43ef9358e37c50a6a589ae08bed12df69cbe6ec0abce", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.11216500028967857, - 0.21639799908734858, - 0.20281000435352325 - ] + 0.20281000435352325, + 0.21639799908734858 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2420feaf78a72642efed43ef9358e37c50a6a589ae08bed12df69cbe6ec0abce", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.0 + "value_kg": 2.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2420feaf78a72642efed43ef9358e37c50a6a589ae08bed12df69cbe6ec0abce", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2420feaf78a72642efed43ef9358e37c50a6a589ae08bed12df69cbe6ec0abce", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2420feaf78a72642efed43ef9358e37c50a6a589ae08bed12df69cbe6ec0abce", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00459 Kitchen Potpan/IsaacSim_assets_6a841cb7a08484187f5faf0d/physics_6a841cb7a08484187f5faf0d.json b/batch33/D00459 Kitchen Potpan/IsaacSim_assets_6a841cb7a08484187f5faf0d/physics_6a841cb7a08484187f5faf0d.json index 1a9213ed39a43dd96ec19274d77570e79c0ebe00..4a50a29e743e04938e9360e5db01efefa4e89f0a 100644 --- a/batch33/D00459 Kitchen Potpan/IsaacSim_assets_6a841cb7a08484187f5faf0d/physics_6a841cb7a08484187f5faf0d.json +++ b/batch33/D00459 Kitchen Potpan/IsaacSim_assets_6a841cb7a08484187f5faf0d/physics_6a841cb7a08484187f5faf0d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17065100371837616, - 0.041160698980093, - 0.07756300270557404 - ], "min": [ -0.09402699768543243, - 0.0014537000097334385, - -0.0777909979224205 + -0.07756300270557404, + 0.0014537000097334385 + ], + "max": [ + 0.17065100371837616, + 0.0777909979224205, + 0.041160698980093 ], "size": [ 0.2646780014038086, - 0.039706998970359564, - 0.15535400062799454 - ] + 0.15535400062799454, + 0.039706998970359564 + ], + "units": "m" }, "description": "D00459 Kitchen Potpan", "name": "D00459 Kitchen Potpan", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00459", "parts": [ { "bounds": { - "center": [ - 0.03831200301647186, - 0.02130719949491322, - -0.00011399760842323303 + "min": [ + -0.09402699768543243, + -0.07756300270557404, + 0.0014537000097334385 ], "max": [ 0.17065100371837616, - 0.041160698980093, - 0.07756300270557404 + 0.0777909979224205, + 0.041160698980093 ], - "min": [ - -0.09402699768543243, - 0.0014537000097334385, - -0.0777909979224205 - ] + "size": [ + 0.2646780014038086, + 0.15535400062799454, + 0.039706998970359564 + ], + "units": "m" }, "center_of_mass": [ 0.009466280229389668, @@ -67,10 +73,27 @@ "object_name": "D00459 Kitchen Potpan", "part_name": "D00459 Kitchen Potpan" }, - "volume": 0.00020833333333333335 + "volume": 0.00020833333333333335, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9a353777c234a5fb08ceb836ee7b7562656db8d89ea3947291bfbebf775ed3df" + }, + "usd_path": "batch33/D00459 Kitchen Potpan/IsaacSim_assets_6a841cb7a08484187f5faf0d/IsaacSim_asset_6a841cb7a08484187f5faf0d.usd", + "usd_sha256": "870b6d5f2d5dd72442ac8370fa42a957f205db1e9922b21da5ac0236555dcca5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.2646780014038086, - 0.039706998970359564, - 0.15535400062799454 - ] + 0.15535400062799454, + 0.039706998970359564 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "870b6d5f2d5dd72442ac8370fa42a957f205db1e9922b21da5ac0236555dcca5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "870b6d5f2d5dd72442ac8370fa42a957f205db1e9922b21da5ac0236555dcca5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 65, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "870b6d5f2d5dd72442ac8370fa42a957f205db1e9922b21da5ac0236555dcca5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 65, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "870b6d5f2d5dd72442ac8370fa42a957f205db1e9922b21da5ac0236555dcca5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00470 Kitchen Utensil Holder/IsaacSim_assets_6a84205ca08484187f60102a/physics_6a84205ca08484187f60102a.json b/batch33/D00470 Kitchen Utensil Holder/IsaacSim_assets_6a84205ca08484187f60102a/physics_6a84205ca08484187f60102a.json index 1f08ace3506bff9669e42e45a91f238bd73e38f6..af98354545a8558f781ced86485f083d19be6f03 100644 --- a/batch33/D00470 Kitchen Utensil Holder/IsaacSim_assets_6a84205ca08484187f60102a/physics_6a84205ca08484187f60102a.json +++ b/batch33/D00470 Kitchen Utensil Holder/IsaacSim_assets_6a84205ca08484187f60102a/physics_6a84205ca08484187f60102a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06335800141096115, - 0.14454765617847443, - 0.0631520003080368 - ], "min": [ -0.06310100108385086, - 0.0007306598126888275, - -0.06332500278949738 + -0.0631520003080368, + 0.0007306598126888275 + ], + "max": [ + 0.06335800141096115, + 0.06332500278949738, + 0.14454765617847443 ], "size": [ 0.126459002494812, - 0.1438169963657856, - 0.12647700309753418 - ] + 0.12647700309753418, + 0.1438169963657856 + ], + "units": "m" }, "description": "D00470 Kitchen Utensil Holder", "name": "D00470 Kitchen Utensil Holder", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.44999998807907104, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00470", "parts": [ { "bounds": { - "center": [ - 0.00012850016355514526, - 0.07263915799558163, - -8.650124073028564e-05 + "min": [ + -0.06310100108385086, + -0.0631520003080368, + 0.0007306598126888275 ], "max": [ 0.06335800141096115, - 0.14454765617847443, - 0.0631520003080368 + 0.06332500278949738, + 0.14454765617847443 ], - "min": [ - -0.06310100108385086, - 0.0007306598126888275, - -0.06332500278949738 - ] + "size": [ + 0.126459002494812, + 0.12647700309753418, + 0.1438169963657856 + ], + "units": "m" }, "center_of_mass": [ 0.00020148589101154357, @@ -59,7 +65,7 @@ 0.001556785893626511, 0.0015788410091772676 ], - "mass": 0.45, + "mass": 0.44999998807907104, "material": "ceramic_or_glass", "name": "D00470 Kitchen Utensil Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00470 Kitchen Utensil Holder", "part_name": "D00470 Kitchen Utensil Holder" }, - "volume": 0.00018749999503294627 + "volume": 0.00018749999503294627, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "85237c8f059d03e75e508489991a4489ab070bdedcfd837d9406f7943025bb13" + }, + "usd_path": "batch33/D00470 Kitchen Utensil Holder/IsaacSim_assets_6a84205ca08484187f60102a/IsaacSim_asset_6a84205ca08484187f60102a.usd", + "usd_sha256": "7e63f5e9034e54f08e7bb8ca4fa5e6cad93fff6206b7b3bf67ff55e21648cef5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.126459002494812, - 0.1438169963657856, - 0.12647700309753418 - ] + 0.12647700309753418, + 0.1438169963657856 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7e63f5e9034e54f08e7bb8ca4fa5e6cad93fff6206b7b3bf67ff55e21648cef5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.44999998807907104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7e63f5e9034e54f08e7bb8ca4fa5e6cad93fff6206b7b3bf67ff55e21648cef5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.44999998807907104, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 21, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7e63f5e9034e54f08e7bb8ca4fa5e6cad93fff6206b7b3bf67ff55e21648cef5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 21, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7e63f5e9034e54f08e7bb8ca4fa5e6cad93fff6206b7b3bf67ff55e21648cef5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00475 Knife Block/IsaacSim_assets_6a83dae8a08484187f563439/physics_6a83dae8a08484187f563439.json b/batch33/D00475 Knife Block/IsaacSim_assets_6a83dae8a08484187f563439/physics_6a83dae8a08484187f563439.json index f6e5e96f0c19d06e05dc112a2e647ac16e36663f..ddec01d43a6269444b7299f8becf150f33d770e7 100644 --- a/batch33/D00475 Knife Block/IsaacSim_assets_6a83dae8a08484187f563439/physics_6a83dae8a08484187f563439.json +++ b/batch33/D00475 Knife Block/IsaacSim_assets_6a83dae8a08484187f563439/physics_6a83dae8a08484187f563439.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09060999751091003, - 0.2649388313293457, - 0.08824600279331207 - ], "min": [ -0.09148500114679337, - 0.0011608153581619263, - -0.08679100126028061 + -0.08824600279331207, + 0.0011608153581619263 + ], + "max": [ + 0.09060999751091003, + 0.08679100126028061, + 0.2649388313293457 ], "size": [ 0.1820949986577034, - 0.2637780159711838, - 0.17503700405359268 - ] + 0.17503700405359268, + 0.2637780159711838 + ], + "units": "m" }, "description": "D00475 Knife Block", "name": "D00475 Knife Block", "object_type": "rigid_bodies", - "total_mass": 4.5 + "total_mass": 4.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00475", "parts": [ { "bounds": { - "center": [ - -0.00043750181794166565, - 0.13304982334375381, - 0.0007275007665157318 + "min": [ + -0.09148500114679337, + -0.08824600279331207, + 0.0011608153581619263 ], "max": [ 0.09060999751091003, - 0.2649388313293457, - 0.08824600279331207 + 0.08679100126028061, + 0.2649388313293457 ], - "min": [ - -0.09148500114679337, - 0.0011608153581619263, - -0.08679100126028061 - ] + "size": [ + 0.1820949986577034, + 0.17503700405359268, + 0.2637780159711838 + ], + "units": "m" }, "center_of_mass": [ -0.00044002608046866953, @@ -67,10 +73,27 @@ "object_name": "D00475 Knife Block", "part_name": "D00475 Knife Block" }, - "volume": 0.006923076923076923 + "volume": 0.006923076923076923, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1914b93144f1893e52ecd17a60e34b1ad406db9fafaa1c35373bd93a2099f715" + }, + "usd_path": "batch33/D00475 Knife Block/IsaacSim_assets_6a83dae8a08484187f563439/IsaacSim_asset_6a83dae8a08484187f563439.usd", + "usd_sha256": "18d1c2a8a8d46c1fe05d7c579a4edaefd927fe29b42cd4cea506b53914b66115", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.1820949986577034, - 0.2637780159711838, - 0.17503700405359268 - ] + 0.17503700405359268, + 0.2637780159711838 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18d1c2a8a8d46c1fe05d7c579a4edaefd927fe29b42cd4cea506b53914b66115", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.5 + "value_kg": 4.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18d1c2a8a8d46c1fe05d7c579a4edaefd927fe29b42cd4cea506b53914b66115", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18d1c2a8a8d46c1fe05d7c579a4edaefd927fe29b42cd4cea506b53914b66115", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18d1c2a8a8d46c1fe05d7c579a4edaefd927fe29b42cd4cea506b53914b66115", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00603 Pepper Mill/IsaacSim_assets_6a8423fba08484187f6073cf/physics_6a8423fba08484187f6073cf.json b/batch33/D00603 Pepper Mill/IsaacSim_assets_6a8423fba08484187f6073cf/physics_6a8423fba08484187f6073cf.json index aa37df79daa32821492ac2d44b1dc78264701dbd..97526f31005cd5f2b4a1c5732e05009bf799b466 100644 --- a/batch33/D00603 Pepper Mill/IsaacSim_assets_6a8423fba08484187f6073cf/physics_6a8423fba08484187f6073cf.json +++ b/batch33/D00603 Pepper Mill/IsaacSim_assets_6a8423fba08484187f6073cf/physics_6a8423fba08484187f6073cf.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.033038001507520676, - 0.15415959432721138, - 0.032944001257419586 - ], "min": [ -0.03305500000715256, - 0.0008415915071964263, - -0.03299599885940552 + -0.032944001257419586, + 0.0008415915071964263 + ], + "max": [ + 0.033038001507520676, + 0.03299599885940552, + 0.15415959432721138 ], "size": [ 0.06609300151467323, - 0.15331800282001495, - 0.0659400001168251 - ] + 0.0659400001168251, + 0.15331800282001495 + ], + "units": "m" }, "description": "D00603 Pepper Mill", "name": "D00603 Pepper Mill", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.30000001192092896, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00603", "parts": [ { "bounds": { - "center": [ - -8.499249815940857e-06, - 0.0775005929172039, - -2.5998800992965698e-05 + "min": [ + -0.03305500000715256, + -0.032944001257419586, + 0.0008415915071964263 ], "max": [ 0.033038001507520676, - 0.15415959432721138, - 0.032944001257419586 + 0.03299599885940552, + 0.15415959432721138 ], - "min": [ - -0.03305500000715256, - 0.0008415915071964263, - -0.03299599885940552 - ] + "size": [ + 0.06609300151467323, + 0.0659400001168251, + 0.15331800282001495 + ], + "units": "m" }, "center_of_mass": [ -1.7054822819773108e-05, @@ -59,7 +65,7 @@ 0.0005486909649334848, 0.0005490254843607545 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "wood", "name": "D00603 Pepper Mill", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00603 Pepper Mill", "part_name": "D00603 Pepper Mill" }, - "volume": 0.0004285714456013271 + "volume": 0.0004285714456013271, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "38cf0b71d82e37bedad18624a1a4f09f075daa4805f3b372d0e14646de0f08de" + }, + "usd_path": "batch33/D00603 Pepper Mill/IsaacSim_assets_6a8423fba08484187f6073cf/IsaacSim_asset_6a8423fba08484187f6073cf.usd", + "usd_sha256": "2bdd47024f15fdb17c2103e1af9f06a97bfca4882b7baf69ee617f6702f7da56", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.06609300151467323, - 0.15331800282001495, - 0.0659400001168251 - ] + 0.0659400001168251, + 0.15331800282001495 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bdd47024f15fdb17c2103e1af9f06a97bfca4882b7baf69ee617f6702f7da56", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.30000001192092896, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bdd47024f15fdb17c2103e1af9f06a97bfca4882b7baf69ee617f6702f7da56", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.30000001192092896, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bdd47024f15fdb17c2103e1af9f06a97bfca4882b7baf69ee617f6702f7da56", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bdd47024f15fdb17c2103e1af9f06a97bfca4882b7baf69ee617f6702f7da56", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00648 Artichoke/IsaacSim_assets_6a82fe96b7a9c4204ad52cbd/physics_6a82fe96b7a9c4204ad52cbd.json b/batch33/D00648 Artichoke/IsaacSim_assets_6a82fe96b7a9c4204ad52cbd/physics_6a82fe96b7a9c4204ad52cbd.json index ba907f41ed7d1642c956cb1e5f1ffb2fe5445490..d0433584e9fd6d00456756907cfa88a20e6cc46d 100644 --- a/batch33/D00648 Artichoke/IsaacSim_assets_6a82fe96b7a9c4204ad52cbd/physics_6a82fe96b7a9c4204ad52cbd.json +++ b/batch33/D00648 Artichoke/IsaacSim_assets_6a82fe96b7a9c4204ad52cbd/physics_6a82fe96b7a9c4204ad52cbd.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04587399959564209, - 0.09569945838302374, - 0.07900699973106384 - ], "min": [ -0.058448001742362976, - 0.000830460248835152, - -0.01243599969893694 + -0.07900699973106384, + 0.000830460248835152 + ], + "max": [ + 0.04587399959564209, + 0.01243599969893694, + 0.09569945838302374 ], "size": [ 0.10432200133800507, - 0.09486899813418859, - 0.09144299943000078 - ] + 0.09144299943000078, + 0.09486899813418859 + ], + "units": "m" }, "description": "D00648 Artichoke", "name": "D00648 Artichoke", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.3499999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00648", "parts": [ { "bounds": { - "center": [ - -0.006287001073360443, - 0.048264959315929445, - 0.03328550001606345 + "min": [ + -0.058448001742362976, + -0.07900699973106384, + 0.000830460248835152 ], "max": [ 0.04587399959564209, - 0.09569945838302374, - 0.07900699973106384 + 0.01243599969893694, + 0.09569945838302374 ], - "min": [ - -0.058448001742362976, - 0.000830460248835152, - -0.01243599969893694 - ] + "size": [ + 0.10432200133800507, + 0.09144299943000078, + 0.09486899813418859 + ], + "units": "m" }, "center_of_mass": [ -0.0038271069061011076, @@ -59,7 +65,7 @@ 0.0006332434713840485, 0.0007288540946319699 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "wood", "name": "D00648 Artichoke", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00648 Artichoke", "part_name": "D00648 Artichoke" }, - "volume": 0.0004999999914850507 + "volume": 0.0004999999914850507, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4158119e615bcac2ae4ea28055062c0aef9e873bb2b77e67bcf6f4c086a192e3" + }, + "usd_path": "batch33/D00648 Artichoke/IsaacSim_assets_6a82fe96b7a9c4204ad52cbd/IsaacSim_asset_6a82fe96b7a9c4204ad52cbd.usd", + "usd_sha256": "ceb43d5c4adedf7074152955e55b2c80ec28c2a2f1655eaab01c8f3e8be14f4e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.10432200133800507, - 0.09486899813418859, - 0.09144299943000078 - ] + 0.09144299943000078, + 0.09486899813418859 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ceb43d5c4adedf7074152955e55b2c80ec28c2a2f1655eaab01c8f3e8be14f4e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.3499999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ceb43d5c4adedf7074152955e55b2c80ec28c2a2f1655eaab01c8f3e8be14f4e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3499999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ceb43d5c4adedf7074152955e55b2c80ec28c2a2f1655eaab01c8f3e8be14f4e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ceb43d5c4adedf7074152955e55b2c80ec28c2a2f1655eaab01c8f3e8be14f4e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00649 Brussels Sprouts/IsaacSim_assets_6a82fe97b7a9c4204ad52d1e/physics_6a82fe97b7a9c4204ad52d1e.json b/batch33/D00649 Brussels Sprouts/IsaacSim_assets_6a82fe97b7a9c4204ad52d1e/physics_6a82fe97b7a9c4204ad52d1e.json index d5b7d3cdd86d65ebf6f9ae19a092ca7da448248c..d48b0216d80e5f21408efd1bd5f39788d5798818 100644 --- a/batch33/D00649 Brussels Sprouts/IsaacSim_assets_6a82fe97b7a9c4204ad52d1e/physics_6a82fe97b7a9c4204ad52d1e.json +++ b/batch33/D00649 Brussels Sprouts/IsaacSim_assets_6a82fe97b7a9c4204ad52d1e/physics_6a82fe97b7a9c4204ad52d1e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.010812000371515751, - 0.024197999387979507, - 0.011644000187516212 - ], "min": [ -0.013558999635279179, - 9.999999974752427e-07, - -0.014076000079512596 + -0.011644000187516212, + 9.999999974752427e-07 + ], + "max": [ + 0.010812000371515751, + 0.014076000079512596, + 0.024197999387979507 ], "size": [ 0.02437100000679493, - 0.024196999387982032, - 0.02572000026702881 - ] + 0.02572000026702881, + 0.024196999387982032 + ], + "units": "m" }, "description": "D00649 Brussels Sprouts", "name": "D00649 Brussels Sprouts", "object_type": "rigid_bodies", - "total_mass": 0.018 + "total_mass": 0.017999999225139618, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00649", "parts": [ { "bounds": { - "center": [ - -0.0013734996318817139, - 0.012099499693988491, - -0.0012159999459981918 + "min": [ + -0.013558999635279179, + -0.011644000187516212, + 9.999999974752427e-07 ], "max": [ 0.010812000371515751, - 0.024197999387979507, - 0.011644000187516212 + 0.014076000079512596, + 0.024197999387979507 ], - "min": [ - -0.013558999635279179, - 9.999999974752427e-07, - -0.014076000079512596 - ] + "size": [ + 0.02437100000679493, + 0.02572000026702881, + 0.024196999387982032 + ], + "units": "m" }, "center_of_mass": [ -0.0011220546439290047, @@ -59,7 +65,7 @@ 1.147708189819241e-06, 1.1801946584455436e-06 ], - "mass": 0.018, + "mass": 0.017999999225139618, "material": "wood", "name": "D00649 Brussels Sprouts", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00649 Brussels Sprouts", "part_name": "D00649 Brussels Sprouts" }, - "volume": 3.351955162968272e-05 + "volume": 3.351955162968272e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "15c10745474d7937cd9680cf1410f14de938e7fd055146595b67c782169e2b81" + }, + "usd_path": "batch33/D00649 Brussels Sprouts/IsaacSim_assets_6a82fe97b7a9c4204ad52d1e/IsaacSim_asset_6a82fe97b7a9c4204ad52d1e.usd", + "usd_sha256": "74719f95d9fcd4c6f1a21ac6b740f9305faa85461eee9c943ec55ef03c19a055", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.02437100000679493, - 0.024196999387982032, - 0.02572000026702881 - ] + 0.02572000026702881, + 0.024196999387982032 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74719f95d9fcd4c6f1a21ac6b740f9305faa85461eee9c943ec55ef03c19a055", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.018 + "value_kg": 0.017999999225139618, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74719f95d9fcd4c6f1a21ac6b740f9305faa85461eee9c943ec55ef03c19a055", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.017999999225139618, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 7, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74719f95d9fcd4c6f1a21ac6b740f9305faa85461eee9c943ec55ef03c19a055", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 7, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74719f95d9fcd4c6f1a21ac6b740f9305faa85461eee9c943ec55ef03c19a055", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00758 Spice Bottle/IsaacSim_assets_6a84241ca08484187f607e51/physics_6a84241ca08484187f607e51.json b/batch33/D00758 Spice Bottle/IsaacSim_assets_6a84241ca08484187f607e51/physics_6a84241ca08484187f607e51.json index 283b5389a0660ca14d688b998a186c9bb12c8a1e..a8bc2b62c444741fea70544f553f6be538be2907 100644 --- a/batch33/D00758 Spice Bottle/IsaacSim_assets_6a84241ca08484187f607e51/physics_6a84241ca08484187f607e51.json +++ b/batch33/D00758 Spice Bottle/IsaacSim_assets_6a84241ca08484187f607e51/physics_6a84241ca08484187f607e51.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a84241ca08484187f607e51/part_0", "body1": "/World/textured_mesh_6a84241ca08484187f607e51/part_1", "joint_path": "/World/textured_mesh_6a84241ca08484187f607e51/Joints/joint_bottle__cap", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle__cap", + "path": "/World/textured_mesh_6a84241ca08484187f607e51/Joints/joint_bottle__cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a84241ca08484187f607e51/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a84241ca08484187f607e51/part_1" + ], + "authored_usd": { + "id": "joint_bottle__cap", + "source_prim_path": "/World/textured_mesh_6a84241ca08484187f607e51/Joints/joint_bottle__cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a84241ca08484187f607e51/part_0" + ], + "body1": [ + "/World/textured_mesh_6a84241ca08484187f607e51/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02536199986934662, - 0.1110054983291775, - 0.025505999103188515 - ], "min": [ -0.02557400055229664, - 0.00047949995132512413, - -0.02559500001370907 + -0.025505999103188515, + 0.00047949995132512413 + ], + "max": [ + 0.02536199986934662, + 0.02559500001370907, + 0.1110054983291775 ], "size": [ 0.05093600042164326, - 0.11052599837785237, - 0.05110099911689758 - ] + 0.05110099911689758, + 0.11052599837785237 + ], + "units": "m" }, "description": "D00758 Spice Bottle", "name": "D00758 Spice Bottle", "object_type": "rigid_bodies", - "total_mass": 0.13 + "total_mass": 0.12999999709427357, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00758", "parts": [ { "bounds": { - "center": [ - -0.00010600034147500992, - 0.05109300157164398, - -4.4500455260276794e-05 + "min": [ + -0.02557400055229664, + -0.025505999103188515, + 0.00047949995132512413 ], "max": [ 0.02536199986934662, - 0.10170650319196284, - 0.025505999103188515 + 0.02559500001370907, + 0.10170650319196284 ], - "min": [ - -0.02557400055229664, - 0.00047949995132512413, - -0.02559500001370907 - ] + "size": [ + 0.05093600042164326, + 0.05110099911689758, + 0.10122700324063771 + ], + "units": "m" }, "center_of_mass": [ -0.00040651034214533865, @@ -66,7 +117,7 @@ 0.00010527457925491035, 0.00010544785618549213 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "ceramic_or_glass", "name": "D00758 Spice Bottle", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00758 Spice Bottle", "part_name": "D00758 Spice Bottle" }, - "volume": 4.799999892711639e-05 + "volume": 4.799999892711639e-05, + "source_prim_path": "/World/textured_mesh_6a84241ca08484187f607e51/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 2.2999942302703857e-05, - 0.0997445008251816, - -3.150012344121933e-05 + "min": [ + -0.02506900019943714, + -0.02535099908709526, + 0.08848350332118571 ], "max": [ 0.02511500008404255, - 0.1110054983291775, - 0.02535099908709526 + 0.0254139993339777, + 0.1110054983291775 ], - "min": [ - -0.02506900019943714, - 0.08848350332118571, - -0.0254139993339777 - ] + "size": [ + 0.05018400028347969, + 0.05076499842107296, + 0.02252199500799179 + ], + "units": "m" }, "center_of_mass": [ -0.00011164631723659113, @@ -107,7 +161,7 @@ 1.983508582270588e-06, 3.114637138423859e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "plastic", "name": "D00758 Spice Bottle", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00758 Spice Bottle", "part_name": "D00758 Spice Bottle" }, - "volume": 9.090908887711438e-06 + "volume": 9.090908887711438e-06, + "source_prim_path": "/World/textured_mesh_6a84241ca08484187f607e51/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b34893fae546282e9a20881408bb6c2b42111d07fc1e99e387532171f90913ce" + }, + "usd_path": "batch33/D00758 Spice Bottle/IsaacSim_assets_6a84241ca08484187f607e51/IsaacSim_asset_6a84241ca08484187f607e51.usd", + "usd_sha256": "a949255a23aacc17ca890d4397aadccb7821e8fe4de1ab2db933c360f5df26d7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.05093600042164326, - 0.11052599837785237, - 0.05110099911689758 - ] + 0.05110099911689758, + 0.11052599837785237 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a949255a23aacc17ca890d4397aadccb7821e8fe4de1ab2db933c360f5df26d7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.13 + "value_kg": 0.12999999709427357, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a949255a23aacc17ca890d4397aadccb7821e8fe4de1ab2db933c360f5df26d7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.12999999709427357, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a949255a23aacc17ca890d4397aadccb7821e8fe4de1ab2db933c360f5df26d7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a949255a23aacc17ca890d4397aadccb7821e8fe4de1ab2db933c360f5df26d7", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch33/D00766_Celeriac/IsaacSim_assets_6a7c30f6b7a9c4204a475039/physics_6a7c30f6b7a9c4204a475039.json b/batch33/D00766_Celeriac/IsaacSim_assets_6a7c30f6b7a9c4204a475039/physics_6a7c30f6b7a9c4204a475039.json index 51fa6715a7b5b4b47b62a24127798ae64cd5e840..7a042a61f2c2291db9c48e4dd202d46d7a03b074 100644 --- a/batch33/D00766_Celeriac/IsaacSim_assets_6a7c30f6b7a9c4204a475039/physics_6a7c30f6b7a9c4204a475039.json +++ b/batch33/D00766_Celeriac/IsaacSim_assets_6a7c30f6b7a9c4204a475039/physics_6a7c30f6b7a9c4204a475039.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04072900116443634, - 0.08012290112674236, - 0.03518800064921379 - ], "min": [ -0.03596099838614464, - 0.000428899221788015, - -0.04063300043344498 + -0.03518800064921379, + 0.000428899221788015 + ], + "max": [ + 0.04072900116443634, + 0.04063300043344498, + 0.08012290112674236 ], "size": [ 0.07668999955058098, - 0.07969400190495435, - 0.07582100108265877 - ] + 0.07582100108265877, + 0.07969400190495435 + ], + "units": "m" }, "description": "D00766 Celeriac", "name": "D00766 Celeriac", "object_type": "rigid_bodies", - "total_mass": 0.9 + "total_mass": 0.8999999761581421, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00766", "parts": [ { "bounds": { - "center": [ - 0.002384001389145851, - 0.04027590017426519, - -0.002722499892115593 + "min": [ + -0.03596099838614464, + -0.03518800064921379, + 0.000428899221788015 ], "max": [ 0.04072900116443634, - 0.08012290112674236, - 0.03518800064921379 + 0.04063300043344498, + 0.08012290112674236 ], - "min": [ - -0.03596099838614464, - 0.000428899221788015, - -0.04063300043344498 - ] + "size": [ + 0.07668999955058098, + 0.07582100108265877, + 0.07969400190495435 + ], + "units": "m" }, "center_of_mass": [ 0.0015353959752246737, @@ -59,7 +65,7 @@ 0.0005461425171233714, 0.0005470374599099159 ], - "mass": 0.9, + "mass": 0.8999999761581421, "material": "plastic", "name": "D00766 Celeriac", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00766 Celeriac", "part_name": "D00766 Celeriac" }, - "volume": 0.0008823529178021 + "volume": 0.0008823529178021, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0781d25003c144d5f95f719d7cbdf26b459f90a287dd33c0491beb1c4809069e" + }, + "usd_path": "batch33/D00766_Celeriac/IsaacSim_assets_6a7c30f6b7a9c4204a475039/IsaacSim_asset_6a7c30f6b7a9c4204a475039.usd", + "usd_sha256": "33bebd48804f486e893d376332277f9961f7d264f740a5320b5711eef112112a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.07668999955058098, - 0.07969400190495435, - 0.07582100108265877 - ] + 0.07582100108265877, + 0.07969400190495435 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "33bebd48804f486e893d376332277f9961f7d264f740a5320b5711eef112112a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.9 + "value_kg": 0.8999999761581421, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "33bebd48804f486e893d376332277f9961f7d264f740a5320b5711eef112112a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8999999761581421, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 15, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "33bebd48804f486e893d376332277f9961f7d264f740a5320b5711eef112112a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 15, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "33bebd48804f486e893d376332277f9961f7d264f740a5320b5711eef112112a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00504 Measuring Cup/IsaacSim_assets_6a844517a08484187f64dfd4/physics_6a844517a08484187f64dfd4.json b/batch34/D00504 Measuring Cup/IsaacSim_assets_6a844517a08484187f64dfd4/physics_6a844517a08484187f64dfd4.json index 304c2f00ca0b20d4a72ac7075faaa2c5e58045c4..d51193c1332e313d265e84dd1a365bec75fc4b19 100644 --- a/batch34/D00504 Measuring Cup/IsaacSim_assets_6a844517a08484187f64dfd4/physics_6a844517a08484187f64dfd4.json +++ b/batch34/D00504 Measuring Cup/IsaacSim_assets_6a844517a08484187f64dfd4/physics_6a844517a08484187f64dfd4.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06094000115990639, - 0.0860196128487587, - 0.04239699989557266 - ], "min": [ -0.05243200063705444, - 0.0006116100121289492, - -0.04260699823498726 + -0.04239699989557266, + 0.0006116100121289492 + ], + "max": [ + 0.06094000115990639, + 0.04260699823498726, + 0.0860196128487587 ], "size": [ 0.11337200179696083, - 0.08540800283662975, - 0.08500399813055992 - ] + 0.08500399813055992, + 0.08540800283662975 + ], + "units": "m" }, "description": "D00504 Measuring Cup", "name": "D00504 Measuring Cup", "object_type": "rigid_bodies", - "total_mass": 0.051 + "total_mass": 0.050999999046325684, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00504", "parts": [ { "bounds": { - "center": [ - 0.004254000261425972, - 0.04331561143044382, - -0.00010499916970729828 + "min": [ + -0.05243200063705444, + -0.04239699989557266, + 0.0006116100121289492 ], "max": [ 0.06094000115990639, - 0.0860196128487587, - 0.04239699989557266 + 0.04260699823498726, + 0.0860196128487587 ], - "min": [ - -0.05243200063705444, - 0.0006116100121289492, - -0.04260699823498726 - ] + "size": [ + 0.11337200179696083, + 0.08500399813055992, + 0.08540800283662975 + ], + "units": "m" }, "center_of_mass": [ 0.000865674577653408, @@ -59,7 +65,7 @@ 4.6682402171427384e-05, 5.6920674978755414e-05 ], - "mass": 0.051, + "mass": 0.050999999046325684, "material": "plastic", "name": "D00504 Measuring Cup", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00504 Measuring Cup", "part_name": "D00504 Measuring Cup" }, - "volume": 4.3220338174852274e-05 + "volume": 4.3220338174852274e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c5f35237714a850c166ee546958f57d8eec8d0c67cd8dbe482af7a3d8d40c315" + }, + "usd_path": "batch34/D00504 Measuring Cup/IsaacSim_assets_6a844517a08484187f64dfd4/IsaacSim_asset_6a844517a08484187f64dfd4.usd", + "usd_sha256": "6ad7bd00071291d8a2e899e089136812e822eac94b5ba76b86f72a07f9f9860a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.11337200179696083, - 0.08540800283662975, - 0.08500399813055992 - ] + 0.08500399813055992, + 0.08540800283662975 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6ad7bd00071291d8a2e899e089136812e822eac94b5ba76b86f72a07f9f9860a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.051 + "value_kg": 0.050999999046325684, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6ad7bd00071291d8a2e899e089136812e822eac94b5ba76b86f72a07f9f9860a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.050999999046325684, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 21, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6ad7bd00071291d8a2e899e089136812e822eac94b5ba76b86f72a07f9f9860a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 21, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6ad7bd00071291d8a2e899e089136812e822eac94b5ba76b86f72a07f9f9860a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00554 Nut/IsaacSim_assets_6a83dce0a08484187f56887e/physics_6a83dce0a08484187f56887e.json b/batch34/D00554 Nut/IsaacSim_assets_6a83dce0a08484187f56887e/physics_6a83dce0a08484187f56887e.json index d0dadaeebc7c8f1ec45d9d26a9f41b07216964ab..84f4798e9416953ba7ea06e3821ceb0c80e52320 100644 --- a/batch34/D00554 Nut/IsaacSim_assets_6a83dce0a08484187f56887e/physics_6a83dce0a08484187f56887e.json +++ b/batch34/D00554 Nut/IsaacSim_assets_6a83dce0a08484187f56887e/physics_6a83dce0a08484187f56887e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.011130999773740768, - 0.019564159214496613, - 0.010197999887168407 - ], "min": [ -0.011199000291526318, - 9.116064757108688e-05, - -0.010323000140488148 + -0.010197999887168407, + 9.116064757108688e-05 + ], + "max": [ + 0.011130999773740768, + 0.010323000140488148, + 0.019564159214496613 ], "size": [ 0.022330000065267086, - 0.019472998566925526, - 0.020521000027656555 - ] + 0.020521000027656555, + 0.019472998566925526 + ], + "units": "m" }, "description": "D00554 Nut", "name": "D00554 Nut", "object_type": "rigid_bodies", - "total_mass": 0.012 + "total_mass": 0.012000000104308128, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00554", "parts": [ { "bounds": { - "center": [ - -3.400025889277458e-05, - 0.00982765993103385, - -6.250012665987015e-05 + "min": [ + -0.011199000291526318, + -0.010197999887168407, + 9.116064757108688e-05 ], "max": [ 0.011130999773740768, - 0.019564159214496613, - 0.010197999887168407 + 0.010323000140488148, + 0.019564159214496613 ], - "min": [ - -0.011199000291526318, - 9.116064757108688e-05, - -0.010323000140488148 - ] + "size": [ + 0.022330000065267086, + 0.020521000027656555, + 0.019472998566925526 + ], + "units": "m" }, "center_of_mass": [ -3.49342699337285e-05, @@ -59,7 +65,7 @@ 5.170854251446144e-07, 5.370741860133421e-07 ], - "mass": 0.012, + "mass": 0.012000000104308128, "material": "wood", "name": "D00554 Nut", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00554 Nut", "part_name": "D00554 Nut" }, - "volume": 1.8808777592959447e-05 + "volume": 1.8808777592959447e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8852d0a9f3b5a6612d81cdfbd56c8f79522055e6c08cca5f326217d3ea052a5b" + }, + "usd_path": "batch34/D00554 Nut/IsaacSim_assets_6a83dce0a08484187f56887e/IsaacSim_asset_6a83dce0a08484187f56887e.usd", + "usd_sha256": "6bec39890882622c87cd769017412c6ec22dc9dd9ce7da2e9b4f01092c048b56", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.022330000065267086, - 0.019472998566925526, - 0.020521000027656555 - ] + 0.020521000027656555, + 0.019472998566925526 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6bec39890882622c87cd769017412c6ec22dc9dd9ce7da2e9b4f01092c048b56", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.012 + "value_kg": 0.012000000104308128, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6bec39890882622c87cd769017412c6ec22dc9dd9ce7da2e9b4f01092c048b56", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.012000000104308128, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6bec39890882622c87cd769017412c6ec22dc9dd9ce7da2e9b4f01092c048b56", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6bec39890882622c87cd769017412c6ec22dc9dd9ce7da2e9b4f01092c048b56", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00558 Oil Dispenser/IsaacSim_assets_6a83ddc8a08484187f56a9ca/physics_6a83ddc8a08484187f56a9ca.json b/batch34/D00558 Oil Dispenser/IsaacSim_assets_6a83ddc8a08484187f56a9ca/physics_6a83ddc8a08484187f56a9ca.json index 3fa61ec2f4fc938fb08792e6d3c354efdb75ebd3..9fcb1932216d7a1c05b77b8b306e3d4f5916755c 100644 --- a/batch34/D00558 Oil Dispenser/IsaacSim_assets_6a83ddc8a08484187f56a9ca/physics_6a83ddc8a08484187f56a9ca.json +++ b/batch34/D00558 Oil Dispenser/IsaacSim_assets_6a83ddc8a08484187f56a9ca/physics_6a83ddc8a08484187f56a9ca.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a83ddc8a08484187f56a9ca/part_00", "body1": "/World/textured_mesh_6a83ddc8a08484187f56a9ca/part_01", "joint_path": "/World/textured_mesh_6a83ddc8a08484187f56a9ca/Joints/joint_bottle_body__pouring_spout", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__pouring_spout", + "path": "/World/textured_mesh_6a83ddc8a08484187f56a9ca/Joints/joint_bottle_body__pouring_spout", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a83ddc8a08484187f56a9ca/part_00" + ], + "body1_targets": [ + "/World/textured_mesh_6a83ddc8a08484187f56a9ca/part_01" + ], + "authored_usd": { + "id": "joint_bottle_body__pouring_spout", + "source_prim_path": "/World/textured_mesh_6a83ddc8a08484187f56a9ca/Joints/joint_bottle_body__pouring_spout", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a83ddc8a08484187f56a9ca/part_00" + ], + "body1": [ + "/World/textured_mesh_6a83ddc8a08484187f56a9ca/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04094599932432175, - 0.19553600251674652, - 0.04066599905490875 - ], "min": [ -0.04109000042080879, - 3.7000001611886546e-05, - -0.04075799882411957 + -0.04066599905490875, + 3.7000001611886546e-05 + ], + "max": [ + 0.04094599932432175, + 0.04075799882411957, + 0.19553600251674652 ], "size": [ 0.08203599974513054, - 0.19549900251513463, - 0.08142399787902832 - ] + 0.08142399787902832, + 0.19549900251513463 + ], + "units": "m" }, "description": "D00558 Oil Dispenser", "name": "D00558 Oil Dispenser", "object_type": "rigid_bodies", - "total_mass": 0.28 + "total_mass": 0.27999999932944775, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00558", "parts": [ { "bounds": { - "center": [ - -7.200054824352264e-05, - 0.07722450068649778, - -4.5999884605407715e-05 + "min": [ + -0.04109000042080879, + -0.04066599905490875, + 3.7000001611886546e-05 ], "max": [ 0.04094599932432175, - 0.15441200137138367, - 0.04066599905490875 + 0.04075799882411957, + 0.15441200137138367 ], - "min": [ - -0.04109000042080879, - 3.7000001611886546e-05, - -0.04075799882411957 - ] + "size": [ + 0.08203599974513054, + 0.08142399787902832, + 0.15437500136977178 + ], + "units": "m" }, "center_of_mass": [ -0.00011863632244057953, @@ -74,25 +125,28 @@ "object_name": "D00558 Oil Dispenser", "part_name": "D00558 Oil Dispenser" }, - "volume": 0.0001 + "volume": 0.0001, + "source_prim_path": "/World/textured_mesh_6a83ddc8a08484187f56a9ca/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0001354999840259552, - 0.1731244996190071, - -4.4500455260276794e-05 + "min": [ + -0.016155000776052475, + -0.015832999721169472, + 0.1507129967212677 ], "max": [ 0.015884000808000565, - 0.19553600251674652, - 0.015832999721169472 + 0.015922000631690025, + 0.19553600251674652 ], - "min": [ - -0.016155000776052475, - 0.1507129967212677, - -0.015922000631690025 - ] + "size": [ + 0.03203900158405304, + 0.0317550003528595, + 0.04482300579547882 + ], + "units": "m" }, "center_of_mass": [ -0.00036035102675668895, @@ -107,7 +161,7 @@ 4.4867279029858764e-06, 4.506940058490727e-06 ], - "mass": 0.03, + "mass": 0.029999999329447746, "material": "metal", "name": "D00558 Oil Dispenser", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00558 Oil Dispenser", "part_name": "D00558 Oil Dispenser" }, - "volume": 3.529411685817382e-06 + "volume": 3.529411685817382e-06, + "source_prim_path": "/World/textured_mesh_6a83ddc8a08484187f56a9ca/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "619176da59a4bbd46f9a82a5ee926ec80153d929995b3dcffff42e9ebcbe32c5" + }, + "usd_path": "batch34/D00558 Oil Dispenser/IsaacSim_assets_6a83ddc8a08484187f56a9ca/IsaacSim_asset_6a83ddc8a08484187f56a9ca.usd", + "usd_sha256": "a77e53c0d63f4caf0ddd16de4410415a9c2d783bb8e18c2e0f8d9c0d07bfd0bf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.08203599974513054, - 0.19549900251513463, - 0.08142399787902832 - ] + 0.08142399787902832, + 0.19549900251513463 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a77e53c0d63f4caf0ddd16de4410415a9c2d783bb8e18c2e0f8d9c0d07bfd0bf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.28 + "value_kg": 0.27999999932944775, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a77e53c0d63f4caf0ddd16de4410415a9c2d783bb8e18c2e0f8d9c0d07bfd0bf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.27999999932944775, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 31, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a77e53c0d63f4caf0ddd16de4410415a9c2d783bb8e18c2e0f8d9c0d07bfd0bf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 31, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a77e53c0d63f4caf0ddd16de4410415a9c2d783bb8e18c2e0f8d9c0d07bfd0bf", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00566 Olive Oil Jar/IsaacSim_assets_6a83eb45a08484187f5a37c2/physics_6a83eb45a08484187f5a37c2.json b/batch34/D00566 Olive Oil Jar/IsaacSim_assets_6a83eb45a08484187f5a37c2/physics_6a83eb45a08484187f5a37c2.json index b59caa17f8ad3243b51583d2b85349ec4cc7719b..2cf0dd3cf72f0c3487bf8b675f05cdbda35c1a04 100644 --- a/batch34/D00566 Olive Oil Jar/IsaacSim_assets_6a83eb45a08484187f5a37c2/physics_6a83eb45a08484187f5a37c2.json +++ b/batch34/D00566 Olive Oil Jar/IsaacSim_assets_6a83eb45a08484187f5a37c2/physics_6a83eb45a08484187f5a37c2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03633999824523926, - 0.24588418006896973, - 0.036430999636650085 - ], "min": [ -0.03642499819397926, - 0.0013301803264766932, - -0.03682199865579605 + -0.036430999636650085, + 0.0013301803264766932 + ], + "max": [ + 0.03633999824523926, + 0.03682199865579605, + 0.24588418006896973 ], "size": [ 0.07276499643921852, - 0.24455399974249303, - 0.07325299829244614 - ] + 0.07325299829244614, + 0.24455399974249303 + ], + "units": "m" }, "description": "D00566 Olive Oil Jar", "name": "D00566 Olive Oil Jar", "object_type": "rigid_bodies", - "total_mass": 0.29 + "total_mass": 0.28999999165534973, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00566", "parts": [ { "bounds": { - "center": [ - -4.2499974370002747e-05, - 0.12360718019772321, - -0.0001954995095729828 + "min": [ + -0.03642499819397926, + -0.036430999636650085, + 0.0013301803264766932 ], "max": [ 0.03633999824523926, - 0.24588418006896973, - 0.036430999636650085 + 0.03682199865579605, + 0.24588418006896973 ], - "min": [ - -0.03642499819397926, - 0.0013301803264766932, - -0.03682199865579605 - ] + "size": [ + 0.07276499643921852, + 0.07325299829244614, + 0.24455399974249303 + ], + "units": "m" }, "center_of_mass": [ -5.469139796332456e-05, @@ -59,7 +65,7 @@ 0.0013491921126842499, 0.0013502518413588405 ], - "mass": 0.29, + "mass": 0.28999999165534973, "material": "ceramic_or_glass", "name": "D00566 Olive Oil Jar", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00566 Olive Oil Jar", "part_name": "D00566 Olive Oil Jar" }, - "volume": 0.00011599999666213989 + "volume": 0.00011599999666213989, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "378466c27724a1cc9036fc4aa488d8e23db63074926c1ba2379616faa93a7f07" + }, + "usd_path": "batch34/D00566 Olive Oil Jar/IsaacSim_assets_6a83eb45a08484187f5a37c2/IsaacSim_asset_6a83eb45a08484187f5a37c2.usd", + "usd_sha256": "49b5e99d4671790f2ce6b33998ae13f0526e2d21deafeb4b165d789b1d8f43e2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.07276499643921852, - 0.24455399974249303, - 0.07325299829244614 - ] + 0.07325299829244614, + 0.24455399974249303 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49b5e99d4671790f2ce6b33998ae13f0526e2d21deafeb4b165d789b1d8f43e2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.29 + "value_kg": 0.28999999165534973, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49b5e99d4671790f2ce6b33998ae13f0526e2d21deafeb4b165d789b1d8f43e2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.28999999165534973, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49b5e99d4671790f2ce6b33998ae13f0526e2d21deafeb4b165d789b1d8f43e2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49b5e99d4671790f2ce6b33998ae13f0526e2d21deafeb4b165d789b1d8f43e2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00602 Pepper Grinder/IsaacSim_assets_6a8423f7a08484187f607245/physics_6a8423f7a08484187f607245.json b/batch34/D00602 Pepper Grinder/IsaacSim_assets_6a8423f7a08484187f607245/physics_6a8423f7a08484187f607245.json index 90a00a17e95bb8e35a88fe8eef5417263e2d25a8..7619ac5cc5b6c0cdb40dcc0bb616500491a9b5f3 100644 --- a/batch34/D00602 Pepper Grinder/IsaacSim_assets_6a8423f7a08484187f607245/physics_6a8423f7a08484187f607245.json +++ b/batch34/D00602 Pepper Grinder/IsaacSim_assets_6a8423f7a08484187f607245/physics_6a8423f7a08484187f607245.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.037797000259160995, - 0.1911221630871296, - 0.03756200149655342 - ], "min": [ -0.037689998745918274, - 0.0010391595146757027, - -0.03769100084900856 + -0.03756200149655342, + 0.0010391595146757027 + ], + "max": [ + 0.037797000259160995, + 0.03769100084900856, + 0.1911221630871296 ], "size": [ 0.07548699900507927, - 0.1900830035724539, - 0.07525300234556198 - ] + 0.07525300234556198, + 0.1900830035724539 + ], + "units": "m" }, "description": "D00602 Pepper Grinder", "name": "D00602 Pepper Grinder", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.30000001192092896, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00602", "parts": [ { "bounds": { - "center": [ - 5.350075662136078e-05, - 0.09608066130090265, - -6.449967622756958e-05 + "min": [ + -0.037689998745918274, + -0.03756200149655342, + 0.0010391595146757027 ], "max": [ 0.037797000259160995, - 0.1911221630871296, - 0.03756200149655342 + 0.03769100084900856, + 0.1911221630871296 ], - "min": [ - -0.037689998745918274, - 0.0010391595146757027, - -0.03769100084900856 - ] + "size": [ + 0.07548699900507927, + 0.07525300234556198, + 0.1900830035724539 + ], + "units": "m" }, "center_of_mass": [ 5.1291470299474895e-05, @@ -59,7 +65,7 @@ 0.0008387728012166917, 0.0008392926538363099 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "wood", "name": "D00602 Pepper Grinder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00602 Pepper Grinder", "part_name": "D00602 Pepper Grinder" }, - "volume": 0.0004285714456013271 + "volume": 0.0004285714456013271, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5a36d9415ec9939d96ec482577ea8d5df32a41c5360117056eaca57f442d5b53" + }, + "usd_path": "batch34/D00602 Pepper Grinder/IsaacSim_assets_6a8423f7a08484187f607245/IsaacSim_asset_6a8423f7a08484187f607245.usd", + "usd_sha256": "5582001b500b26ef9cb59cd495ec9fd6545747e753b5c97302e8f15f4f3a3b20", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.07548699900507927, - 0.1900830035724539, - 0.07525300234556198 - ] + 0.07525300234556198, + 0.1900830035724539 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5582001b500b26ef9cb59cd495ec9fd6545747e753b5c97302e8f15f4f3a3b20", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.30000001192092896, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5582001b500b26ef9cb59cd495ec9fd6545747e753b5c97302e8f15f4f3a3b20", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.30000001192092896, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5582001b500b26ef9cb59cd495ec9fd6545747e753b5c97302e8f15f4f3a3b20", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5582001b500b26ef9cb59cd495ec9fd6545747e753b5c97302e8f15f4f3a3b20", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00608 Raspberry/IsaacSim_assets_6a82fe8cb7a9c4204ad52ade/physics_6a82fe8cb7a9c4204ad52ade.json b/batch34/D00608 Raspberry/IsaacSim_assets_6a82fe8cb7a9c4204ad52ade/physics_6a82fe8cb7a9c4204ad52ade.json index 4dc111f98771230222ef1ee66f4da2e395efb42a..b8782c1ab6c0008c45afd30a4e54a7414bc8e6eb 100644 --- a/batch34/D00608 Raspberry/IsaacSim_assets_6a82fe8cb7a9c4204ad52ade/physics_6a82fe8cb7a9c4204ad52ade.json +++ b/batch34/D00608 Raspberry/IsaacSim_assets_6a82fe8cb7a9c4204ad52ade/physics_6a82fe8cb7a9c4204ad52ade.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.006907999981194735, - 0.012876000255346298, - 0.007129000034183264 - ], "min": [ -0.006649000104516745, - -3.000000106112566e-06, - -0.006345999892801046 + -0.007129000034183264, + -3.000000106112566e-06 + ], + "max": [ + 0.006907999981194735, + 0.006345999892801046, + 0.012876000255346298 ], "size": [ 0.01355700008571148, - 0.01287900025545241, - 0.01347499992698431 - ] + 0.01347499992698431, + 0.01287900025545241 + ], + "units": "m" }, "description": "D00608 Raspberry", "name": "D00608 Raspberry", "object_type": "rigid_bodies", - "total_mass": 0.004 + "total_mass": 0.004000000189989805, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00608", "parts": [ { "bounds": { - "center": [ - 0.00012949993833899498, - 0.006436500127620093, - 0.0003915000706911087 + "min": [ + -0.006649000104516745, + -0.007129000034183264, + -3.000000106112566e-06 ], "max": [ 0.006907999981194735, - 0.012876000255346298, - 0.007129000034183264 + 0.006345999892801046, + 0.012876000255346298 ], - "min": [ - -0.006649000104516745, - -3.000000106112566e-06, - -0.006345999892801046 - ] + "size": [ + 0.01355700008571148, + 0.01347499992698431, + 0.01287900025545241 + ], + "units": "m" }, "center_of_mass": [ -1.303010867559351e-05, @@ -59,7 +65,7 @@ 6.976826227855781e-08, 7.098453380649516e-08 ], - "mass": 0.004, + "mass": 0.004000000189989805, "material": "plastic", "name": "D00608 Raspberry", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00608 Raspberry", "part_name": "D00608 Raspberry" }, - "volume": 4.210526515778742e-06 + "volume": 4.210526515778742e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "39a3a8c98a548fa3556b0d5524775be3a8b11a4c36f95f0c0ae794c71189d61d" + }, + "usd_path": "batch34/D00608 Raspberry/IsaacSim_assets_6a82fe8cb7a9c4204ad52ade/IsaacSim_asset_6a82fe8cb7a9c4204ad52ade.usd", + "usd_sha256": "8e0760ee85c9af92610221a9caa460793cf4a486f6afd2a7f5f1a31faa835d98", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.01355700008571148, - 0.01287900025545241, - 0.01347499992698431 - ] + 0.01347499992698431, + 0.01287900025545241 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e0760ee85c9af92610221a9caa460793cf4a486f6afd2a7f5f1a31faa835d98", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.004 + "value_kg": 0.004000000189989805, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e0760ee85c9af92610221a9caa460793cf4a486f6afd2a7f5f1a31faa835d98", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.004000000189989805, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e0760ee85c9af92610221a9caa460793cf4a486f6afd2a7f5f1a31faa835d98", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8e0760ee85c9af92610221a9caa460793cf4a486f6afd2a7f5f1a31faa835d98", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00609 Pepper Shaker/IsaacSim_assets_6a842400a08484187f60752e/physics_6a842400a08484187f60752e.json b/batch34/D00609 Pepper Shaker/IsaacSim_assets_6a842400a08484187f60752e/physics_6a842400a08484187f60752e.json index 0b6948870ed070037d3cf4c3f849d47814fd6a1a..13ff5d6c6702a950f1a90d73987740ba986a4a85 100644 --- a/batch34/D00609 Pepper Shaker/IsaacSim_assets_6a842400a08484187f60752e/physics_6a842400a08484187f60752e.json +++ b/batch34/D00609 Pepper Shaker/IsaacSim_assets_6a842400a08484187f60752e/physics_6a842400a08484187f60752e.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a842400a08484187f60752e/part_1", "body1": "/World/textured_mesh_6a842400a08484187f60752e/part_0", "joint_path": "/World/textured_mesh_6a842400a08484187f60752e/Joints/joint_glass_body__metal_cap", - "type": "fixed" + "type": "fixed", + "id": "joint_glass_body__metal_cap", + "path": "/World/textured_mesh_6a842400a08484187f60752e/Joints/joint_glass_body__metal_cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a842400a08484187f60752e/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_6a842400a08484187f60752e/part_0" + ], + "authored_usd": { + "id": "joint_glass_body__metal_cap", + "source_prim_path": "/World/textured_mesh_6a842400a08484187f60752e/Joints/joint_glass_body__metal_cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a842400a08484187f60752e/part_1" + ], + "body1": [ + "/World/textured_mesh_6a842400a08484187f60752e/part_0" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.027507999911904335, - 0.09884011000394821, - 0.027379000559449196 - ], "min": [ -0.027504000812768936, - 0.00041211005964214564, - -0.027427999302744865 + -0.027379000559449196, + 0.00041211005964214564 + ], + "max": [ + 0.027507999911904335, + 0.027427999302744865, + 0.09884011000394821 ], "size": [ 0.05501200072467327, - 0.09842799994430607, - 0.05480699986219406 - ] + 0.05480699986219406, + 0.09842799994430607 + ], + "units": "m" }, "description": "D00609 Pepper Shaker", "name": "D00609 Pepper Shaker", "object_type": "rigid_bodies", - "total_mass": 0.17 + "total_mass": 0.17000000551342964, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00609", "parts": [ { "bounds": { - "center": [ - 5.999580025672913e-06, - 0.08792511001229286, - -2.149958163499832e-05 + "min": [ + -0.02081499993801117, + -0.020809000357985497, + 0.07701011002063751 ], "max": [ 0.020826999098062515, - 0.09884011000394821, - 0.020809000357985497 + 0.020851999521255493, + 0.09884011000394821 ], - "min": [ - -0.02081499993801117, - 0.07701011002063751, - -0.020851999521255493 - ] + "size": [ + 0.041641999036073685, + 0.04166099987924099, + 0.0218299999833107 + ], + "units": "m" }, "center_of_mass": [ -0.004461729899048805, @@ -66,7 +117,7 @@ 1.0139026016986463e-05, 1.022851574816741e-05 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "metal", "name": "D00609 Pepper Shaker", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00609 Pepper Shaker", "part_name": "D00609 Pepper Shaker" }, - "volume": 2.5641025067904055e-06 + "volume": 2.5641025067904055e-06, + "source_prim_path": "/World/textured_mesh_6a842400a08484187f60752e/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 1.9995495676994324e-06, - 0.039214609101009046, - -2.4499371647834778e-05 + "min": [ + -0.027504000812768936, + -0.027379000559449196, + 0.00041211005964214564 ], "max": [ 0.027507999911904335, - 0.07801710814237595, - 0.027379000559449196 + 0.027427999302744865, + 0.07801710814237595 ], - "min": [ - -0.027504000812768936, - 0.00041211005964214564, - -0.027427999302744865 - ] + "size": [ + 0.05501200072467327, + 0.05480699986219406, + 0.0776049980827338 + ], + "units": "m" }, "center_of_mass": [ -1.0138369361811783e-05, @@ -107,7 +161,7 @@ 9.623454388929531e-05, 9.630773274693638e-05 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "ceramic_or_glass", "name": "D00609 Pepper Shaker", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00609 Pepper Shaker", "part_name": "D00609 Pepper Shaker" }, - "volume": 6.000000238418579e-05 + "volume": 6.000000238418579e-05, + "source_prim_path": "/World/textured_mesh_6a842400a08484187f60752e/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "31ad6d439299232dfea5353602bb76c9910eefe7c4e1b3c18bff949bf36847d1" + }, + "usd_path": "batch34/D00609 Pepper Shaker/IsaacSim_assets_6a842400a08484187f60752e/IsaacSim_asset_6a842400a08484187f60752e.usd", + "usd_sha256": "e7ee0c197af86abc62393c5599201aae10e62e6035f0ee813e662707424225ad", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.05501200072467327, - 0.09842799994430607, - 0.05480699986219406 - ] + 0.05480699986219406, + 0.09842799994430607 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e7ee0c197af86abc62393c5599201aae10e62e6035f0ee813e662707424225ad", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.17 + "value_kg": 0.17000000551342964, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e7ee0c197af86abc62393c5599201aae10e62e6035f0ee813e662707424225ad", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.17000000551342964, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 51, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e7ee0c197af86abc62393c5599201aae10e62e6035f0ee813e662707424225ad", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 51, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e7ee0c197af86abc62393c5599201aae10e62e6035f0ee813e662707424225ad", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00610_Blackberry/IsaacSim_assets_6a83dcd8a08484187f568364/physics_6a83dcd8a08484187f568364.json b/batch34/D00610_Blackberry/IsaacSim_assets_6a83dcd8a08484187f568364/physics_6a83dcd8a08484187f568364.json index 318de3e0f58a53fb21ac7a15b8777a3127513bce..bd511021679729fe63197558e9d6f75ed6017ecf 100644 --- a/batch34/D00610_Blackberry/IsaacSim_assets_6a83dcd8a08484187f568364/physics_6a83dcd8a08484187f568364.json +++ b/batch34/D00610_Blackberry/IsaacSim_assets_6a83dcd8a08484187f568364/physics_6a83dcd8a08484187f568364.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.008700000122189522, - 0.013938999734818935, - 0.008472000248730183 - ], "min": [ -0.008352999575436115, - 9.999999974752427e-07, - -0.008636999875307083 + -0.008472000248730183, + 9.999999974752427e-07 + ], + "max": [ + 0.008700000122189522, + 0.008636999875307083, + 0.013938999734818935 ], "size": [ 0.017052999697625637, - 0.01393799973482146, - 0.017109000124037266 - ] + 0.017109000124037266, + 0.01393799973482146 + ], + "units": "m" }, "description": "D00610 Blackberry", "name": "D00610 Blackberry", "object_type": "rigid_bodies", - "total_mass": 0.005 + "total_mass": 0.004999999888241291, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00610", "parts": [ { "bounds": { - "center": [ - 0.00017350027337670326, - 0.006969999867408205, - -8.249981328845024e-05 + "min": [ + -0.008352999575436115, + -0.008472000248730183, + 9.999999974752427e-07 ], "max": [ 0.008700000122189522, - 0.013938999734818935, - 0.008472000248730183 + 0.008636999875307083, + 0.013938999734818935 ], - "min": [ - -0.008352999575436115, - 9.999999974752427e-07, - -0.008636999875307083 - ] + "size": [ + 0.017052999697625637, + 0.017109000124037266, + 0.01393799973482146 + ], + "units": "m" }, "center_of_mass": [ 6.294269405771047e-05, @@ -59,7 +65,7 @@ 1.2745377375722455e-07, 1.459058722730333e-07 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "plastic", "name": "D00610 Blackberry", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00610 Blackberry", "part_name": "D00610 Blackberry" }, - "volume": 4.999999888241291e-06 + "volume": 4.999999888241291e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "073e5d14173338509443f99d6abf6ed3310badad6629353e6a49f130a90b8bcc" + }, + "usd_path": "batch34/D00610_Blackberry/IsaacSim_assets_6a83dcd8a08484187f568364/IsaacSim_asset_6a83dcd8a08484187f568364.usd", + "usd_sha256": "77a575c1aa2f6aea9616044f795e17c65197dbcaca8fb4f2423a0444a0e7d721", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.017052999697625637, - 0.01393799973482146, - 0.017109000124037266 - ] + 0.017109000124037266, + 0.01393799973482146 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "77a575c1aa2f6aea9616044f795e17c65197dbcaca8fb4f2423a0444a0e7d721", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.005 + "value_kg": 0.004999999888241291, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "77a575c1aa2f6aea9616044f795e17c65197dbcaca8fb4f2423a0444a0e7d721", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.004999999888241291, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "77a575c1aa2f6aea9616044f795e17c65197dbcaca8fb4f2423a0444a0e7d721", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "77a575c1aa2f6aea9616044f795e17c65197dbcaca8fb4f2423a0444a0e7d721", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00611 Pepper Spice Jar/IsaacSim_assets_6a842404a08484187f607665/physics_6a842404a08484187f607665.json b/batch34/D00611 Pepper Spice Jar/IsaacSim_assets_6a842404a08484187f607665/physics_6a842404a08484187f607665.json index c8a7c2c294972c2c62ca37f010483643d9c19806..a85b631db277064edc6b8eedb244336f1169c203 100644 --- a/batch34/D00611 Pepper Spice Jar/IsaacSim_assets_6a842404a08484187f607665/physics_6a842404a08484187f607665.json +++ b/batch34/D00611 Pepper Spice Jar/IsaacSim_assets_6a842404a08484187f607665/physics_6a842404a08484187f607665.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a842404a08484187f607665/part_1", "body1": "/World/textured_mesh_6a842404a08484187f607665/part_0", "joint_path": "/World/textured_mesh_6a842404a08484187f607665/Joints/joint_jar_body__lid", - "type": "fixed" + "type": "fixed", + "id": "joint_jar_body__lid", + "path": "/World/textured_mesh_6a842404a08484187f607665/Joints/joint_jar_body__lid", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a842404a08484187f607665/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_6a842404a08484187f607665/part_0" + ], + "authored_usd": { + "id": "joint_jar_body__lid", + "source_prim_path": "/World/textured_mesh_6a842404a08484187f607665/Joints/joint_jar_body__lid", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a842404a08484187f607665/part_1" + ], + "body1": [ + "/World/textured_mesh_6a842404a08484187f607665/part_0" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.029160000383853912, - 0.11128179985098541, - 0.02921600081026554 - ], "min": [ -0.02928600087761879, - 0.0005047998820373323, - -0.029293999075889587 + -0.02921600081026554, + 0.0005047998820373323 + ], + "max": [ + 0.029160000383853912, + 0.029293999075889587, + 0.11128179985098541 ], "size": [ 0.0584460012614727, - 0.11077699996894808, - 0.05850999988615513 - ] + 0.05850999988615513, + 0.11077699996894808 + ], + "units": "m" }, "description": "D00611 Pepper Spice Jar", "name": "D00611 Pepper Spice Jar", "object_type": "rigid_bodies", - "total_mass": 0.135 + "total_mass": 0.13499999698251486, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00611", "parts": [ { "bounds": { - "center": [ - -0.00010699965059757233, - 0.10229229810647666, - -3.899913281202316e-05 + "min": [ + -0.02910199947655201, + -0.02921600081026554, + 0.09330279636196792 ], "max": [ 0.028888000175356865, - 0.11128179985098541, - 0.02921600081026554 + 0.029293999075889587, + 0.11128179985098541 ], - "min": [ - -0.02910199947655201, - 0.09330279636196792, - -0.029293999075889587 - ] + "size": [ + 0.057989999651908875, + 0.05850999988615513, + 0.017979003489017487 + ], + "units": "m" }, "center_of_mass": [ -0.0054837847128510475, @@ -66,7 +117,7 @@ 9.743762348080054e-06, 1.0055126949737314e-05 ], - "mass": 0.015, + "mass": 0.014999999664723873, "material": "ceramic_or_glass", "name": "D00611 Pepper Spice Jar", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00611 Pepper Spice Jar", "part_name": "D00611 Pepper Spice Jar" }, - "volume": 5.555555431379212e-06 + "volume": 5.555555431379212e-06, + "source_prim_path": "/World/textured_mesh_6a842404a08484187f607665/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -6.300024688243866e-05, - 0.04737780033428862, - -5.3999945521354675e-05 + "min": [ + -0.02928600087761879, + -0.029090000316500664, + 0.0005047998820373323 ], "max": [ 0.029160000383853912, - 0.09425080078653991, - 0.029090000316500664 + 0.029198000207543373, + 0.09425080078653991 ], - "min": [ - -0.02928600087761879, - 0.0005047998820373323, - -0.029198000207543373 - ] + "size": [ + 0.0584460012614727, + 0.05828800052404404, + 0.09374600090450258 + ], + "units": "m" }, "center_of_mass": [ -7.011419802438468e-05, @@ -107,7 +161,7 @@ 0.00011051534966100007, 0.0001105748160625808 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "ceramic_or_glass", "name": "D00611 Pepper Spice Jar", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00611 Pepper Spice Jar", "part_name": "D00611 Pepper Spice Jar" }, - "volume": 4.799999892711639e-05 + "volume": 4.799999892711639e-05, + "source_prim_path": "/World/textured_mesh_6a842404a08484187f607665/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8818808d0429dcd0e609ec8ba5b8823b241c6407dfd2824d52c06b3d77e1484f" + }, + "usd_path": "batch34/D00611 Pepper Spice Jar/IsaacSim_assets_6a842404a08484187f607665/IsaacSim_asset_6a842404a08484187f607665.usd", + "usd_sha256": "e0c9818e06d105469d20990c3ec38258a334d35a6eb57fa18479ab11d56eb45d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.0584460012614727, - 0.11077699996894808, - 0.05850999988615513 - ] + 0.05850999988615513, + 0.11077699996894808 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0c9818e06d105469d20990c3ec38258a334d35a6eb57fa18479ab11d56eb45d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.135 + "value_kg": 0.13499999698251486, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0c9818e06d105469d20990c3ec38258a334d35a6eb57fa18479ab11d56eb45d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.13499999698251486, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 44, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0c9818e06d105469d20990c3ec38258a334d35a6eb57fa18479ab11d56eb45d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 44, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0c9818e06d105469d20990c3ec38258a334d35a6eb57fa18479ab11d56eb45d", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00613 Picture/IsaacSim_assets_6a842408a08484187f60777a/physics_6a842408a08484187f60777a.json b/batch34/D00613 Picture/IsaacSim_assets_6a842408a08484187f60777a/physics_6a842408a08484187f60777a.json index db16fdf47212a220202d5bde47a4d1ceb9b702d3..15bd100d8d290664f58b36ff9ef5203cf66f366c 100644 --- a/batch34/D00613 Picture/IsaacSim_assets_6a842408a08484187f60777a/physics_6a842408a08484187f60777a.json +++ b/batch34/D00613 Picture/IsaacSim_assets_6a842408a08484187f60777a/physics_6a842408a08484187f60777a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.37485799193382263, - 0.6564274504780769, - 0.03893300145864487 - ], "min": [ -0.3753190040588379, - 0.004082448479493905, - -0.05016599968075752 + -0.03893300145864487, + 0.004082448479493905 + ], + "max": [ + 0.37485799193382263, + 0.05016599968075752, + 0.6564274504780769 ], "size": [ 0.7501769959926605, - 0.652345001998583, - 0.08909900113940239 - ] + 0.08909900113940239, + 0.652345001998583 + ], + "units": "m" }, "description": "D00613 Picture", "name": "D00613 Picture", "object_type": "rigid_bodies", - "total_mass": 4.5 + "total_mass": 4.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00613", "parts": [ { "bounds": { - "center": [ - -0.0002305060625076294, - 0.3302549494787854, - -0.005616499111056328 + "min": [ + -0.3753190040588379, + -0.03893300145864487, + 0.004082448479493905 ], "max": [ 0.37485799193382263, - 0.6564274504780769, - 0.03893300145864487 + 0.05016599968075752, + 0.6564274504780769 ], - "min": [ - -0.3753190040588379, - 0.004082448479493905, - -0.05016599968075752 - ] + "size": [ + 0.7501769959926605, + 0.08909900113940239, + 0.652345001998583 + ], + "units": "m" }, "center_of_mass": [ -0.00014625699259340763, @@ -67,10 +73,27 @@ "object_name": "D00613 Picture", "part_name": "D00613 Picture" }, - "volume": 0.007240547063555913 + "volume": 0.007240547063555913, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ff67e530c5dd92616f125399848e380330c6b51b61ac612843f483aaedc00f5c" + }, + "usd_path": "batch34/D00613 Picture/IsaacSim_assets_6a842408a08484187f60777a/IsaacSim_asset_6a842408a08484187f60777a.usd", + "usd_sha256": "fd23cdba34106de7fdabb53a9b81f02e3335748afbbe74eee4979fc54c730fa2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.7501769959926605, - 0.652345001998583, - 0.08909900113940239 - ] + 0.08909900113940239, + 0.652345001998583 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fd23cdba34106de7fdabb53a9b81f02e3335748afbbe74eee4979fc54c730fa2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.5 + "value_kg": 4.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fd23cdba34106de7fdabb53a9b81f02e3335748afbbe74eee4979fc54c730fa2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fd23cdba34106de7fdabb53a9b81f02e3335748afbbe74eee4979fc54c730fa2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fd23cdba34106de7fdabb53a9b81f02e3335748afbbe74eee4979fc54c730fa2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00645 Napa Cabbage/IsaacSim_assets_6a82fe93b7a9c4204ad52c1f/physics_6a82fe93b7a9c4204ad52c1f.json b/batch34/D00645 Napa Cabbage/IsaacSim_assets_6a82fe93b7a9c4204ad52c1f/physics_6a82fe93b7a9c4204ad52c1f.json index 54cc3caf9a56da70e020d051962213a502900664..d8ca2cb9cf75abaf3a97b9ad21266e63ba2ae213 100644 --- a/batch34/D00645 Napa Cabbage/IsaacSim_assets_6a82fe93b7a9c4204ad52c1f/physics_6a82fe93b7a9c4204ad52c1f.json +++ b/batch34/D00645 Napa Cabbage/IsaacSim_assets_6a82fe93b7a9c4204ad52c1f/physics_6a82fe93b7a9c4204ad52c1f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.174794003367424, - 0.16862473636865616, - 0.07932700216770172 - ], "min": [ -0.13137300312519073, - 0.0012557412819660385, - -0.09536000341176987 + -0.07932700216770172, + 0.0012557412819660385 + ], + "max": [ + 0.174794003367424, + 0.09536000341176987, + 0.16862473636865616 ], "size": [ 0.30616700649261475, - 0.16736899508669012, - 0.1746870055794716 - ] + 0.1746870055794716, + 0.16736899508669012 + ], + "units": "m" }, "description": "D00645 Napa Cabbage", "name": "D00645 Napa Cabbage", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00645", "parts": [ { "bounds": { - "center": [ - 0.021710500121116638, - 0.0849402388253111, - -0.008016500622034073 + "min": [ + -0.13137300312519073, + -0.07932700216770172, + 0.0012557412819660385 ], "max": [ 0.174794003367424, - 0.16862473636865616, - 0.07932700216770172 + 0.09536000341176987, + 0.16862473636865616 ], - "min": [ - -0.13137300312519073, - 0.0012557412819660385, - -0.09536000341176987 - ] + "size": [ + 0.30616700649261475, + 0.1746870055794716, + 0.16736899508669012 + ], + "units": "m" }, "center_of_mass": [ 0.021977417171001434, @@ -67,10 +73,27 @@ "object_name": "D00645 Napa Cabbage", "part_name": "D00645 Napa Cabbage" }, - "volume": 0.001875 + "volume": 0.001875, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e93d07276a444bc814baac381bb60515a59581fb496170d8e75bf01504e19130" + }, + "usd_path": "batch34/D00645 Napa Cabbage/IsaacSim_assets_6a82fe93b7a9c4204ad52c1f/IsaacSim_asset_6a82fe93b7a9c4204ad52c1f.usd", + "usd_sha256": "7d163d1cfdd90245f2f76a12ba5fc3724544ede252e8d33303c931c201667cf6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.30616700649261475, - 0.16736899508669012, - 0.1746870055794716 - ] + 0.1746870055794716, + 0.16736899508669012 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d163d1cfdd90245f2f76a12ba5fc3724544ede252e8d33303c931c201667cf6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d163d1cfdd90245f2f76a12ba5fc3724544ede252e8d33303c931c201667cf6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d163d1cfdd90245f2f76a12ba5fc3724544ede252e8d33303c931c201667cf6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d163d1cfdd90245f2f76a12ba5fc3724544ede252e8d33303c931c201667cf6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00646 Cabbage/IsaacSim_assets_6a82fe94b7a9c4204ad52c64/physics_6a82fe94b7a9c4204ad52c64.json b/batch34/D00646 Cabbage/IsaacSim_assets_6a82fe94b7a9c4204ad52c64/physics_6a82fe94b7a9c4204ad52c64.json index 4e785fe6012460a3196212409f5fd6175fc51b2d..6ff2df5bceac5db2003462812f23cd2965fb09cb 100644 --- a/batch34/D00646 Cabbage/IsaacSim_assets_6a82fe94b7a9c4204ad52c64/physics_6a82fe94b7a9c4204ad52c64.json +++ b/batch34/D00646 Cabbage/IsaacSim_assets_6a82fe94b7a9c4204ad52c64/physics_6a82fe94b7a9c4204ad52c64.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0842759981751442, - 0.14398065954446793, - 0.09282299876213074 - ], "min": [ -0.08335000276565552, - 0.000862652195451119, - -0.08127400279045105 + -0.09282299876213074, + 0.000862652195451119 + ], + "max": [ + 0.0842759981751442, + 0.08127400279045105, + 0.14398065954446793 ], "size": [ 0.1676260009407997, - 0.1431180073490168, - 0.1740970015525818 - ] + 0.1740970015525818, + 0.1431180073490168 + ], + "units": "m" }, "description": "D00646 Cabbage", "name": "D00646 Cabbage", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00646", "parts": [ { "bounds": { - "center": [ - 0.000462997704744339, - 0.07242165586995952, - 0.005774497985839844 + "min": [ + -0.08335000276565552, + -0.09282299876213074, + 0.000862652195451119 ], "max": [ 0.0842759981751442, - 0.14398065954446793, - 0.09282299876213074 + 0.08127400279045105, + 0.14398065954446793 ], - "min": [ - -0.08335000276565552, - 0.000862652195451119, - -0.08127400279045105 - ] + "size": [ + 0.1676260009407997, + 0.1740970015525818, + 0.1431180073490168 + ], + "units": "m" }, "center_of_mass": [ -0.0012304938863962889, @@ -67,10 +73,27 @@ "object_name": "D00646 Cabbage", "part_name": "D00646 Cabbage" }, - "volume": 0.001875 + "volume": 0.001875, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5cf81663a4f0ec1c343a78e48fd551b7e7e4b4c02005fb61f3653d63f4113151" + }, + "usd_path": "batch34/D00646 Cabbage/IsaacSim_assets_6a82fe94b7a9c4204ad52c64/IsaacSim_asset_6a82fe94b7a9c4204ad52c64.usd", + "usd_sha256": "fcb8db7a0fbaa189e08106905a1bbb011b69859afa307ed0caccd3da68c26650", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.1676260009407997, - 0.1431180073490168, - 0.1740970015525818 - ] + 0.1740970015525818, + 0.1431180073490168 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcb8db7a0fbaa189e08106905a1bbb011b69859afa307ed0caccd3da68c26650", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcb8db7a0fbaa189e08106905a1bbb011b69859afa307ed0caccd3da68c26650", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 45, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcb8db7a0fbaa189e08106905a1bbb011b69859afa307ed0caccd3da68c26650", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 45, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fcb8db7a0fbaa189e08106905a1bbb011b69859afa307ed0caccd3da68c26650", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00647_Pot_Plant/IsaacSim_assets_6a82f8f1b7a9c4204ad447c2/physics_6a82f8f1b7a9c4204ad447c2.json b/batch34/D00647_Pot_Plant/IsaacSim_assets_6a82f8f1b7a9c4204ad447c2/physics_6a82f8f1b7a9c4204ad447c2.json index ea48afabc74ee718032bbb795d4aef522d023984..bab01c98fd8bee8c0d08aad0d7fb355967002bd0 100644 --- a/batch34/D00647_Pot_Plant/IsaacSim_assets_6a82f8f1b7a9c4204ad447c2/physics_6a82f8f1b7a9c4204ad447c2.json +++ b/batch34/D00647_Pot_Plant/IsaacSim_assets_6a82f8f1b7a9c4204ad447c2/physics_6a82f8f1b7a9c4204ad447c2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13768300414085388, - 0.4046046957373619, - 0.11964300274848938 - ], "min": [ -0.12123800069093704, - 0.002199682196987851, - -0.13879400491714478 + -0.11964300274848938, + 0.002199682196987851 + ], + "max": [ + 0.13768300414085388, + 0.13879400491714478, + 0.4046046957373619 ], "size": [ 0.2589210048317909, - 0.40240501354037406, - 0.25843700766563416 - ] + 0.25843700766563416, + 0.40240501354037406 + ], + "units": "m" }, "description": "D00647 Pot_Plant", "name": "D00647 Pot_Plant", "object_type": "rigid_bodies", - "total_mass": 4.5 + "total_mass": 4.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00647", "parts": [ { "bounds": { - "center": [ - 0.00822250172495842, - 0.20340218896717488, - -0.009575501084327698 + "min": [ + -0.12123800069093704, + -0.11964300274848938, + 0.002199682196987851 ], "max": [ 0.13768300414085388, - 0.4046046957373619, - 0.11964300274848938 + 0.13879400491714478, + 0.4046046957373619 ], - "min": [ - -0.12123800069093704, - 0.002199682196987851, - -0.13879400491714478 - ] + "size": [ + 0.2589210048317909, + 0.25843700766563416, + 0.40240501354037406 + ], + "units": "m" }, "center_of_mass": [ 1.2680128747888375e-05, @@ -67,10 +73,27 @@ "object_name": "D00647 Pot_Plant", "part_name": "D00647 Pot_Plant" }, - "volume": 0.00225 + "volume": 0.00225, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e358f4f21eb1f3faff0ccbc00d92f086118716b6d67c9b5e834ca6adda103609" + }, + "usd_path": "batch34/D00647_Pot_Plant/IsaacSim_assets_6a82f8f1b7a9c4204ad447c2/IsaacSim_asset_6a82f8f1b7a9c4204ad447c2.usd", + "usd_sha256": "1e2d710cb6c68203a6289e5935bb516a89057a0a74958739154fc1cf7f2cb5f3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.2589210048317909, - 0.40240501354037406, - 0.25843700766563416 - ] + 0.25843700766563416, + 0.40240501354037406 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e2d710cb6c68203a6289e5935bb516a89057a0a74958739154fc1cf7f2cb5f3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.5 + "value_kg": 4.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e2d710cb6c68203a6289e5935bb516a89057a0a74958739154fc1cf7f2cb5f3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 52, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e2d710cb6c68203a6289e5935bb516a89057a0a74958739154fc1cf7f2cb5f3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 52, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1e2d710cb6c68203a6289e5935bb516a89057a0a74958739154fc1cf7f2cb5f3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00651 Lotus Root/IsaacSim_assets_6a82fe9ab7a9c4204ad52ee6/physics_6a82fe9ab7a9c4204ad52ee6.json b/batch34/D00651 Lotus Root/IsaacSim_assets_6a82fe9ab7a9c4204ad52ee6/physics_6a82fe9ab7a9c4204ad52ee6.json index 09fb099f984713569944f9330ff02dca62193c69..f99a2b641e544f469576d1811f9b459991a9aec1 100644 --- a/batch34/D00651 Lotus Root/IsaacSim_assets_6a82fe9ab7a9c4204ad52ee6/physics_6a82fe9ab7a9c4204ad52ee6.json +++ b/batch34/D00651 Lotus Root/IsaacSim_assets_6a82fe9ab7a9c4204ad52ee6/physics_6a82fe9ab7a9c4204ad52ee6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10271400213241577, - 0.10459733940660954, - 0.04656299948692322 - ], "min": [ -0.14040899276733398, - 0.0003783407231594538, - -0.055755000561475754 + -0.04656299948692322, + 0.0003783407231594538 + ], + "max": [ + 0.10271400213241577, + 0.055755000561475754, + 0.10459733940660954 ], "size": [ 0.24312299489974976, - 0.10421899868345008, - 0.10231800004839897 - ] + 0.10231800004839897, + 0.10421899868345008 + ], + "units": "m" }, "description": "D00651 Lotus Root", "name": "D00651 Lotus Root", "object_type": "rigid_bodies", - "total_mass": 2.5 + "total_mass": 2.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00651", "parts": [ { "bounds": { - "center": [ - -0.018847495317459106, - 0.052487840064884494, - -0.004596000537276268 + "min": [ + -0.14040899276733398, + -0.04656299948692322, + 0.0003783407231594538 ], "max": [ 0.10271400213241577, - 0.10459733940660954, - 0.04656299948692322 + 0.055755000561475754, + 0.10459733940660954 ], - "min": [ - -0.14040899276733398, - 0.0003783407231594538, - -0.055755000561475754 - ] + "size": [ + 0.24312299489974976, + 0.10231800004839897, + 0.10421899868345008 + ], + "units": "m" }, "center_of_mass": [ -0.013086211867630482, @@ -67,10 +73,27 @@ "object_name": "D00651 Lotus Root", "part_name": "D00651 Lotus Root" }, - "volume": 0.002380952380952381 + "volume": 0.002380952380952381, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ebc18764fc65d42ec88a9a829bd602c63aee04106cca8d23b095d3dc69dc580e" + }, + "usd_path": "batch34/D00651 Lotus Root/IsaacSim_assets_6a82fe9ab7a9c4204ad52ee6/IsaacSim_asset_6a82fe9ab7a9c4204ad52ee6.usd", + "usd_sha256": "6fef9a5d42a54d008dbd4e47c7b923e12875da616f8e03bf6c9848045889709d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.24312299489974976, - 0.10421899868345008, - 0.10231800004839897 - ] + 0.10231800004839897, + 0.10421899868345008 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6fef9a5d42a54d008dbd4e47c7b923e12875da616f8e03bf6c9848045889709d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.5 + "value_kg": 2.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6fef9a5d42a54d008dbd4e47c7b923e12875da616f8e03bf6c9848045889709d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6fef9a5d42a54d008dbd4e47c7b923e12875da616f8e03bf6c9848045889709d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6fef9a5d42a54d008dbd4e47c7b923e12875da616f8e03bf6c9848045889709d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00682 Edamame/IsaacSim_assets_6a82fe9cb7a9c4204ad52f8c/physics_6a82fe9cb7a9c4204ad52f8c.json b/batch34/D00682 Edamame/IsaacSim_assets_6a82fe9cb7a9c4204ad52f8c/physics_6a82fe9cb7a9c4204ad52f8c.json index aff7e5c3880bd49cdadf9870766a149cfd59e574..24d6656dddefe67cb7134930ce179cf60ae76f44 100644 --- a/batch34/D00682 Edamame/IsaacSim_assets_6a82fe9cb7a9c4204ad52f8c/physics_6a82fe9cb7a9c4204ad52f8c.json +++ b/batch34/D00682 Edamame/IsaacSim_assets_6a82fe9cb7a9c4204ad52f8c/physics_6a82fe9cb7a9c4204ad52f8c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06045899912714958, - 0.03709854930639267, - 0.008356999605894089 - ], "min": [ -0.045719001442193985, - 0.0005135498940944677, - -0.011831999756395817 + -0.008356999605894089, + 0.0005135498940944677 + ], + "max": [ + 0.06045899912714958, + 0.011831999756395817, + 0.03709854930639267 ], "size": [ 0.10617800056934357, - 0.0365849994122982, - 0.020188999362289906 - ] + 0.020188999362289906, + 0.0365849994122982 + ], + "units": "m" }, "description": "D00682 Edamame", "name": "D00682 Edamame", "object_type": "rigid_bodies", - "total_mass": 0.009 + "total_mass": 0.008999999612569809, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00682", "parts": [ { "bounds": { - "center": [ - 0.0073699988424777985, - 0.01880604960024357, - -0.001737500075250864 + "min": [ + -0.045719001442193985, + -0.008356999605894089, + 0.0005135498940944677 ], "max": [ 0.06045899912714958, - 0.03709854930639267, - 0.008356999605894089 + 0.011831999756395817, + 0.03709854930639267 ], - "min": [ - -0.045719001442193985, - 0.0005135498940944677, - -0.011831999756395817 - ] + "size": [ + 0.10617800056934357, + 0.020188999362289906, + 0.0365849994122982 + ], + "units": "m" }, "center_of_mass": [ 0.0022684645373374224, @@ -59,7 +65,7 @@ 5.2609557315008715e-06, 5.7584079513617326e-06 ], - "mass": 0.009, + "mass": 0.008999999612569809, "material": "plastic", "name": "D00682 Edamame", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00682 Edamame", "part_name": "D00682 Edamame" }, - "volume": 8.571428202447438e-06 + "volume": 8.571428202447438e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9aecd5122513b4e0a52beef38f4289f093fb30b0715e2ced4b2e3f518bcf4cea" + }, + "usd_path": "batch34/D00682 Edamame/IsaacSim_assets_6a82fe9cb7a9c4204ad52f8c/IsaacSim_asset_6a82fe9cb7a9c4204ad52f8c.usd", + "usd_sha256": "b233f671034adced80e42598c3f1fe7e31de74b2d3cec58bbbfbbbfcc60f72b8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.10617800056934357, - 0.0365849994122982, - 0.020188999362289906 - ] + 0.020188999362289906, + 0.0365849994122982 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b233f671034adced80e42598c3f1fe7e31de74b2d3cec58bbbfbbbfcc60f72b8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.009 + "value_kg": 0.008999999612569809, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b233f671034adced80e42598c3f1fe7e31de74b2d3cec58bbbfbbbfcc60f72b8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.008999999612569809, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b233f671034adced80e42598c3f1fe7e31de74b2d3cec58bbbfbbbfcc60f72b8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b233f671034adced80e42598c3f1fe7e31de74b2d3cec58bbbfbbbfcc60f72b8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00699 Enoki Mushroom/IsaacSim_assets_6a82fea1b7a9c4204ad531da/physics_6a82fea1b7a9c4204ad531da.json b/batch34/D00699 Enoki Mushroom/IsaacSim_assets_6a82fea1b7a9c4204ad531da/physics_6a82fea1b7a9c4204ad531da.json index 47d0882ca1a78f42c51ea192f938a8651a494fcf..29eef4f394547873d811fb275a666a9c6d2c2d13 100644 --- a/batch34/D00699 Enoki Mushroom/IsaacSim_assets_6a82fea1b7a9c4204ad531da/physics_6a82fea1b7a9c4204ad531da.json +++ b/batch34/D00699 Enoki Mushroom/IsaacSim_assets_6a82fea1b7a9c4204ad531da/physics_6a82fea1b7a9c4204ad531da.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02516699954867363, - 0.07808389142155647, - 0.0543069988489151 - ], "min": [ -0.03539000079035759, - 0.00030889055597072, - -0.032221999019384384 + -0.0543069988489151, + 0.00030889055597072 + ], + "max": [ + 0.02516699954867363, + 0.032221999019384384, + 0.07808389142155647 ], "size": [ 0.06055700033903122, - 0.07777500086558575, - 0.08652899786829948 - ] + 0.08652899786829948, + 0.07777500086558575 + ], + "units": "m" }, "description": "D00699 Enoki Mushroom", "name": "D00699 Enoki Mushroom", "object_type": "rigid_bodies", - "total_mass": 0.0034 + "total_mass": 0.0034000000450760126, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00699", "parts": [ { "bounds": { - "center": [ - -0.00511150062084198, - 0.039196390988763596, - 0.011042499914765358 + "min": [ + -0.03539000079035759, + -0.0543069988489151, + 0.00030889055597072 ], "max": [ 0.02516699954867363, - 0.07808389142155647, - 0.0543069988489151 + 0.032221999019384384, + 0.07808389142155647 ], - "min": [ - -0.03539000079035759, - 0.00030889055597072, - -0.032221999019384384 - ] + "size": [ + 0.06055700033903122, + 0.08652899786829948, + 0.07777500086558575 + ], + "units": "m" }, "center_of_mass": [ -0.0015894981333985925, @@ -59,7 +65,7 @@ 2.452984972478589e-06, 2.467739477651776e-06 ], - "mass": 0.0034, + "mass": 0.0034000000450760126, "material": "wood", "name": "D00699 Enoki Mushroom", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00699 Enoki Mushroom", "part_name": "D00699 Enoki Mushroom" }, - "volume": 3.777777827862236e-06 + "volume": 3.777777827862236e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c70bd1f4cd51b576e5839065cf9739b9f56e841d6fad8120fca9af4c2dcb6195" + }, + "usd_path": "batch34/D00699 Enoki Mushroom/IsaacSim_assets_6a82fea1b7a9c4204ad531da/IsaacSim_asset_6a82fea1b7a9c4204ad531da.usd", + "usd_sha256": "4880fbf4ff5ccfd7656ea8f76a2c834488ba83bef96addc35b37df1a1df245b2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.06055700033903122, - 0.07777500086558575, - 0.08652899786829948 - ] + 0.08652899786829948, + 0.07777500086558575 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4880fbf4ff5ccfd7656ea8f76a2c834488ba83bef96addc35b37df1a1df245b2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0034 + "value_kg": 0.0034000000450760126, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4880fbf4ff5ccfd7656ea8f76a2c834488ba83bef96addc35b37df1a1df245b2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0034000000450760126, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4880fbf4ff5ccfd7656ea8f76a2c834488ba83bef96addc35b37df1a1df245b2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4880fbf4ff5ccfd7656ea8f76a2c834488ba83bef96addc35b37df1a1df245b2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00700_Saucepan_Cooking_Pot/IsaacSim_assets_6a841c2ca08484187f5f9dc8/physics_6a841c2ca08484187f5f9dc8.json b/batch34/D00700_Saucepan_Cooking_Pot/IsaacSim_assets_6a841c2ca08484187f5f9dc8/physics_6a841c2ca08484187f5f9dc8.json index 6aefbe74df41283b7f029511fbda32abb740fe4d..78662413d62f28d39e36c79542355384f813c977 100644 --- a/batch34/D00700_Saucepan_Cooking_Pot/IsaacSim_assets_6a841c2ca08484187f5f9dc8/physics_6a841c2ca08484187f5f9dc8.json +++ b/batch34/D00700_Saucepan_Cooking_Pot/IsaacSim_assets_6a841c2ca08484187f5f9dc8/physics_6a841c2ca08484187f5f9dc8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.18487900495529175, - 0.12062022183090448, - 0.08126000314950943 - ], "min": [ -0.09691499918699265, - 0.0015312202816630816, - -0.08146099746227264 + -0.08126000314950943, + 0.0015312202816630816 + ], + "max": [ + 0.18487900495529175, + 0.08146099746227264, + 0.12062022183090448 ], "size": [ 0.2817940041422844, - 0.1190890015492414, - 0.16272100061178207 - ] + 0.16272100061178207, + 0.1190890015492414 + ], + "units": "m" }, "description": "D00700 Saucepan_Cooking_Pot", "name": "D00700 Saucepan_Cooking_Pot", "object_type": "rigid_bodies", - "total_mass": 2.23 + "total_mass": 2.2300000190734863, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00700", "parts": [ { "bounds": { - "center": [ - 0.04398200288414955, - 0.06107572105628378, - -0.00010049715638160706 + "min": [ + -0.09691499918699265, + -0.08126000314950943, + 0.0015312202816630816 ], "max": [ 0.18487900495529175, - 0.12062022183090448, - 0.08126000314950943 + 0.08146099746227264, + 0.12062022183090448 ], - "min": [ - -0.09691499918699265, - 0.0015312202816630816, - -0.08146099746227264 - ] + "size": [ + 0.2817940041422844, + 0.16272100061178207, + 0.1190890015492414 + ], + "units": "m" }, "center_of_mass": [ 0.008343469351530075, @@ -59,7 +65,7 @@ 0.009270076639950275, 0.010714832693338394 ], - "mass": 2.23, + "mass": 2.2300000190734863, "material": "metal", "name": "D00700 Saucepan_Cooking_Pot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00700 Saucepan_Cooking_Pot", "part_name": "D00700 Saucepan_Cooking_Pot" }, - "volume": 0.00028589743834275464 + "volume": 0.00028589743834275464, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d8f95ea7b8df3ddbc1e6ef9959db978b17ae50b969bab22e08a9ac6ec27f0ffe" + }, + "usd_path": "batch34/D00700_Saucepan_Cooking_Pot/IsaacSim_assets_6a841c2ca08484187f5f9dc8/IsaacSim_asset_6a841c2ca08484187f5f9dc8.usd", + "usd_sha256": "8d62897aba76ee75884af94749dbe6ec46f5647fd71b9b7ff91797ac1616125e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.2817940041422844, - 0.1190890015492414, - 0.16272100061178207 - ] + 0.16272100061178207, + 0.1190890015492414 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d62897aba76ee75884af94749dbe6ec46f5647fd71b9b7ff91797ac1616125e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.23 + "value_kg": 2.2300000190734863, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d62897aba76ee75884af94749dbe6ec46f5647fd71b9b7ff91797ac1616125e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.2300000190734863, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d62897aba76ee75884af94749dbe6ec46f5647fd71b9b7ff91797ac1616125e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d62897aba76ee75884af94749dbe6ec46f5647fd71b9b7ff91797ac1616125e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00743 Soy Sauce Bottle/IsaacSim_assets_6a842418a08484187f607d09/physics_6a842418a08484187f607d09.json b/batch34/D00743 Soy Sauce Bottle/IsaacSim_assets_6a842418a08484187f607d09/physics_6a842418a08484187f607d09.json index 24c7d5602b51683299b5ec8ebecd4e44e09eb4d9..500601588c126ca12cb3409f79378d5494d881ee 100644 --- a/batch34/D00743 Soy Sauce Bottle/IsaacSim_assets_6a842418a08484187f607d09/physics_6a842418a08484187f607d09.json +++ b/batch34/D00743 Soy Sauce Bottle/IsaacSim_assets_6a842418a08484187f607d09/physics_6a842418a08484187f607d09.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a842418a08484187f607d09/part_0", "body1": "/World/textured_mesh_6a842418a08484187f607d09/part_1", "joint_path": "/World/textured_mesh_6a842418a08484187f607d09/Joints/joint_bottle_body__cap", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__cap", + "path": "/World/textured_mesh_6a842418a08484187f607d09/Joints/joint_bottle_body__cap", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a842418a08484187f607d09/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a842418a08484187f607d09/part_1" + ], + "authored_usd": { + "id": "joint_bottle_body__cap", + "source_prim_path": "/World/textured_mesh_6a842418a08484187f607d09/Joints/joint_bottle_body__cap", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a842418a08484187f607d09/part_0" + ], + "body1": [ + "/World/textured_mesh_6a842418a08484187f607d09/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a842418a08484187f607d09/part_0", "body1": "/World/textured_mesh_6a842418a08484187f607d09/part_2", "joint_path": "/World/textured_mesh_6a842418a08484187f607d09/Joints/joint_bottle_body__front_label", - "type": "fixed" + "type": "fixed", + "id": "joint_bottle_body__front_label", + "path": "/World/textured_mesh_6a842418a08484187f607d09/Joints/joint_bottle_body__front_label", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a842418a08484187f607d09/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a842418a08484187f607d09/part_2" + ], + "authored_usd": { + "id": "joint_bottle_body__front_label", + "source_prim_path": "/World/textured_mesh_6a842418a08484187f607d09/Joints/joint_bottle_body__front_label", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a842418a08484187f607d09/part_0" + ], + "body1": [ + "/World/textured_mesh_6a842418a08484187f607d09/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03619400039315224, - 0.17816375195980072, - 0.03672200068831444 - ], "min": [ -0.03657799959182739, - 0.0007747495851617714, - -0.03636600077152252 + -0.03672200068831444, + 0.0007747495851617714 + ], + "max": [ + 0.03619400039315224, + 0.03636600077152252, + 0.17816375195980072 ], "size": [ 0.07277199998497963, - 0.17738900237463895, - 0.07308800145983696 - ] + 0.07308800145983696, + 0.17738900237463895 + ], + "units": "m" }, "description": "D00743 Soy Sauce Bottle", "name": "D00743 Soy Sauce Bottle", "object_type": "rigid_bodies", - "total_mass": 0.319 + "total_mass": 0.319000011193566, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00743", "parts": [ { "bounds": { - "center": [ - -0.00015349872410297394, - 0.07395074937153368, - 0.00017799995839595795 + "min": [ + -0.03648899868130684, + -0.03672200068831444, + 0.0007747495851617714 ], "max": [ 0.03618200123310089, - 0.14712674915790558, - 0.03672200068831444 + 0.03636600077152252, + 0.14712674915790558 ], - "min": [ - -0.03648899868130684, - 0.0007747495851617714, - -0.03636600077152252 - ] + "size": [ + 0.07267099991440773, + 0.07308800145983696, + 0.1463519995727438 + ], + "units": "m" }, "center_of_mass": [ -0.0012534356210380793, @@ -72,7 +168,7 @@ 0.0006339701358228922, 0.0006383397849276662 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "ceramic_or_glass", "name": "D00743 Soy Sauce Bottle", "physics_type": "rigid", @@ -80,25 +176,28 @@ "object_name": "D00743 Soy Sauce Bottle", "part_name": "D00743 Soy Sauce Bottle" }, - "volume": 0.00012000000476837159 + "volume": 0.00012000000476837159, + "source_prim_path": "/World/textured_mesh_6a842418a08484187f607d09/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00019199959933757782, - 0.16194525361061096, - 0.00046449992805719376 + "min": [ + -0.03657799959182739, + -0.02797899954020977, + 0.1457267552614212 ], "max": [ 0.03619400039315224, - 0.17816375195980072, - 0.02797899954020977 + 0.027049999684095383, + 0.17816375195980072 ], - "min": [ - -0.03657799959182739, - 0.1457267552614212, - -0.027049999684095383 - ] + "size": [ + 0.07277199998497963, + 0.05502899922430515, + 0.03243699669837952 + ], + "units": "m" }, "center_of_mass": [ -0.004899908322840929, @@ -113,7 +212,7 @@ 2.018905979639385e-05, 2.095712443406228e-05 ], - "mass": 0.018, + "mass": 0.017999999225139618, "material": "wood", "name": "D00743 Soy Sauce Bottle", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00743 Soy Sauce Bottle", "part_name": "D00743 Soy Sauce Bottle" }, - "volume": 1.999999913904402e-05 + "volume": 1.999999913904402e-05, + "source_prim_path": "/World/textured_mesh_6a842418a08484187f607d09/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0007215002551674843, - 0.055430750362575054, - 0.03577199950814247 + "min": [ + -0.022276999428868294, + -0.03638099879026413, + 0.02155574969947338 ], "max": [ 0.023719999939203262, - 0.08930575102567673, - 0.03638099879026413 + -0.03516300022602081, + 0.08930575102567673 ], - "min": [ - -0.022276999428868294, - 0.02155574969947338, - 0.03516300022602081 - ] + "size": [ + 0.045996999368071556, + 0.0012179985642433167, + 0.06775000132620335 + ], + "units": "m" }, "center_of_mass": [ -0.0013762697344645858, @@ -154,7 +256,7 @@ 5.778356921837258e-07, 7.083758077897073e-07 ], - "mass": 0.001, + "mass": 0.0010000000474974513, "material": "wood", "name": "D00743 Soy Sauce Bottle", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00743 Soy Sauce Bottle", "part_name": "D00743 Soy Sauce Bottle" }, - "volume": 1.2500000593718142e-06 + "volume": 1.2500000593718142e-06, + "source_prim_path": "/World/textured_mesh_6a842418a08484187f607d09/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b3c6fe0f50ba1d25348877137d6295b4b90085260a0e0d2b499c196098058c2f" + }, + "usd_path": "batch34/D00743 Soy Sauce Bottle/IsaacSim_assets_6a842418a08484187f607d09/IsaacSim_asset_6a842418a08484187f607d09.usd", + "usd_sha256": "e3db87f556be0d93606920da411c2389410ff3ed0e57c1787c116f7acdf6242a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,58 @@ "up_axis": "Z", "bounds_m": [ 0.07277199998497963, - 0.17738900237463895, - 0.07308800145983696 - ] + 0.07308800145983696, + 0.17738900237463895 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e3db87f556be0d93606920da411c2389410ff3ed0e57c1787c116f7acdf6242a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.319 + "value_kg": 0.319000011193566, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e3db87f556be0d93606920da411c2389410ff3ed0e57c1787c116f7acdf6242a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.319000011193566, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 53, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e3db87f556be0d93606920da411c2389410ff3ed0e57c1787c116f7acdf6242a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 53, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e3db87f556be0d93606920da411c2389410ff3ed0e57c1787c116f7acdf6242a", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00799 Stainless Steel Bottle/IsaacSim_assets_6a842420a08484187f607fcb/physics_6a842420a08484187f607fcb.json b/batch34/D00799 Stainless Steel Bottle/IsaacSim_assets_6a842420a08484187f607fcb/physics_6a842420a08484187f607fcb.json index ea8cf99e73ff28acd53218a0249e47549f7448a4..b8f0aef54ad19da210fa854fe9338386c8a0faa4 100644 --- a/batch34/D00799 Stainless Steel Bottle/IsaacSim_assets_6a842420a08484187f607fcb/physics_6a842420a08484187f607fcb.json +++ b/batch34/D00799 Stainless Steel Bottle/IsaacSim_assets_6a842420a08484187f607fcb/physics_6a842420a08484187f607fcb.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a842420a08484187f607fcb/part_1", "body1": "/World/textured_mesh_6a842420a08484187f607fcb/part_0", "joint_path": "/World/textured_mesh_6a842420a08484187f607fcb/Joints/joint_part_1__part_0", - "type": "fixed" + "type": "fixed", + "id": "joint_part_1__part_0", + "path": "/World/textured_mesh_6a842420a08484187f607fcb/Joints/joint_part_1__part_0", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a842420a08484187f607fcb/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_6a842420a08484187f607fcb/part_0" + ], + "authored_usd": { + "id": "joint_part_1__part_0", + "source_prim_path": "/World/textured_mesh_6a842420a08484187f607fcb/Joints/joint_part_1__part_0", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a842420a08484187f607fcb/part_1" + ], + "body1": [ + "/World/textured_mesh_6a842420a08484187f607fcb/part_0" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.037546999752521515, - 0.15106900036334991, - 0.03746100142598152 - ], "min": [ -0.03753900155425072, - 1.4000000192027073e-05, - -0.037661999464035034 + -0.03746100142598152, + 1.4000000192027073e-05 + ], + "max": [ + 0.037546999752521515, + 0.037661999464035034, + 0.15106900036334991 ], "size": [ 0.07508600130677223, - 0.1510550003631579, - 0.07512300089001656 - ] + 0.07512300089001656, + 0.1510550003631579 + ], + "units": "m" }, "description": "D00799 Stainless Steel Bottle", "name": "D00799 Stainless Steel Bottle", "object_type": "rigid_bodies", - "total_mass": 0.3 + "total_mass": 0.30000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00799", "parts": [ { "bounds": { - "center": [ - -0.00702699925750494, - 0.07814250024966896, - -0.00012149941176176071 + "min": [ + -0.03736399859189987, + -0.023135000839829445, + 0.005216000135987997 ], "max": [ 0.023310000076889992, - 0.15106900036334991, - 0.023135000839829445 + 0.023377999663352966, + 0.15106900036334991 ], - "min": [ - -0.03736399859189987, - 0.005216000135987997, - -0.023377999663352966 - ] + "size": [ + 0.060673998668789864, + 0.04651300050318241, + 0.14585300022736192 + ], + "units": "m" }, "center_of_mass": [ -0.007130724843591452, @@ -66,7 +117,7 @@ 4.994310802430846e-05, 5.016399154555984e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "metal", "name": "D00799 Stainless Steel Bottle", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00799 Stainless Steel Bottle", "part_name": "D00799 Stainless Steel Bottle" }, - "volume": 6.369426846504211e-06 + "volume": 6.369426846504211e-06, + "source_prim_path": "/World/textured_mesh_6a842420a08484187f607fcb/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 3.999099135398865e-06, - 0.06593899819336002, - -0.00010049901902675629 + "min": [ + -0.03753900155425072, + -0.03746100142598152, + 1.4000000192027073e-05 ], "max": [ 0.037546999752521515, - 0.13186399638652802, - 0.03746100142598152 + 0.037661999464035034, + 0.13186399638652802 ], - "min": [ - -0.03753900155425072, - 1.4000000192027073e-05, - -0.037661999464035034 - ] + "size": [ + 0.07508600130677223, + 0.07512300089001656, + 0.131849996386336 + ], + "units": "m" }, "center_of_mass": [ -9.40855716180522e-06, @@ -115,10 +169,27 @@ "object_name": "D00799 Stainless Steel Bottle", "part_name": "D00799 Stainless Steel Bottle" }, - "volume": 3.184713375796178e-05 + "volume": 3.184713375796178e-05, + "source_prim_path": "/World/textured_mesh_6a842420a08484187f607fcb/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ae1f09bea1926c88b69b819604e61434e47a73caefda4220af81b9cde4f6d8f5" + }, + "usd_path": "batch34/D00799 Stainless Steel Bottle/IsaacSim_assets_6a842420a08484187f607fcb/IsaacSim_asset_6a842420a08484187f607fcb.usd", + "usd_sha256": "1af722e1f5e1a14641dfbdc2eac00b8a66b2fe36c8c0fa3d195d9a9f0dfe20fc", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,59 @@ "up_axis": "Z", "bounds_m": [ 0.07508600130677223, - 0.1510550003631579, - 0.07512300089001656 - ] + 0.07512300089001656, + 0.1510550003631579 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1af722e1f5e1a14641dfbdc2eac00b8a66b2fe36c8c0fa3d195d9a9f0dfe20fc", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3 + "value_kg": 0.30000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1af722e1f5e1a14641dfbdc2eac00b8a66b2fe36c8c0fa3d195d9a9f0dfe20fc", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.30000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 31, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1af722e1f5e1a14641dfbdc2eac00b8a66b2fe36c8c0fa3d195d9a9f0dfe20fc", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 31, + "approximations": [ + "convexDecomposition", + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1af722e1f5e1a14641dfbdc2eac00b8a66b2fe36c8c0fa3d195d9a9f0dfe20fc", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00817 Storage Container/IsaacSim_assets_6a7eab87b7a9c4204a99a1c8/physics_6a7eab87b7a9c4204a99a1c8.json b/batch34/D00817 Storage Container/IsaacSim_assets_6a7eab87b7a9c4204a99a1c8/physics_6a7eab87b7a9c4204a99a1c8.json index 00994daa3671dc2487691b24ac41952543e5f6e7..d2e527d88f104fec01e2a3ef879d9a15187a7f9f 100644 --- a/batch34/D00817 Storage Container/IsaacSim_assets_6a7eab87b7a9c4204a99a1c8/physics_6a7eab87b7a9c4204a99a1c8.json +++ b/batch34/D00817 Storage Container/IsaacSim_assets_6a7eab87b7a9c4204a99a1c8/physics_6a7eab87b7a9c4204a99a1c8.json @@ -6,52 +6,106 @@ "body0": "/World/textured_mesh_6a7eab87b7a9c4204a99a1c8/part_0", "body1": "/World/textured_mesh_6a7eab87b7a9c4204a99a1c8/part_1", "joint_path": "/World/textured_mesh_6a7eab87b7a9c4204a99a1c8/Joints/joint_part_00__part_01", - "type": "revolute" + "type": "revolute", + "id": "joint_part_00__part_01", + "path": "/World/textured_mesh_6a7eab87b7a9c4204a99a1c8/Joints/joint_part_00__part_01", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a7eab87b7a9c4204a99a1c8/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a7eab87b7a9c4204a99a1c8/part_1" + ], + "authored_usd": { + "id": "joint_part_00__part_01", + "source_prim_path": "/World/textured_mesh_6a7eab87b7a9c4204a99a1c8/Joints/joint_part_00__part_01", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a7eab87b7a9c4204a99a1c8/part_0" + ], + "body1": [ + "/World/textured_mesh_6a7eab87b7a9c4204a99a1c8/part_1" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -33.0, + "upperLimit": 155.0, + "localPos0": [ + -0.1479736715555191, + 0.10412587970495224, + 0.17864075303077698 + ], + "localPos1": [ + -0.1479736715555191, + 0.10412587970495224, + 0.17864075303077698 + ], + "localRot0": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "localRot1": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15952399373054504, - 0.3213718831539154, - 0.13592499494552612 - ], "min": [ -0.1612589955329895, - 0.001747880014590919, - -0.1174093633890152 + -0.13592499494552612, + 0.001747880014590919 + ], + "max": [ + 0.15952399373054504, + 0.1174093633890152, + 0.3213718831539154 ], "size": [ 0.32078298926353455, - 0.3196240031393245, - 0.2533343583345413 - ] + 0.2533343583345413, + 0.3196240031393245 + ], + "units": "m" }, "description": "D00817 Storage Container", "name": "D00817 Storage Container", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.8000000268220901, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00817", "parts": [ { "bounds": { - "center": [ - -0.000867500901222229, - 0.09168388129910454, - 0.014424998313188553 + "min": [ + -0.1612589955329895, + -0.13592499494552612, + 0.001747880014590919 ], "max": [ 0.15952399373054504, - 0.18161988258361816, - 0.13592499494552612 + 0.10707499831914902, + 0.18161988258361816 ], - "min": [ - -0.1612589955329895, - 0.001747880014590919, - -0.10707499831914902 - ] + "size": [ + 0.32078298926353455, + 0.24299999326467514, + 0.17987200256902725 + ], + "units": "m" }, "center_of_mass": [ -0.0014137100661173463, @@ -66,7 +120,7 @@ 0.0060740746557712555, 0.0070426855236291885 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "plastic", "name": "D00817 Storage Container", "physics_type": "rigid", @@ -74,25 +128,28 @@ "object_name": "D00817 Storage Container", "part_name": "D00817 Storage Container" }, - "volume": 0.0006315789724651136 + "volume": 0.0006315789724651136, + "source_prim_path": "/World/textured_mesh_6a7eab87b7a9c4204a99a1c8/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0014629065990447998, - 0.2450798824429512, - -0.010131392627954483 + "min": [ + -0.15840640664100647, + -0.09714657813310623, + 0.168787881731987 ], "max": [ 0.15548059344291687, - 0.3213718831539154, - 0.09714657813310623 + 0.1174093633890152, + 0.3213718831539154 ], - "min": [ - -0.15840640664100647, - 0.168787881731987, - -0.1174093633890152 - ] + "size": [ + 0.31388700008392334, + 0.21455594152212143, + 0.1525840014219284 + ], + "units": "m" }, "center_of_mass": [ -0.0014445185661315918, @@ -107,7 +164,7 @@ 0.001578510389663279, 0.0024777003563940525 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "plastic", "name": "D00817 Storage Container", "physics_type": "rigid", @@ -115,10 +172,27 @@ "object_name": "D00817 Storage Container", "part_name": "D00817 Storage Container" }, - "volume": 0.00021052631892656026 + "volume": 0.00021052631892656026, + "source_prim_path": "/World/textured_mesh_6a7eab87b7a9c4204a99a1c8/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "dc6d4ccc3ffeae1c64434c0a583a4c6621c473cc1b6682339a634dc6e8eaa28f" + }, + "usd_path": "batch34/D00817 Storage Container/IsaacSim_assets_6a7eab87b7a9c4204a99a1c8/IsaacSim_asset_6a7eab87b7a9c4204a99a1c8.usd", + "usd_sha256": "4736b02291bdea4de387849e92a7a4d90603c36e3d58de7065f54b8af093e9ee", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +211,58 @@ "up_axis": "Z", "bounds_m": [ 0.32078298926353455, - 0.3196240031393245, - 0.2533343583345413 - ] + 0.2533343583345413, + 0.3196240031393245 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4736b02291bdea4de387849e92a7a4d90603c36e3d58de7065f54b8af093e9ee", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.8000000268220901, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4736b02291bdea4de387849e92a7a4d90603c36e3d58de7065f54b8af093e9ee", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8000000268220901, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 36, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4736b02291bdea4de387849e92a7a4d90603c36e3d58de7065f54b8af093e9ee", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 36, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4736b02291bdea4de387849e92a7a4d90603c36e3d58de7065f54b8af093e9ee", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00906 Vegetable Peeler/IsaacSim_assets_6a83dc0aa08484187f565d6d/physics_6a83dc0aa08484187f565d6d.json b/batch34/D00906 Vegetable Peeler/IsaacSim_assets_6a83dc0aa08484187f565d6d/physics_6a83dc0aa08484187f565d6d.json index 6bf3f9ceb304aaa7b6dc2b2283b1524ce56f05c4..cbcc1b5e580a3ddb90e51b4593921975dbc223c6 100644 --- a/batch34/D00906 Vegetable Peeler/IsaacSim_assets_6a83dc0aa08484187f565d6d/physics_6a83dc0aa08484187f565d6d.json +++ b/batch34/D00906 Vegetable Peeler/IsaacSim_assets_6a83dc0aa08484187f565d6d/physics_6a83dc0aa08484187f565d6d.json @@ -6,52 +6,106 @@ "body0": "/World/textured_mesh_6a83dc0aa08484187f565d6d/part_0", "body1": "/World/textured_mesh_6a83dc0aa08484187f565d6d/part_1", "joint_path": "/World/textured_mesh_6a83dc0aa08484187f565d6d/Joints/joint_part_00__part_01", - "type": "revolute" + "type": "revolute", + "id": "joint_part_00__part_01", + "path": "/World/textured_mesh_6a83dc0aa08484187f565d6d/Joints/joint_part_00__part_01", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a83dc0aa08484187f565d6d/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a83dc0aa08484187f565d6d/part_1" + ], + "authored_usd": { + "id": "joint_part_00__part_01", + "source_prim_path": "/World/textured_mesh_6a83dc0aa08484187f565d6d/Joints/joint_part_00__part_01", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a83dc0aa08484187f565d6d/part_0" + ], + "body1": [ + "/World/textured_mesh_6a83dc0aa08484187f565d6d/part_1" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -45.0, + "upperLimit": 45.0, + "localPos0": [ + 0.0001630389306228608, + 0.04874188080430031, + 0.012729605659842491 + ], + "localPos1": [ + 0.0001630389306228608, + 0.04874188080430031, + 0.012729605659842491 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04299499839544296, - 0.025252047926187515, - 0.0853710025548935 - ], "min": [ -0.042865999042987823, - 0.00026904974947683513, - -0.05581900104880333 + -0.0853710025548935, + 0.00026904974947683513 + ], + "max": [ + 0.04299499839544296, + 0.05581900104880333, + 0.025252047926187515 ], "size": [ 0.08586099743843079, - 0.02498299817671068, - 0.14119000360369682 - ] + 0.14119000360369682, + 0.02498299817671068 + ], + "units": "m" }, "description": "D00906 Vegetable Peeler", "name": "D00906 Vegetable Peeler", "object_type": "rigid_bodies", - "total_mass": 0.065 + "total_mass": 0.06500000040978193, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00906", "parts": [ { "bounds": { - "center": [ - 6.449967622756958e-05, - 0.012760548837832175, - 0.014798501506447792 + "min": [ + -0.042865999042987823, + -0.0853710025548935, + 0.00026904974947683513 ], "max": [ 0.04299499839544296, - 0.025252047926187515, - 0.0853710025548935 + 0.05577399954199791, + 0.025252047926187515 ], - "min": [ - -0.042865999042987823, - 0.00026904974947683513, - -0.05577399954199791 - ] + "size": [ + 0.08586099743843079, + 0.1411450020968914, + 0.02498299817671068 + ], + "units": "m" }, "center_of_mass": [ 7.815474964445457e-05, @@ -66,7 +120,7 @@ 6.834460509708151e-05, 8.265252836281434e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "plastic", "name": "D00906 Vegetable Peeler", "physics_type": "rigid", @@ -74,25 +128,28 @@ "object_name": "D00906 Vegetable Peeler", "part_name": "D00906 Vegetable Peeler" }, - "volume": 4.5454546131870964e-05 + "volume": 4.5454546131870964e-05, + "source_prim_path": "/World/textured_mesh_6a83dc0aa08484187f565d6d/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 2.5501474738121033e-05, - 0.012755549978464842, - -0.04904450103640556 + "min": [ + -0.034706998616456985, + 0.0422700010240078, + 0.00853904988616705 ], "max": [ 0.03475800156593323, - 0.016972050070762634, - -0.0422700010240078 + 0.05581900104880333, + 0.016972050070762634 ], - "min": [ - -0.034706998616456985, - 0.00853904988616705, - -0.05581900104880333 - ] + "size": [ + 0.06946500018239021, + 0.013549000024795532, + 0.008433000184595585 + ], + "units": "m" }, "center_of_mass": [ 5.931242776568979e-05, @@ -107,7 +164,7 @@ 5.25999575984315e-06, 5.370640337787336e-06 ], - "mass": 0.015, + "mass": 0.014999999664723873, "material": "metal", "name": "D00906 Vegetable Peeler", "physics_type": "rigid", @@ -115,10 +172,27 @@ "object_name": "D00906 Vegetable Peeler", "part_name": "D00906 Vegetable Peeler" }, - "volume": 1.8987341347751737e-06 + "volume": 1.8987341347751737e-06, + "source_prim_path": "/World/textured_mesh_6a83dc0aa08484187f565d6d/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4c5310f4d954ec75963006765330bded8595dd45dd0d5e463c3e3f178f293e74" + }, + "usd_path": "batch34/D00906 Vegetable Peeler/IsaacSim_assets_6a83dc0aa08484187f565d6d/IsaacSim_asset_6a83dc0aa08484187f565d6d.usd", + "usd_sha256": "36f3ae9adea740848e328f60341c3c3d919296f2b3507d95f2097d32ea9f6eba", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +211,58 @@ "up_axis": "Z", "bounds_m": [ 0.08586099743843079, - 0.02498299817671068, - 0.14119000360369682 - ] + 0.14119000360369682, + 0.02498299817671068 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "36f3ae9adea740848e328f60341c3c3d919296f2b3507d95f2097d32ea9f6eba", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.065 + "value_kg": 0.06500000040978193, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "36f3ae9adea740848e328f60341c3c3d919296f2b3507d95f2097d32ea9f6eba", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.06500000040978193, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 21, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "36f3ae9adea740848e328f60341c3c3d919296f2b3507d95f2097d32ea9f6eba", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 21, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "36f3ae9adea740848e328f60341c3c3d919296f2b3507d95f2097d32ea9f6eba", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00913 Wall Clock/IsaacSim_assets_6a840e56a08484187f5db31a/physics_6a840e56a08484187f5db31a.json b/batch34/D00913 Wall Clock/IsaacSim_assets_6a840e56a08484187f5db31a/physics_6a840e56a08484187f5db31a.json index 3cf8cff07032f666c1875c17d81fab43a8b28531..3a5a983a5ad27c0fa3c51dae449e98bf0d827b98 100644 --- a/batch34/D00913 Wall Clock/IsaacSim_assets_6a840e56a08484187f5db31a/physics_6a840e56a08484187f5db31a.json +++ b/batch34/D00913 Wall Clock/IsaacSim_assets_6a840e56a08484187f5db31a/physics_6a840e56a08484187f5db31a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1265760064125061, - 0.25366920232772827, - 0.02927600033581257 - ], "min": [ -0.125900998711586, - 0.0013722104486078024, - -0.034522999078035355 + -0.02927600033581257, + 0.0013722104486078024 + ], + "max": [ + 0.1265760064125061, + 0.034522999078035355, + 0.25366920232772827 ], "size": [ 0.2524770051240921, - 0.25229699187912047, - 0.06379899941384792 - ] + 0.06379899941384792, + 0.25229699187912047 + ], + "units": "m" }, "description": "D00913 Wall Clock", "name": "D00913 Wall Clock", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00913", "parts": [ { "bounds": { - "center": [ - 0.0003375038504600525, - 0.12752070638816804, - -0.002623499371111393 + "min": [ + -0.125900998711586, + -0.02927600033581257, + 0.0013722104486078024 ], "max": [ 0.1265760064125061, - 0.25366920232772827, - 0.02927600033581257 + 0.034522999078035355, + 0.25366920232772827 ], - "min": [ - -0.125900998711586, - 0.0013722104486078024, - -0.034522999078035355 - ] + "size": [ + 0.2524770051240921, + 0.06379899941384792, + 0.25229699187912047 + ], + "units": "m" }, "center_of_mass": [ 0.00028586911503225565, @@ -59,7 +65,7 @@ 0.003381489310413599, 0.006165144965052605 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "plastic", "name": "D00913 Wall Clock", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00913 Wall Clock", "part_name": "D00913 Wall Clock" }, - "volume": 0.0007619047732580276 + "volume": 0.0007619047732580276, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4c15b043d3293570f46704b603c274321322c3ea5114309f3058ab26ddb8774e" + }, + "usd_path": "batch34/D00913 Wall Clock/IsaacSim_assets_6a840e56a08484187f5db31a/IsaacSim_asset_6a840e56a08484187f5db31a.usd", + "usd_sha256": "d247716cba3033ca18cef4670383c7fc291f50f2a80e6558f6f6edf9864a5634", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.2524770051240921, - 0.25229699187912047, - 0.06379899941384792 - ] + 0.06379899941384792, + 0.25229699187912047 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d247716cba3033ca18cef4670383c7fc291f50f2a80e6558f6f6edf9864a5634", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d247716cba3033ca18cef4670383c7fc291f50f2a80e6558f6f6edf9864a5634", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 27, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d247716cba3033ca18cef4670383c7fc291f50f2a80e6558f6f6edf9864a5634", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 27, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d247716cba3033ca18cef4670383c7fc291f50f2a80e6558f6f6edf9864a5634", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00914 Cocoa Powder Tin/IsaacSim_assets_6a83e924a08484187f59d6c9/physics_6a83e924a08484187f59d6c9.json b/batch34/D00914 Cocoa Powder Tin/IsaacSim_assets_6a83e924a08484187f59d6c9/physics_6a83e924a08484187f59d6c9.json index 61e1b46a9e73c75dd6df4ad9cdb452ffdc89bc56..d9a5f06663884891dd5763fcf5bf7082b2559ac4 100644 --- a/batch34/D00914 Cocoa Powder Tin/IsaacSim_assets_6a83e924a08484187f59d6c9/physics_6a83e924a08484187f59d6c9.json +++ b/batch34/D00914 Cocoa Powder Tin/IsaacSim_assets_6a83e924a08484187f59d6c9/physics_6a83e924a08484187f59d6c9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03970799967646599, - 0.12139246612787247, - 0.03958899900317192 - ], "min": [ -0.03974299877882004, - 0.0003954700368922204, - -0.040123000741004944 + -0.03958899900317192, + 0.0003954700368922204 + ], + "max": [ + 0.03970799967646599, + 0.040123000741004944, + 0.12139246612787247 ], "size": [ 0.07945099845528603, - 0.12099699609098025, - 0.07971199974417686 - ] + 0.07971199974417686, + 0.12099699609098025 + ], + "units": "m" }, "description": "D00914 Cocoa Powder Tin", "name": "D00914 Cocoa Powder Tin", "object_type": "rigid_bodies", - "total_mass": 0.1 + "total_mass": 0.09999999776482582, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00914", "parts": [ { "bounds": { - "center": [ - -0.00012799911201000214, - 0.0519899692008039, - -0.00010750070214271545 + "min": [ + -0.03974299877882004, + -0.03958899900317192, + 0.0003954700368922204 ], "max": [ 0.039487000554800034, - 0.10358446836471558, - 0.03958899900317192 + 0.03980400040745735, + 0.10358446836471558 ], - "min": [ - -0.03974299877882004, - 0.0003954700368922204, - -0.03980400040745735 - ] + "size": [ + 0.07922999933362007, + 0.07939299941062927, + 0.10318899832782336 + ], + "units": "m" }, "center_of_mass": [ -0.0005106328171677887, @@ -59,7 +65,7 @@ 9.017670527100563e-05, 9.073886758415028e-05 ], - "mass": 0.08, + "mass": 0.07999999821186066, "material": "metal", "name": "D00914 Cocoa Powder Tin", "physics_type": "rigid", @@ -67,25 +73,28 @@ "object_name": "D00914 Cocoa Powder Tin", "part_name": "D00914 Cocoa Powder Tin" }, - "volume": 1.0958903864638447e-05 + "volume": 1.0958903864638447e-05, + "source_prim_path": "/World/textured_mesh_6a83e924a08484187f59d6c9/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -1.749955117702484e-05, - 0.10851146653294563, - -0.0013410001993179321 + "min": [ + -0.03974299877882004, + -0.03744100034236908, + 0.0956304669380188 ], "max": [ 0.03970799967646599, - 0.12139246612787247, - 0.03744100034236908 + 0.040123000741004944, + 0.12139246612787247 ], - "min": [ - -0.03974299877882004, - 0.0956304669380188, - -0.040123000741004944 - ] + "size": [ + 0.07945099845528603, + 0.07756400108337402, + 0.025761999189853668 + ], + "units": "m" }, "center_of_mass": [ -3.365869997651316e-05, @@ -100,7 +109,7 @@ 7.85347856435692e-06, 1.4752982679056004e-05 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "metal", "name": "D00914 Cocoa Powder Tin", "physics_type": "rigid", @@ -108,10 +117,27 @@ "object_name": "D00914 Cocoa Powder Tin", "part_name": "D00914 Cocoa Powder Tin" }, - "volume": 2.7397259661596117e-06 + "volume": 2.7397259661596117e-06, + "source_prim_path": "/World/textured_mesh_6a83e924a08484187f59d6c9/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "550d3287f6476f7b04b0da622e2d534324073b47f11ae9dff5f200d9d004bf1c" + }, + "usd_path": "batch34/D00914 Cocoa Powder Tin/IsaacSim_assets_6a83e924a08484187f59d6c9/IsaacSim_asset_6a83e924a08484187f59d6c9.usd", + "usd_sha256": "135a76207d0b710990afef9d3d32d34bbb2950e2b84704ab8ca32b23a26f090f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -130,24 +156,58 @@ "up_axis": "Z", "bounds_m": [ 0.07945099845528603, - 0.12099699609098025, - 0.07971199974417686 - ] + 0.07971199974417686, + 0.12099699609098025 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "135a76207d0b710990afef9d3d32d34bbb2950e2b84704ab8ca32b23a26f090f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.1 + "value_kg": 0.09999999776482582, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "135a76207d0b710990afef9d3d32d34bbb2950e2b84704ab8ca32b23a26f090f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.09999999776482582, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 43, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "135a76207d0b710990afef9d3d32d34bbb2950e2b84704ab8ca32b23a26f090f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 43, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "135a76207d0b710990afef9d3d32d34bbb2950e2b84704ab8ca32b23a26f090f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00920 Baking Powder Tin/IsaacSim_assets_6a840e14a08484187f5da257/physics_6a840e14a08484187f5da257.json b/batch34/D00920 Baking Powder Tin/IsaacSim_assets_6a840e14a08484187f5da257/physics_6a840e14a08484187f5da257.json index 4da34b2dd26abac75b159610aa38b37c7832b8ef..2f0f069116404f951fdc650f0afaff8761ebf186 100644 --- a/batch34/D00920 Baking Powder Tin/IsaacSim_assets_6a840e14a08484187f5da257/physics_6a840e14a08484187f5da257.json +++ b/batch34/D00920 Baking Powder Tin/IsaacSim_assets_6a840e14a08484187f5da257/physics_6a840e14a08484187f5da257.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03244199976325035, - 0.09045081585645676, - 0.03280400112271309 - ], "min": [ -0.032451000064611435, - 0.000234810053370893, - -0.03229700028896332 + -0.03280400112271309, + 0.000234810053370893 + ], + "max": [ + 0.03244199976325035, + 0.03229700028896332, + 0.09045081585645676 ], "size": [ 0.06489299982786179, - 0.09021600580308586, - 0.0651010014116764 - ] + 0.0651010014116764, + 0.09021600580308586 + ], + "units": "m" }, "description": "D00920 Baking Powder Tin", "name": "D00920 Baking Powder Tin", "object_type": "rigid_bodies", - "total_mass": 0.07 + "total_mass": 0.07000000029802322, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00920", "parts": [ { "bounds": { - "center": [ - -4.500150680541992e-06, - 0.045342812954913825, - 0.00025350041687488556 + "min": [ + -0.032451000064611435, + -0.03280400112271309, + 0.000234810053370893 ], "max": [ 0.03244199976325035, - 0.09045081585645676, - 0.03280400112271309 + 0.03229700028896332, + 0.09045081585645676 ], - "min": [ - -0.032451000064611435, - 0.000234810053370893, - -0.03229700028896332 - ] + "size": [ + 0.06489299982786179, + 0.0651010014116764, + 0.09021600580308586 + ], + "units": "m" }, "center_of_mass": [ -1.3808214589516865e-06, @@ -59,7 +65,7 @@ 6.58393109915778e-05, 6.596314051421359e-05 ], - "mass": 0.07, + "mass": 0.07000000029802322, "material": "metal", "name": "D00920 Baking Powder Tin", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00920 Baking Powder Tin", "part_name": "D00920 Baking Powder Tin" }, - "volume": 9.58904113671551e-06 + "volume": 9.58904113671551e-06, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "29e54830787e7ed7088b0bbfc2f92417e8b9aebfc8653a00d840c9e7092a1c96" + }, + "usd_path": "batch34/D00920 Baking Powder Tin/IsaacSim_assets_6a840e14a08484187f5da257/IsaacSim_asset_6a840e14a08484187f5da257.usd", + "usd_sha256": "125ed86d2e592d1b06c74c347abd5e3ffbbd77f5596fd7a00fc6789cc3276bf1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.06489299982786179, - 0.09021600580308586, - 0.0651010014116764 - ] + 0.0651010014116764, + 0.09021600580308586 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "125ed86d2e592d1b06c74c347abd5e3ffbbd77f5596fd7a00fc6789cc3276bf1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.07 + "value_kg": 0.07000000029802322, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "125ed86d2e592d1b06c74c347abd5e3ffbbd77f5596fd7a00fc6789cc3276bf1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07000000029802322, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "125ed86d2e592d1b06c74c347abd5e3ffbbd77f5596fd7a00fc6789cc3276bf1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "125ed86d2e592d1b06c74c347abd5e3ffbbd77f5596fd7a00fc6789cc3276bf1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch34/D00925 Kitchenware/IsaacSim_assets_6a840d6aa08484187f5d7cc8/physics_6a840d6aa08484187f5d7cc8.json b/batch34/D00925 Kitchenware/IsaacSim_assets_6a840d6aa08484187f5d7cc8/physics_6a840d6aa08484187f5d7cc8.json index cd37a1035aff22a6407272a287f58bd31bd6cf3c..2e697ba02367f46d08aef345104b250c43a92a83 100644 --- a/batch34/D00925 Kitchenware/IsaacSim_assets_6a840d6aa08484187f5d7cc8/physics_6a840d6aa08484187f5d7cc8.json +++ b/batch34/D00925 Kitchenware/IsaacSim_assets_6a840d6aa08484187f5d7cc8/physics_6a840d6aa08484187f5d7cc8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1722699999809265, - 0.16463765501976013, - 0.1238579973578453 - ], "min": [ -0.17182299494743347, - 0.0017976593226194382, - -0.12296199798583984 + -0.1238579973578453, + 0.0017976593226194382 + ], + "max": [ + 0.1722699999809265, + 0.12296199798583984, + 0.16463765501976013 ], "size": [ 0.34409299492836, - 0.1628399956971407, - 0.24681999534368515 - ] + 0.24681999534368515, + 0.1628399956971407 + ], + "units": "m" }, "description": "D00925 Kitchenware", "name": "D00925 Kitchenware", "object_type": "rigid_bodies", - "total_mass": 6.92 + "total_mass": 6.920000076293945, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00925", "parts": [ { "bounds": { - "center": [ - 0.000223502516746521, - 0.08321765717118979, - 0.0004479996860027313 + "min": [ + -0.17182299494743347, + -0.1238579973578453, + 0.0017976593226194382 ], "max": [ 0.1722699999809265, - 0.16463765501976013, - 0.1238579973578453 + 0.12296199798583984, + 0.16463765501976013 ], - "min": [ - -0.17182299494743347, - 0.0017976593226194382, - -0.12296199798583984 - ] + "size": [ + 0.34409299492836, + 0.24681999534368515, + 0.1628399956971407 + ], + "units": "m" }, "center_of_mass": [ 0.00021364365238696337, @@ -59,7 +65,7 @@ 0.05055705085396767, 0.05896182730793953 ], - "mass": 6.92, + "mass": 6.920000076293945, "material": "metal", "name": "D00925 Kitchenware", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00925 Kitchenware", "part_name": "D00925 Kitchenware" }, - "volume": 0.0008650000095367431 + "volume": 0.0008650000095367431, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "86f23eb4a8763a1ac79d0a8d00daf81ebb02241e52494cc2a5d9c362fb4189ff" + }, + "usd_path": "batch34/D00925 Kitchenware/IsaacSim_assets_6a840d6aa08484187f5d7cc8/IsaacSim_asset_6a840d6aa08484187f5d7cc8.usd", + "usd_sha256": "32cd4402268cac7eb13b0eccd716f0d044fb885a5f44a63021c0a4eb0c1547e6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.34409299492836, - 0.1628399956971407, - 0.24681999534368515 - ] + 0.24681999534368515, + 0.1628399956971407 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32cd4402268cac7eb13b0eccd716f0d044fb885a5f44a63021c0a4eb0c1547e6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 6.92 + "value_kg": 6.920000076293945, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32cd4402268cac7eb13b0eccd716f0d044fb885a5f44a63021c0a4eb0c1547e6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 6.920000076293945, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 30, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32cd4402268cac7eb13b0eccd716f0d044fb885a5f44a63021c0a4eb0c1547e6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 30, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32cd4402268cac7eb13b0eccd716f0d044fb885a5f44a63021c0a4eb0c1547e6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00033_Yogurt_Maker/IsaacSim_assets_D00033/physics_D00033.json b/batch35/D00033_Yogurt_Maker/IsaacSim_assets_D00033/physics_D00033.json index 9f211bcd98125602748ebc71cc31f8401e0ad5bb..04dc8aa8a7719b28c14df5ee8bd2e5895571f9ce 100644 --- a/batch35/D00033_Yogurt_Maker/IsaacSim_assets_D00033/physics_D00033.json +++ b/batch35/D00033_Yogurt_Maker/IsaacSim_assets_D00033/physics_D00033.json @@ -141,6 +141,44 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "jar1_cap_joint", + "path": "/World/Joints/jar1_cap_joint", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "jar1_cap_joint", + "source_prim_path": "/World/Joints/jar1_cap_joint", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/part_02" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "localPos0": [ + 2.7939677238464355e-09, + 5.587935447692871e-09, + 0.1120000034570694 + ], + "localPos1": [ + 2.7939677238464355e-09, + 5.587935447692871e-09, + 0.1120000034570694 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -282,6 +320,44 @@ "/World/part_05" ], "proxyPrim": [] + }, + "id": "jar2_cap_joint", + "path": "/World/Joints/jar2_cap_joint", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "jar2_cap_joint", + "source_prim_path": "/World/Joints/jar2_cap_joint", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/part_04" + ], + "body1": [ + "/World/part_05" + ], + "joint_enabled": true, + "localPos0": [ + 0.030500002205371857, + -0.05282754451036453, + 0.1120000034570694 + ], + "localPos1": [ + 0.030500002205371857, + -0.05282754451036453, + 0.1120000034570694 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -423,6 +499,44 @@ "/World/part_07" ], "proxyPrim": [] + }, + "id": "jar3_cap_joint", + "path": "/World/Joints/jar3_cap_joint", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "jar3_cap_joint", + "source_prim_path": "/World/Joints/jar3_cap_joint", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/part_06" + ], + "body1": [ + "/World/part_07" + ], + "joint_enabled": true, + "localPos0": [ + 0.06100000441074371, + 5.587935447692871e-09, + 0.1120000034570694 + ], + "localPos1": [ + 0.06100000441074371, + 5.587935447692871e-09, + 0.1120000034570694 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -564,6 +678,44 @@ "/World/part_09" ], "proxyPrim": [] + }, + "id": "jar4_cap_joint", + "path": "/World/Joints/jar4_cap_joint", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "jar4_cap_joint", + "source_prim_path": "/World/Joints/jar4_cap_joint", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/part_08" + ], + "body1": [ + "/World/part_09" + ], + "joint_enabled": true, + "localPos0": [ + 0.030500002205371857, + 0.05282755196094513, + 0.1120000034570694 + ], + "localPos1": [ + 0.030500002205371857, + 0.05282755196094513, + 0.1120000034570694 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -705,6 +857,44 @@ "/World/part_11" ], "proxyPrim": [] + }, + "id": "jar5_cap_joint", + "path": "/World/Joints/jar5_cap_joint", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "jar5_cap_joint", + "source_prim_path": "/World/Joints/jar5_cap_joint", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/part_10" + ], + "body1": [ + "/World/part_11" + ], + "joint_enabled": true, + "localPos0": [ + -0.03049999661743641, + 0.05282755196094513, + 0.1120000034570694 + ], + "localPos1": [ + -0.03049999661743641, + 0.05282755196094513, + 0.1120000034570694 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -846,6 +1036,44 @@ "/World/part_13" ], "proxyPrim": [] + }, + "id": "jar6_cap_joint", + "path": "/World/Joints/jar6_cap_joint", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "jar6_cap_joint", + "source_prim_path": "/World/Joints/jar6_cap_joint", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/part_12" + ], + "body1": [ + "/World/part_13" + ], + "joint_enabled": true, + "localPos0": [ + -0.060999996960163116, + 5.587935447692871e-09, + 0.1120000034570694 + ], + "localPos1": [ + -0.060999996960163116, + 5.587935447692871e-09, + 0.1120000034570694 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -987,52 +1215,96 @@ "/World/part_15" ], "proxyPrim": [] + }, + "id": "jar7_cap_joint", + "path": "/World/Joints/jar7_cap_joint", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "jar7_cap_joint", + "source_prim_path": "/World/Joints/jar7_cap_joint", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/part_14" + ], + "body1": [ + "/World/part_15" + ], + "joint_enabled": true, + "localPos0": [ + -0.03049999661743641, + -0.05282754451036453, + 0.1120000034570694 + ], + "localPos1": [ + -0.03049999661743641, + -0.05282754451036453, + 0.1120000034570694 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 16, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12049999833106995, - 0.15189999341964722, - 0.1264936923980713 - ], "min": [ -0.12049999833106995, - 0.0, - -0.12049999833106995 + -0.1264936923980713, + 0.0 + ], + "max": [ + 0.12049999833106995, + 0.12049999833106995, + 0.15189999341964722 ], "size": [ 0.2409999966621399, - 0.15189999341964722, - 0.24699369072914124 - ] + 0.24699369072914124, + 0.15189999341964722 + ], + "units": "m" }, "description": "Yogurt Maker", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 2.6900000981986523 + "total_mass": 2.6900000981986523, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00033", "parts": [ { "bounds": { - "center": [ - 4.842877388000488e-08, - 0.04899999871850014, - 0.002996869385242462 + "min": [ + -0.12049990147352219, + -0.1264936923980713, + 0.0 ], "max": [ 0.12049999833106995, - 0.09799999743700027, - 0.1264936923980713 + 0.12049995362758636, + 0.09799999743700027 ], - "min": [ - -0.12049990147352219, - 0.0, - -0.12049995362758636 - ] + "size": [ + 0.24099989980459213, + 0.24699364602565765, + 0.09799999743700027 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -1042,25 +1314,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.12469999492168427, - 0.0 + "min": [ + -0.12049999833106995, + -0.12049999833106995, + 0.09749999642372131 ], "max": [ 0.12049999833106995, - 0.15189999341964722, - 0.12049999833106995 + 0.12049999833106995, + 0.15189999341964722 ], - "min": [ - -0.12049999833106995, - 0.09749999642372131, - -0.12049999833106995 - ] + "size": [ + 0.2409999966621399, + 0.2409999966621399, + 0.0543999969959259 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -1070,25 +1345,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 2.7939677238464355e-09, - 0.08400000259280205, - -5.587935447692871e-09 + "min": [ + -0.028499994426965714, + -0.028499986976385117, + 0.0560000017285347 ], "max": [ 0.02850000001490116, - 0.1120000034570694, - 0.028499986976385117 + 0.028499998152256012, + 0.1120000034570694 ], - "min": [ - -0.028499994426965714, - 0.0560000017285347, - -0.028499998152256012 - ] + "size": [ + 0.056999994441866875, + 0.05699998512864113, + 0.0560000017285347 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -1098,25 +1376,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 4.6566128730773926e-09, - 0.11600000411272049, - -2.7939677238464355e-09 + "min": [ + -0.029999990016222, + -0.0299999862909317, + 0.1080000028014183 ], "max": [ 0.029999999329447746, - 0.12400000542402267, - 0.0299999862909317 + 0.02999999187886715, + 0.12400000542402267 ], - "min": [ - -0.029999990016222, - 0.1080000028014183, - -0.02999999187886715 - ] + "size": [ + 0.059999989345669746, + 0.05999997816979885, + 0.01600000262260437 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -1126,25 +1407,28 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.03050000313669443, - 0.08400000259280205, - 0.05282754264771938 + "min": [ + 0.002000005915760994, + 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0.059999989345669746, + 0.05999998189508915, + 0.01600000262260437 + ], + "units": "m" }, "collision": {}, "id": "part_05", @@ -1182,25 +1469,28 @@ "source": { "object_name": "World", "part_name": "part_05" - } + }, + "source_prim_path": "/World/part_05", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.06100000441074371, - 0.08400000259280205, - -5.587935447692871e-09 + "min": [ + 0.0325000062584877, + -0.028499986976385117, + 0.0560000017285347 ], "max": [ 0.08950000256299973, - 0.1120000034570694, - 0.028499986976385117 + 0.028499998152256012, + 0.1120000034570694 ], - "min": [ - 0.0325000062584877, - 0.0560000017285347, - -0.028499998152256012 - ] + "size": [ + 0.056999996304512024, + 0.05699998512864113, + 0.0560000017285347 + ], + "units": "m" }, "collision": {}, "id": "part_06", @@ -1210,25 +1500,28 @@ "source": { "object_name": "World", "part_name": "part_06" - } + }, + "source_prim_path": "/World/part_06", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.06100000441074371, - 0.11600000411272049, - -2.7939677238464355e-09 + "min": [ + 0.031000010669231415, + -0.0299999862909317, + 0.1080000028014183 ], "max": [ 0.09099999815225601, - 0.12400000542402267, - 0.0299999862909317 + 0.02999999187886715, + 0.12400000542402267 ], - "min": [ - 0.031000010669231415, - 0.1080000028014183, - -0.02999999187886715 - ] + "size": [ + 0.0599999874830246, + 0.05999997816979885, + 0.01600000262260437 + ], + "units": "m" }, "collision": {}, "id": "part_07", @@ -1238,25 +1531,28 @@ "source": { "object_name": "World", "part_name": "part_07" - } + }, + "source_prim_path": "/World/part_07", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.03050000313669443, - 0.08400000259280205, - -0.05282755196094513 + "min": [ + 0.002000005915760994, + 0.024327561259269714, + 0.0560000017285347 ], "max": [ 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0.01600000262260437 + ], + "units": "m" }, "collision": {}, "id": "part_09", @@ -1294,25 +1593,28 @@ "source": { "object_name": "World", "part_name": "part_09" - } + }, + "source_prim_path": "/World/part_09", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.03049999661743641, - 0.08400000259280205, - -0.05282755196094513 + "min": [ + -0.05899999290704727, + 0.024327561259269714, + 0.0560000017285347 ], "max": [ -0.0020000003278255463, - 0.1120000034570694, - -0.024327561259269714 + 0.08132754266262054, + 0.1120000034570694 ], - "min": [ - -0.05899999290704727, - 0.0560000017285347, - -0.08132754266262054 - ] + "size": [ + 0.056999992579221725, + 0.05699998140335083, + 0.0560000017285347 + ], + "units": "m" }, "collision": {}, "id": "part_10", @@ -1322,25 +1624,28 @@ "source": { "object_name": "World", "part_name": "part_10" - } + }, + "source_prim_path": "/World/part_10", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.03049999475479126, - 0.11600000411272049, - -0.05282755009829998 + "min": [ + -0.06049998849630356, + 0.02282756194472313, + 0.1080000028014183 ], "max": [ -0.0005000010132789612, - 0.12400000542402267, - -0.02282756194472313 + 0.08282753825187683, + 0.12400000542402267 ], - "min": [ - -0.06049998849630356, - 0.1080000028014183, - -0.08282753825187683 - ] + "size": [ + 0.0599999874830246, + 0.0599999763071537, + 0.01600000262260437 + ], + "units": "m" }, "collision": {}, "id": "part_11", @@ -1350,25 +1655,28 @@ "source": { "object_name": "World", "part_name": "part_11" - } + }, + "source_prim_path": "/World/part_11", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.060999996960163116, - 0.08400000259280205, - -5.587935447692871e-09 + "min": [ + -0.08949999511241913, + -0.028499986976385117, + 0.0560000017285347 ], "max": [ -0.032499998807907104, - 0.1120000034570694, - 0.028499986976385117 + 0.028499998152256012, + 0.1120000034570694 ], - "min": [ - -0.08949999511241913, - 0.0560000017285347, - -0.028499998152256012 - ] + "size": [ + 0.056999996304512024, + 0.05699998512864113, + 0.0560000017285347 + ], + "units": "m" }, "collision": {}, "id": "part_12", @@ -1378,25 +1686,28 @@ "source": { "object_name": "World", "part_name": "part_12" - } + }, + "source_prim_path": "/World/part_12", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.06099999602884054, - 0.11600000411272049, - -2.7939677238464355e-09 + "min": [ + -0.09099999070167542, + -0.0299999862909317, + 0.1080000028014183 ], "max": [ -0.03100000135600567, - 0.12400000542402267, - 0.0299999862909317 + 0.02999999187886715, + 0.12400000542402267 ], - "min": [ - -0.09099999070167542, - 0.1080000028014183, - -0.02999999187886715 - ] + "size": [ + 0.059999989345669746, + 0.05999997816979885, + 0.01600000262260437 + ], + "units": "m" }, "collision": {}, "id": "part_13", @@ -1406,25 +1717,28 @@ "source": { "object_name": "World", "part_name": "part_13" - } + }, + "source_prim_path": "/World/part_13", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.03049999661743641, - 0.08400000259280205, - 0.05282754264771938 + "min": [ + -0.05899999290704727, + -0.08132753521203995, + 0.0560000017285347 ], "max": [ -0.0020000003278255463, - 0.1120000034570694, - 0.08132753521203995 + -0.02432755008339882, + 0.1120000034570694 ], - "min": [ - -0.05899999290704727, - 0.0560000017285347, - 0.02432755008339882 - ] + "size": [ + 0.056999992579221725, + 0.05699998512864113, + 0.0560000017285347 + ], + "units": "m" }, "collision": {}, "id": "part_14", @@ -1434,25 +1748,28 @@ "source": { "object_name": "World", "part_name": "part_14" - } + }, + "source_prim_path": "/World/part_14", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.03049999475479126, - 0.11600000411272049, - 0.052827547304332256 + "min": [ + -0.06049998849630356, + -0.08282753825187683, + 0.1080000028014183 ], "max": [ -0.0005000010132789612, - 0.12400000542402267, - 0.08282753825187683 + -0.02282755635678768, + 0.12400000542402267 ], - "min": [ - -0.06049998849630356, - 0.1080000028014183, - 0.02282755635678768 - ] + "size": [ + 0.0599999874830246, + 0.05999998189508915, + 0.01600000262260437 + ], + "units": "m" }, "collision": {}, "id": "part_15", @@ -1462,10 +1779,27 @@ "source": { "object_name": "World", "part_name": "part_15" - } + }, + "source_prim_path": "/World/part_15", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "cc213f560129375f24cb189b8f21282ac9ed3816577742c6ac633be1dab4319a" + }, + "usd_path": "batch35/D00033_Yogurt_Maker/IsaacSim_assets_D00033/IsaacSim_asset_D00033.usd", + "usd_sha256": "c05c3ab1dc2ca82b171c239fc4bf66939fab84eee98a1ddf23077a848ff286b8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -1482,24 +1816,75 @@ "up_axis": "Z", "bounds_m": [ 0.2409999966621399, - 0.15189999341964722, - 0.24699369072914124 - ] + 0.24699369072914124, + 0.15189999341964722 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c05c3ab1dc2ca82b171c239fc4bf66939fab84eee98a1ddf23077a848ff286b8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.6900000981986523 + "value_kg": 2.6900000981986523, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c05c3ab1dc2ca82b171c239fc4bf66939fab84eee98a1ddf23077a848ff286b8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.6900000981986523, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 16 + "status": "verified", + "confidence": "high", + "shape_count": 504, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c05c3ab1dc2ca82b171c239fc4bf66939fab84eee98a1ddf23077a848ff286b8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 504, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 7 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c05c3ab1dc2ca82b171c239fc4bf66939fab84eee98a1ddf23077a848ff286b8", + "scope": "authored_usd_joint_schema", + "joint_count": 7, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "c05c3ab1dc2ca82b171c239fc4bf66939fab84eee98a1ddf23077a848ff286b8", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:22.497351+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "c097462f90ec9ae004cd610579194aab75e50a567eb9d466cc8ea27fea1c7433", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00092_Cabinet/IsaacSim_assets_D00092/physics_D00092.json b/batch35/D00092_Cabinet/IsaacSim_assets_D00092/physics_D00092.json index ee26f5ff77209c576f5af154d27a87a929e1aa41..79f3908d77c4fe7b339f898426b32ecb62cada88 100644 --- a/batch35/D00092_Cabinet/IsaacSim_assets_D00092/physics_D00092.json +++ b/batch35/D00092_Cabinet/IsaacSim_assets_D00092/physics_D00092.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "door_left_joint", + "path": "/World/Joints/door_left_joint", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "door_left_joint", + "source_prim_path": "/World/Joints/door_left_joint", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -115.0, + "upperLimit": 0.0, + "localPos0": [ + -0.37599998712539673, + -0.17499999701976776, + 0.33500000834465027 + ], + "localPos1": [ + -0.37599998712539673, + -0.17499999701976776, + 0.33500000834465027 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "door_right_joint", + "path": "/World/Joints/door_right_joint", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "door_right_joint", + "source_prim_path": "/World/Joints/door_right_joint", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 115.0, + "localPos0": [ + 0.37599998712539673, + -0.17499999701976776, + 0.33500000834465027 + ], + "localPos1": [ + 0.37599998712539673, + -0.17499999701976776, + 0.33500000834465027 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -504,52 +586,99 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "drawer_joint", + "path": "/World/Joints/drawer_joint", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "drawer_joint", + "source_prim_path": "/World/Joints/drawer_joint", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -0.23999999463558197, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 3, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.3950002701021731, - 1.8094845414161682, - 0.17506400495767593 - ], "min": [ -0.39499975135549903, - 0.009484469890594482, - -0.17500054463744164 + -0.17506400495767593, + 0.009484469890594482 + ], + "max": [ + 0.3950002701021731, + 0.17500054463744164, + 1.8094845414161682 ], "size": [ 0.7900000214576721, - 1.8000000715255737, - 0.35006454959511757 - ] + 0.35006454959511757, + 1.8000000715255737 + ], + "units": "m" }, "description": "Cabinet", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 48.90000009536743 + "total_mass": 48.90000009536743, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00092", "parts": [ { "bounds": { - "center": [ - 2.5937333703041077e-07, - 0.9094845056533813, - -5.476176738739014e-07 + "min": [ + -0.39499975135549903, + -0.1749994494020939, + 0.009484469890594482 ], "max": [ 0.3950002701021731, - 1.8094845414161682, - 0.1749994494020939 + 0.17500054463744164, + 1.8094845414161682 ], - "min": [ - -0.39499975135549903, - 0.009484469890594482, - -0.17500054463744164 - ] + "size": [ + 0.7900000214576721, + 0.3499999940395355, + 1.8000000715255737 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -559,25 +688,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.18848014622926712, - 0.34448468685150146, - 0.16079135984182358 + "min": [ + -0.3749801218509674, + -0.17504136264324188, + 0.05598461627960205 ], "max": [ -0.0019801706075668335, - 0.6329847574234009, - 0.17504136264324188 + -0.14654135704040527, + 0.6329847574234009 ], - "min": [ - -0.3749801218509674, - 0.05598461627960205, - 0.14654135704040527 - ] + "size": [ + 0.3729999512434006, + 0.02850000560283661, + 0.5770001411437988 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -587,25 +719,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.18848054856061935, - 0.3444845676422119, - 0.16079131513834 + "min": [ + 0.0019805729389190674, + -0.1750413179397583, + 0.0559844970703125 ], "max": [ 0.37498052418231964, - 0.6329846382141113, - 0.1750413179397583 + -0.1465413123369217, + 0.6329846382141113 ], - "min": [ - 0.0019805729389190674, - 0.0559844970703125, - 0.1465413123369217 - ] + "size": [ + 0.3729999512434006, + 0.02850000560283661, + 0.5770001411437988 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -615,25 +750,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 2.600718289613724e-07, - 0.7374847531318665, - 0.0075640082359313965 + "min": [ + -0.37499971012584865, + -0.17506400495767593, + 0.654484748840332 ], "max": [ 0.3750002302695066, - 0.8204847574234009, - 0.17506400495767593 + 0.15993598848581314, + 0.8204847574234009 ], - "min": [ - -0.37499971012584865, - 0.654484748840332, - -0.15993598848581314 - ] + "size": [ + 0.7499999403953552, + 0.3349999934434891, + 0.16600000858306885 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -643,10 +781,27 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ce7fa6b9e54425e6276607bf8fcd8d0d6431e27f76800fbcb94b88effa0af7c9" + }, + "usd_path": "batch35/D00092_Cabinet/IsaacSim_assets_D00092/IsaacSim_asset_D00092.usd", + "usd_sha256": "faac7f297e1269101eb3ec79c42b0feac7dfb2c3d8895a40f67703e5758bad82", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -663,24 +818,75 @@ "up_axis": "Z", "bounds_m": [ 0.7900000214576721, - 1.8000000715255737, - 0.35006454959511757 - ] + 0.35006454959511757, + 1.8000000715255737 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "faac7f297e1269101eb3ec79c42b0feac7dfb2c3d8895a40f67703e5758bad82", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 48.90000009536743 + "value_kg": 48.90000009536743, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "faac7f297e1269101eb3ec79c42b0feac7dfb2c3d8895a40f67703e5758bad82", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 48.90000009536743, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 49, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "faac7f297e1269101eb3ec79c42b0feac7dfb2c3d8895a40f67703e5758bad82", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 49, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "faac7f297e1269101eb3ec79c42b0feac7dfb2c3d8895a40f67703e5758bad82", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "faac7f297e1269101eb3ec79c42b0feac7dfb2c3d8895a40f67703e5758bad82", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 13, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:15:58.540728+00:00", + "joint_status": "passed", + "joints_total": 3, + "joints_passed": 3, + "joints_failed": 0, + "thumbnail_sha256": "fb0639c885c8b825faa7ccd29339d5fc807295984cd4697cb370ff695e3a1b9b", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00137_Classic_Coffee_Maker/IsaacSim_assets_D00137/physics_D00137.json b/batch35/D00137_Classic_Coffee_Maker/IsaacSim_assets_D00137/physics_D00137.json index e2d98cb066da8dea399fb06739caba1409bd4967..6e4490710978e422176e81633250456d2743b376 100644 --- a/batch35/D00137_Classic_Coffee_Maker/IsaacSim_assets_D00137/physics_D00137.json +++ b/batch35/D00137_Classic_Coffee_Maker/IsaacSim_assets_D00137/physics_D00137.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07433877885341644, - 0.2216215580701828, - 0.0651681050658226 - ], "min": [ -0.06517317146062851, - 0.0, - -0.0651681050658226 + -0.0651681050658226, + 0.0 + ], + "max": [ + 0.07433877885341644, + 0.0651681050658226, + 0.2216215580701828 ], "size": [ 0.13951195031404495, - 0.2216215580701828, - 0.1303362101316452 - ] + 0.1303362101316452, + 0.2216215580701828 + ], + "units": "m" }, "description": "Classic Coffee Maker", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.6200000047683716 + "total_mass": 0.6200000047683716, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00137", "parts": [ { "bounds": { - "center": [ - 0.004582803696393967, - 0.1108107790350914, + "min": [ + -0.06517317146062851, + -0.0651681050658226, 0.0 ], "max": [ 0.07433877885341644, - 0.2216215580701828, - 0.0651681050658226 + 0.0651681050658226, + 0.2216215580701828 ], - "min": [ - -0.06517317146062851, - 0.0, - -0.0651681050658226 - ] + "size": [ + 0.13951195031404495, + 0.1303362101316452, + 0.2216215580701828 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -54,10 +60,27 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4691bb3b7852dd88afe1cfbc53a9ef0f69b0a87f44ca2816d86d787ec95f1df0" + }, + "usd_path": "batch35/D00137_Classic_Coffee_Maker/IsaacSim_assets_D00137/IsaacSim_asset_D00137.usd", + "usd_sha256": "89c393de54abf98c6b1df31e8ec456a349d949e467a9a7ebae88ba16a8cd1169", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -74,24 +97,75 @@ "up_axis": "Z", "bounds_m": [ 0.13951195031404495, - 0.2216215580701828, - 0.1303362101316452 - ] + 0.1303362101316452, + 0.2216215580701828 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "89c393de54abf98c6b1df31e8ec456a349d949e467a9a7ebae88ba16a8cd1169", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6200000047683716 + "value_kg": 0.6200000047683716, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "89c393de54abf98c6b1df31e8ec456a349d949e467a9a7ebae88ba16a8cd1169", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6200000047683716, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 103, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "89c393de54abf98c6b1df31e8ec456a349d949e467a9a7ebae88ba16a8cd1169", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 103, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "89c393de54abf98c6b1df31e8ec456a349d949e467a9a7ebae88ba16a8cd1169", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "89c393de54abf98c6b1df31e8ec456a349d949e467a9a7ebae88ba16a8cd1169", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:11:00.478771+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "e21299af7dfb3f6ce778e534830ff7d63467ea82067ea19c1ae90bfeea370c68", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00150_Coffee_Grinder/IsaacSim_assets_D00150/physics_D00150.json b/batch35/D00150_Coffee_Grinder/IsaacSim_assets_D00150/physics_D00150.json index 9732dc144d7cd7b85c365ed2b87ccd9d1136759e..a6d78f476f0a707b3e898a22806d209e94b713ec 100644 --- a/batch35/D00150_Coffee_Grinder/IsaacSim_assets_D00150/physics_D00150.json +++ b/batch35/D00150_Coffee_Grinder/IsaacSim_assets_D00150/physics_D00150.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "crank_spin", + "path": "/World/Joints/crank_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "crank_spin", + "source_prim_path": "/World/Joints/crank_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -360.0, + "upperLimit": 360.0, + "localPos0": [ + 0.0, + 0.0, + 0.1531510055065155 + ], + "localPos1": [ + 0.0, + 0.0, + 0.1531510055065155 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "burr_spin", + "path": "/World/Joints/burr_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "burr_spin", + "source_prim_path": "/World/Joints/burr_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -360.0, + "upperLimit": 360.0, + "localPos0": [ + 0.0, + 0.0, + 0.0494999997317791 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0494999997317791 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -504,52 +586,99 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "grind_adjust", + "path": "/World/Joints/grind_adjust", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "grind_adjust", + "source_prim_path": "/World/Joints/grind_adjust", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -360.0, + "upperLimit": 360.0, + "localPos0": [ + 0.0, + 0.0, + 0.05570000037550926 + ], + "localPos1": [ + 0.0, + 0.0, + 0.05570000037550926 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 3, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16879082339917734, - 0.20612196816280712, - 0.025627225672473917 - ], "min": [ -0.024999061634797266, - -3.967569552495239e-06, - -0.02499969908402977 + -0.025627225672473917, + -3.967569552495239e-06 + ], + "max": [ + 0.16879082339917734, + 0.02499969908402977, + 0.20612196816280712 ], "size": [ 0.1937898850339746, - 0.2061259357323596, - 0.05062692475650368 - ] + 0.05062692475650368, + 0.2061259357323596 + ], + "units": "m" }, "description": "Coffee Grinder", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.9900000020861626 + "total_mass": 0.9900000020861626, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00150", "parts": [ { "bounds": { - "center": [ - 4.1929977868235616e-05, - 0.07811220803250486, - 0.0003137632942220737 + "min": [ + -0.024999061634797266, + -0.025627225672473917, + -3.967569552495239e-06 ], "max": [ 0.025082921590533738, - 0.1562283836345622, - 0.025627225672473917 + 0.02499969908402977, + 0.1562283836345622 ], - "min": [ - -0.024999061634797266, - -3.967569552495239e-06, - -0.02499969908402977 - ] + "size": [ + 0.050081983225331, + 0.05062692475650368, + 0.1562323512041147 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -559,25 +688,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.07444052743385336, - 0.17795943988877022, - 7.435910239144555e-05 + "min": [ + -0.019909768531470605, + -0.020078002968739444, + 0.14979691161473332 ], "max": [ 0.16879082339917734, - 0.20612196816280712, - 0.020078002968739444 + 0.019929284763956553, + 0.20612196816280712 ], - "min": [ - -0.019909768531470605, - 0.14979691161473332, - -0.019929284763956553 - ] + "size": [ + 0.18870059193064795, + 0.040007287732696, + 0.05632505654807379 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -587,25 +719,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.001095377612791524, - 0.10121318582747187, - 2.009994330272151e-05 + "min": [ + -0.01746050242949926, + -0.019349772366035026, + 0.043211716809239846 ], "max": [ 0.019651257655082306, - 0.15921465484570388, - 0.019349772366035026 + 0.019309572479429583, + 0.15921465484570388 ], - "min": [ - -0.01746050242949926, - 0.043211716809239846, - -0.019309572479429583 - ] + "size": [ + 0.037111760084581565, + 0.03865934484546461, + 0.11600293803646403 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -615,25 +750,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 2.5802985143787843e-05, - 0.046463985718677006, - 1.9904308526554407e-05 + "min": [ + -0.024654181307686544, + -0.024699150856816187, + 0.03839912484077302 ], "max": [ 0.02470578727797412, - 0.054528846596581, - 0.024699150856816187 + 0.024659342239763078, + 0.054528846596581 ], - "min": [ - -0.024654181307686544, - 0.03839912484077302, - -0.024659342239763078 - ] + "size": [ + 0.04935996858566066, + 0.04935849309657926, + 0.01612972175580798 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -643,10 +781,27 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "01d597673912e2efc968ef1984fab40d8155f6bd76d4338353ce376154a6a036" + }, + "usd_path": "batch35/D00150_Coffee_Grinder/IsaacSim_assets_D00150/IsaacSim_asset_D00150.usd", + "usd_sha256": "bd65a4095f17965f294758d0cf7eb27addff83ad3b54f008aeab4554ffc41de0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -663,24 +818,75 @@ "up_axis": "Z", "bounds_m": [ 0.1937898850339746, - 0.2061259357323596, - 0.05062692475650368 - ] + 0.05062692475650368, + 0.2061259357323596 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bd65a4095f17965f294758d0cf7eb27addff83ad3b54f008aeab4554ffc41de0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.9900000020861626 + "value_kg": 0.9900000020861626, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bd65a4095f17965f294758d0cf7eb27addff83ad3b54f008aeab4554ffc41de0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.9900000020861626, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 145, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bd65a4095f17965f294758d0cf7eb27addff83ad3b54f008aeab4554ffc41de0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 145, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bd65a4095f17965f294758d0cf7eb27addff83ad3b54f008aeab4554ffc41de0", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "bd65a4095f17965f294758d0cf7eb27addff83ad3b54f008aeab4554ffc41de0", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 13, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:03.474113+00:00", + "joint_status": "passed", + "joints_total": 3, + "joints_passed": 3, + "joints_failed": 0, + "thumbnail_sha256": "bac64a2e1fc1fdd922252f3831e24e28fde5c664f4f860c9523ae1b978709c04", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00151_Bread_Maker/IsaacSim_assets_D00151/physics_D00151.json b/batch35/D00151_Bread_Maker/IsaacSim_assets_D00151/physics_D00151.json index b23b34eb6d5b02fe5377e63338c749e2d436ea81..bba49d2bb6a85cc7aa8e03b964dceb04bdd3cb58 100644 --- a/batch35/D00151_Bread_Maker/IsaacSim_assets_D00151/physics_D00151.json +++ b/batch35/D00151_Bread_Maker/IsaacSim_assets_D00151/physics_D00151.json @@ -168,6 +168,47 @@ "/World/part_08" ], "proxyPrim": [] + }, + "id": "paddle_spindle", + "path": "/World/Joints/paddle_spindle", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "paddle_spindle", + "source_prim_path": "/World/Joints/paddle_spindle", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_01" + ], + "body1": [ + "/World/part_08" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -360.0, + "upperLimit": 360.0, + "localPos0": [ + 0.0, + -0.019999999552965164, + 0.10300000011920929 + ], + "localPos1": [ + 0.0, + -0.019999999552965164, + 0.10300000011920929 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_09" ], "proxyPrim": [] + }, + "id": "handle_hinge", + "path": "/World/Joints/handle_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "handle_hinge", + "source_prim_path": "/World/Joints/handle_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_01" + ], + "body1": [ + "/World/part_09" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 90.0, + "localPos0": [ + 0.0, + -0.019999999552965164, + 0.30799999833106995 + ], + "localPos1": [ + 0.0, + -0.019999999552965164, + 0.30799999833106995 + ], + "localRot0": [ + -0.0, + 0.0, + 0.7071067690849304, + 0.7071067690849304 + ], + "localRot1": [ + -0.0, + 0.0, + 0.7071067690849304, + 0.7071067690849304 + ], + "static_frames": [] } }, { @@ -504,6 +586,47 @@ "/World/part_12" ], "proxyPrim": [] + }, + "id": "lid_hinge", + "path": "/World/Joints/lid_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "lid_hinge", + "source_prim_path": "/World/Joints/lid_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_12" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -110.0, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.1120000034570694, + 0.3199999928474426 + ], + "localPos1": [ + 0.0, + 0.1120000034570694, + 0.3199999928474426 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -672,6 +795,47 @@ "/World/part_10" ], "proxyPrim": [] + }, + "id": "selector_knob", + "path": "/World/Joints/selector_knob", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "selector_knob", + "source_prim_path": "/World/Joints/selector_knob", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_10" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 300.0, + "localPos0": [ + -0.05999999865889549, + -0.14399999380111694, + 0.26499998569488525 + ], + "localPos1": [ + -0.05999999865889549, + -0.14399999380111694, + 0.26499998569488525 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -840,6 +1004,47 @@ "/World/part_11" ], "proxyPrim": [] + }, + "id": "start_button", + "path": "/World/Joints/start_button", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "start_button", + "source_prim_path": "/World/Joints/start_button", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_11" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.003000000026077032, + "localPos0": [ + -0.05999999865889549, + 0.0, + 0.21199999749660492 + ], + "localPos1": [ + -0.05999999865889549, + 0.0, + 0.21199999749660492 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1008,6 +1213,47 @@ "/World/part_04" ], "proxyPrim": [] + }, + "id": "button_menu", + "path": "/World/Joints/button_menu", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "button_menu", + "source_prim_path": "/World/Joints/button_menu", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_04" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + 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"localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1344,6 +1631,47 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "button_loaf", + "path": "/World/Joints/button_loaf", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "button_loaf", + "source_prim_path": "/World/Joints/button_loaf", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.003000000026077032, + "localPos0": [ + 0.06199999898672104, + 0.0, + 0.23100000619888306 + ], + "localPos1": [ + 0.06199999898672104, + 0.0, + 0.23100000619888306 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1512,6 +1840,47 @@ "/World/part_07" ], "proxyPrim": [] + }, + "id": "button_timer_up", + "path": "/World/Joints/button_timer_up", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "button_timer_up", + "source_prim_path": "/World/Joints/button_timer_up", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_07" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.003000000026077032, + "localPos0": [ + 0.0020000000949949026, + 0.0, + 0.2070000022649765 + ], + "localPos1": [ + 0.0020000000949949026, + 0.0, + 0.2070000022649765 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1680,6 +2049,47 @@ "/World/part_06" ], "proxyPrim": [] + }, + "id": "button_timer_down", + "path": "/World/Joints/button_timer_down", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "button_timer_down", + "source_prim_path": "/World/Joints/button_timer_down", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_06" + ], + 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world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0019999872893095016, - 0.2070000022649765, - 0.14980000257492065 + "min": [ + -0.008000013418495655, + -0.1565999984741211, + 0.20000000298023224 ], "max": [ 0.011999987997114658, - 0.21400000154972076, - 0.1565999984741211 + -0.14300000667572021, + 0.21400000154972076 ], - "min": [ - -0.008000013418495655, - 0.20000000298023224, - 0.14300000667572021 - ] + "size": [ + 0.020000001415610313, + 0.013599991798400879, + 0.013999998569488525 + ], + "units": "m" }, "collision": {}, "id": "part_07", @@ -2099,25 +2577,28 @@ "source": { "object_name": "World", "part_name": "part_07" - } + }, + "source_prim_path": "/World/part_07", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.026000001467764378, - 0.10300000011920929, - 0.019999999552965164 + "min": [ + -0.061000000685453415, + -0.028999999165534973, + 0.0949999988079071 ], "max": [ 0.00899999774992466, - 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"units": "m" }, "collision": {}, "id": "part_09", @@ -2155,25 +2639,28 @@ "source": { "object_name": "World", "part_name": "part_09" - } + }, + "source_prim_path": "/World/part_09", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.06000001169741154, - 0.26499999314546585, - 0.1600000113248825 + "min": [ + -0.08677633851766586, + -0.17600001394748688, + 0.23822365701198578 ], "max": [ -0.03322368487715721, - 0.2917763292789459, - 0.17600001394748688 + -0.14400000870227814, + 0.2917763292789459 ], - "min": [ - -0.08677633851766586, - 0.23822365701198578, - 0.14400000870227814 - ] + "size": [ + 0.05355265364050865, + 0.03200000524520874, + 0.053552672266960144 + ], + "units": "m" }, "collision": {}, "id": "part_10", @@ -2183,25 +2670,28 @@ "source": { "object_name": "World", "part_name": "part_10" - } + }, + "source_prim_path": "/World/part_10", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.06000001169741154, - 0.21199999749660492, - 0.15030000358819962 + "min": [ + -0.07600001245737076, + -0.15760000050067902, + 0.2029999941587448 ], "max": [ -0.044000010937452316, - 0.22100000083446503, - 0.15760000050067902 + -0.14300000667572021, + 0.22100000083446503 ], - "min": [ - -0.07600001245737076, - 0.2029999941587448, - 0.14300000667572021 - ] + "size": [ + 0.03200000151991844, + 0.014599993824958801, + 0.018000006675720215 + ], + "units": "m" }, "collision": {}, "id": "part_11", @@ -2211,25 +2701,28 @@ "source": { "object_name": "World", "part_name": "part_11" - } + }, + "source_prim_path": "/World/part_11", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.34825000166893005, - 0.01600000634789467 + "min": [ + -0.1355000138282776, + -0.15150001645088196, + 0.3125 ], "max": [ 0.1355000138282776, - 0.3840000033378601, - 0.15150001645088196 + 0.11950000375509262, + 0.3840000033378601 ], - "min": [ - -0.1355000138282776, - 0.3125, - -0.11950000375509262 - ] + "size": [ + 0.2710000276565552, + 0.2710000202059746, + 0.07150000333786011 + ], + "units": "m" }, "collision": {}, "id": "part_12", @@ -2239,10 +2732,27 @@ "source": { "object_name": "World", "part_name": "part_12" - } + }, + "source_prim_path": "/World/part_12", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9574aa0f9def9e780d9a8946cbcb2ef7c4a7201d4eb61d3c5e3861f1b0814783" + }, + "usd_path": "batch35/D00151_Bread_Maker/IsaacSim_assets_D00151/IsaacSim_asset_D00151.usd", + "usd_sha256": "ba845215fe088318eb22c17e5745daa53fc751430038245a648152957669884d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -2259,24 +2769,79 @@ "up_axis": "Z", "bounds_m": [ 0.2800000309944153, - 0.3840000033378601, - 0.32600003480911255 - ] + 0.32600003480911255, + 0.3840000033378601 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ba845215fe088318eb22c17e5745daa53fc751430038245a648152957669884d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 5.064999985508621 + "value_kg": 5.064999985508621, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ba845215fe088318eb22c17e5745daa53fc751430038245a648152957669884d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 5.064999985508621, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 13 + "status": "verified", + "confidence": "high", + "shape_count": 149, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ba845215fe088318eb22c17e5745daa53fc751430038245a648152957669884d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 149, + "approximations": [ + "convexHull", + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 11 + "moving_joints": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ba845215fe088318eb22c17e5745daa53fc751430038245a648152957669884d", + "scope": "authored_usd_joint_schema", + "joint_count": 11, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "ba845215fe088318eb22c17e5745daa53fc751430038245a648152957669884d", + "supplemental_accepted": false, + "planned_test_count": 13, + "result_count": 13, + "passed": 12, + "skipped": 0, + "failed": 1, + "issues": [ + "independent_joint_safety_missing_or_failed", + "palatial_joint_constraint_safety:fail" + ], + "warnings": [], + "completed_at": "2026-10-13T21:11:01.132507+00:00", + "joint_status": "failed", + "joints_total": 11, + "joints_passed": 11, + "joints_failed": 0, + "thumbnail_sha256": "b825bc92b004e64294106e9d6e54308980d04e588bd3efca39aa3e6d0f42931f", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00154_Coffee_Machine/IsaacSim_assets_D00154/physics_D00154.json b/batch35/D00154_Coffee_Machine/IsaacSim_assets_D00154/physics_D00154.json index 67f5259bd22a495d81479fb86e3670059fe4813e..bcabd832f973e4ed17caba107f0685941c59a00a 100644 --- a/batch35/D00154_Coffee_Machine/IsaacSim_assets_D00154/physics_D00154.json +++ b/batch35/D00154_Coffee_Machine/IsaacSim_assets_D00154/physics_D00154.json @@ -168,6 +168,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "portafilter_bayonet", + "path": "/World/Joints/portafilter_bayonet", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "portafilter_bayonet", + "source_prim_path": "/World/Joints/portafilter_bayonet", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 55.0, + "localPos0": [ + 0.0, + 0.04399999976158142, + 0.17800000309944153 + ], + "localPos1": [ + 0.0, + 0.04399999976158142, + 0.17800000309944153 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "steam_knob_axis", + "path": "/World/Joints/steam_knob_axis", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "steam_knob_axis", + "source_prim_path": "/World/Joints/steam_knob_axis", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 180.0, + "localPos0": [ + 0.05900000035762787, + 0.03999999910593033, + 0.2720000147819519 + ], + "localPos1": [ + 0.05900000035762787, + 0.03999999910593033, + 0.2720000147819519 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -504,6 +586,47 @@ "/World/part_04" ], "proxyPrim": [] + }, + "id": "steam_wand_pivot", + "path": "/World/Joints/steam_wand_pivot", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "steam_wand_pivot", + "source_prim_path": "/World/Joints/steam_wand_pivot", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_04" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -90.0, + "upperLimit": 45.0, + "localPos0": [ + 0.04800000041723251, + 0.06199999898672104, + 0.20000000298023224 + ], + "localPos1": [ + 0.04800000041723251, + 0.06199999898672104, + 0.20000000298023224 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -645,52 +768,96 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "drip_tray", + "path": "/World/Joints/drip_tray", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "drip_tray", + "source_prim_path": "/World/Joints/drip_tray", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 3, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1002013696830304, - 0.30592825019266456, - 0.07160249538719654 - ], "min": [ -0.0734999656178843, - 0.0019282599678263068, - -0.3433995991945267 + -0.07160249538719654, + 0.0019282599678263068 + ], + "max": [ + 0.1002013696830304, + 0.3433995991945267, + 0.30592825019266456 ], "size": [ 0.1737013353009147, - 0.30399999022483826, - 0.4150020945817232 - ] + 0.4150020945817232, + 0.30399999022483826 + ], + "units": "m" }, "description": "Coffee Machine", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 8.680000025779009 + "total_mass": 8.680000025779009, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00154", "parts": [ { "bounds": { - "center": [ - 3.4322511055506766e-08, - 0.15392825508024544, - -0.16810291400179267 + "min": [ + -0.0734999656178843, + -0.007193771190941334, + 0.0019282599678263068 ], "max": [ 0.07350003426290641, - 0.30592825019266456, - 0.007193771190941334 + 0.3433995991945267, + 0.30592825019266456 ], - "min": [ - -0.0734999656178843, - 0.0019282599678263068, - -0.3433995991945267 - ] + "size": [ + 0.1469999998807907, + 0.350593370385468, + 0.30399999022483826 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -700,25 +867,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 3.41970007866621e-08, - 0.026328346109949052, - -0.044749646447598934 + "min": [ + -0.05949996717390604, + 0.004499645903706551, + 0.0139283457538113 ], "max": [ 0.059500035567907616, - 0.038728346466086805, - -0.004499645903706551 + 0.08499964699149132, + 0.038728346466086805 ], - "min": [ - -0.05949996717390604, - 0.0139283457538113, - -0.08499964699149132 - ] + "size": [ + 0.11900000274181366, + 0.08050000108778477, + 0.024800000712275505 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -728,25 +898,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 1.5241723303915933e-05, - 0.16548596078064293, - -0.0026985835283994675 + "min": [ + -0.03298475809788215, + -0.07160249538719654, + 0.1482041081180796 ], "max": [ 0.03301524154448998, - 0.18276781344320625, - 0.07160249538719654 + 0.07699966244399548, + 0.18276781344320625 ], - "min": [ - -0.03298475809788215, - 0.1482041081180796, - -0.07699966244399548 - ] + "size": [ + 0.06599999964237213, + 0.14860215783119202, + 0.03456370532512665 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -756,25 +929,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.06615023045907774, - 0.27394034768466025, - -0.03991680882709086 + "min": [ + 0.05900022120390573, + 0.02611701389004854, + 0.26014055328594715 ], "max": [ 0.07330023971424975, - 0.28774014208337334, - -0.02611701389004854 + 0.053716603764133175, + 0.28774014208337334 ], - "min": [ - 0.05900022120390573, - 0.26014055328594715, - -0.05371660376413318 - ] + "size": [ + 0.014300018510344015, + 0.027599589874084635, + 0.02759958879742619 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -784,25 +960,28 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.07210138738731128, - 0.13494557612055227, - -0.06198807230778731 + "min": [ + 0.04400140509159217, + 0.05448585573487717, + 0.06394462770785961 ], "max": [ 0.1002013696830304, - 0.20594652453324494, - -0.05448585573487717 + 0.06949028888069744, + 0.20594652453324494 ], - "min": [ - 0.04400140509159217, - 0.06394462770785961, - -0.06949028888069744 - ] + "size": [ + 0.05619996459143822, + 0.01500443314582027, + 0.14200189682538533 + ], + "units": "m" }, "collision": {}, "id": "part_04", @@ -812,10 +991,27 @@ "source": { "object_name": "World", "part_name": "part_04" - } + }, + "source_prim_path": "/World/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "45bc88f2723e8a8594cbb13205a946e515ba1eaffd8f6b209cb63201d09be461" + }, + "usd_path": "batch35/D00154_Coffee_Machine/IsaacSim_assets_D00154/IsaacSim_asset_D00154.usd", + "usd_sha256": "24636a6445fe0e3fcbff1aae49d8e7c05d0531374602d26b5782de6855f2c445", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -832,24 +1028,77 @@ "up_axis": "Z", "bounds_m": [ 0.1737013353009147, - 0.30399999022483826, - 0.4150020945817232 - ] + 0.4150020945817232, + 0.30399999022483826 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "24636a6445fe0e3fcbff1aae49d8e7c05d0531374602d26b5782de6855f2c445", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 8.680000025779009 + "value_kg": 8.680000025779009, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "24636a6445fe0e3fcbff1aae49d8e7c05d0531374602d26b5782de6855f2c445", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 8.680000025779009, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "24636a6445fe0e3fcbff1aae49d8e7c05d0531374602d26b5782de6855f2c445", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 4 + "moving_joints": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "24636a6445fe0e3fcbff1aae49d8e7c05d0531374602d26b5782de6855f2c445", + "scope": "authored_usd_joint_schema", + "joint_count": 4, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "24636a6445fe0e3fcbff1aae49d8e7c05d0531374602d26b5782de6855f2c445", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 13, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [ + "official_relative_translation_requires_independent_anchor_check" + ], + "completed_at": "2026-10-13T21:11:01.654234+00:00", + "joint_status": "passed", + "joints_total": 3, + "joints_passed": 3, + "joints_failed": 0, + "thumbnail_sha256": "e4ade7836e0ebaf5146871d3586d43b80266c6560a98596fd603287f6e353066", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00155_Coffee_Maker/IsaacSim_assets_D00155/physics_D00155.json b/batch35/D00155_Coffee_Maker/IsaacSim_assets_D00155/physics_D00155.json index 574bfdd38d07d969943700caaa2a0287db0789e5..d90caa9b6f949cfa8884cfa6bc48d1bf45ed6532 100644 --- a/batch35/D00155_Coffee_Maker/IsaacSim_assets_D00155/physics_D00155.json +++ b/batch35/D00155_Coffee_Maker/IsaacSim_assets_D00155/physics_D00155.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "top_lid_hinge", + "path": "/World/Joints/top_lid_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "top_lid_hinge", + "source_prim_path": "/World/Joints/top_lid_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -90.0, + "upperLimit": 10.0, + "localPos0": [ + 0.0, + -0.15000000596046448, + 0.28999999165534973 + ], + "localPos1": [ + 0.0, + -0.15000000596046448, + 0.28999999165534973 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_04" ], "proxyPrim": [] + }, + "id": "power_button_latch", + "path": "/World/Joints/power_button_latch", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "power_button_latch", + "source_prim_path": "/World/Joints/power_button_latch", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_04" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.004999999888241291, + "upperLimit": 0.0, + "localPos0": [ + -0.07000000029802322, + 0.11800000071525574, + 0.0 + ], + "localPos1": [ + -0.07000000029802322, + 0.11800000071525574, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -504,52 +586,99 @@ "/World/part_05" ], "proxyPrim": [] + }, + "id": "brew_dial_spindle", + "path": "/World/Joints/brew_dial_spindle", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "brew_dial_spindle", + "source_prim_path": "/World/Joints/brew_dial_spindle", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_05" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -180.0, + "upperLimit": 180.0, + "localPos0": [ + -0.07000000029802322, + 0.05999999865889549, + 0.04879999905824661 + ], + "localPos1": [ + -0.07000000029802322, + 0.05999999865889549, + 0.04879999905824661 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 3, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10143269191244603, - 0.2996028051038546, - 0.16769421138878113 - ], "min": [ -0.10009499922949153, - -5.0231731033554845e-06, - -0.17641974472529542 + -0.16769421138878113, + -5.0231731033554845e-06 + ], + "max": [ + 0.10143269191244603, + 0.17641974472529542, + 0.2996028051038544 ], "size": [ 0.20152769114193755, - 0.299607828276958, - 0.3441139561140766 - ] + 0.3441139561140766, + 0.29960782827695775 + ], + "units": "m" }, "description": "Coffee Maker", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 2.419999936595559 + "total_mass": 2.419999936595559, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00155", "parts": [ { "bounds": { - "center": [ - 0.00066884634147725, - 0.14628941236891932, - 0.0012161142083716436 + "min": [ + -0.10009499922949153, + -0.16769421138878113, + -5.0231731033554845e-06 ], "max": [ 0.10143269191244603, - 0.292583847910942, - 0.16769421138878113 + 0.16526198297203784, + 0.292583847910942 ], - "min": [ - -0.10009499922949153, - -5.0231731033554845e-06, - -0.16526198297203784 - ] + "size": [ + 0.20152769114193755, + 0.33295619436081897, + 0.29258887108404535 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -559,25 +688,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -8.832030601702012e-06, - 0.28861409981257946, - 0.028010212003220097 + "min": [ + -0.09905909751387387, + -0.160320338188017, + 0.2776253945213043 ], "max": [ 0.09904143345267047, - 0.2996028051038546, - 0.1603203381880171 + 0.10429991418157702, + 0.2996028051038544 ], - "min": [ - -0.09905909751387387, - 0.2776253945213043, - -0.10429991418157691 - ] + "size": [ + 0.19810053096654434, + 0.264620252369594, + 0.021977410582550094 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -587,25 +719,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.03090623911877675, - 0.12984386823413463, - -0.09348750773604261 + "min": [ + -0.03321058612676019, + 0.010555270746789797, + 0.05055341635788932 ], "max": [ 0.0950230643643137, - 0.20913432011037994, - -0.010555270746789797 + 0.17641974472529542, + 0.20913432011037994 ], - "min": [ - -0.03321058612676019, - 0.05055341635788932, - -0.17641974472529542 - ] + "size": [ + 0.12823365049107388, + 0.16586447397850562, + 0.15858090375249062 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -615,25 +750,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.07008058109068918, - 0.0418733237074203, - -0.11790108548016619 + "min": [ + -0.08358064235588782, + 0.1043828371977722, + 0.02930333610467029 ], "max": [ -0.05658051982549053, - 0.05444331131017031, - -0.1043828371977722 + 0.13141933376256018, + 0.05444331131017031 ], - "min": [ - -0.08358064235588782, - 0.02930333610467029, - -0.13141933376256018 - ] + "size": [ + 0.027000122530397283, + 0.027036496564787987, + 0.025139975205500018 + ], + "units": "m" }, "collision": {}, "id": "part_04", @@ -643,25 +781,28 @@ "source": { "object_name": "World", "part_name": "part_04" - } + }, + "source_prim_path": "/World/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.07005352103532737, - 0.0391147682575622, - -0.06228149563266293 + "min": [ + -0.08905357923695817, + 0.04088275830215307, + 0.011252827961008023 ], "max": [ -0.051053462833696585, - 0.06697670855411639, - -0.04088275830215307 + 0.08368023296317278, + 0.06697670855411639 ], - "min": [ - -0.08905357923695817, - 0.011252827961008023, - -0.08368023296317278 - ] + "size": [ + 0.038000116403261584, + 0.04279747466101971, + 0.055723880593108364 + ], + "units": "m" }, "collision": {}, "id": "part_05", @@ -671,10 +812,27 @@ "source": { "object_name": "World", "part_name": "part_05" - } + }, + "source_prim_path": "/World/part_05", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "aa387af3b1f11ce62ef7d2789fc6492966e5adf1c64d680cebb6c92cd8c6356c" + }, + "usd_path": "batch35/D00155_Coffee_Maker/IsaacSim_assets_D00155/IsaacSim_asset_D00155.usd", + "usd_sha256": "1d25a70da41a79ac9605b39bf15723a46fc5ff6bc7da8944b9172021a176a529", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -691,24 +849,78 @@ "up_axis": "Z", "bounds_m": [ 0.20152769114193755, - 0.299607828276958, - 0.3441139561140766 - ] + 0.3441139561140766, + 0.29960782827695775 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d25a70da41a79ac9605b39bf15723a46fc5ff6bc7da8944b9172021a176a529", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.419999936595559 + "value_kg": 2.419999936595559, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d25a70da41a79ac9605b39bf15723a46fc5ff6bc7da8944b9172021a176a529", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.419999936595559, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 615, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d25a70da41a79ac9605b39bf15723a46fc5ff6bc7da8944b9172021a176a529", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 615, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d25a70da41a79ac9605b39bf15723a46fc5ff6bc7da8944b9172021a176a529", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "1d25a70da41a79ac9605b39bf15723a46fc5ff6bc7da8944b9172021a176a529", + "supplemental_accepted": false, + "planned_test_count": 14, + "result_count": 14, + "passed": 12, + "skipped": 1, + "failed": 1, + "issues": [ + "independent_joint_safety_missing_or_failed", + "palatial_joint_constraint_safety:fail" + ], + "warnings": [], + "completed_at": "2026-10-13T21:38:45.781303+00:00", + "joint_status": "failed", + "joints_total": 3, + "joints_passed": 3, + "joints_failed": 0, + "thumbnail_sha256": "8a5b8e5b17cbb506c22b2b2392e4d7ff1cae0a15a7506764668fb7efa4792930", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00156_Deep_Fryer/IsaacSim_assets_D00156/physics_D00156.json b/batch35/D00156_Deep_Fryer/IsaacSim_assets_D00156/physics_D00156.json index 9637ea2c0efef92231257959ca833e2845f48363..44597c2ace342c84a16fc2fe39f4077950c9dd12 100644 --- a/batch35/D00156_Deep_Fryer/IsaacSim_assets_D00156/physics_D00156.json +++ b/batch35/D00156_Deep_Fryer/IsaacSim_assets_D00156/physics_D00156.json @@ -168,6 +168,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "basket_handle_fold", + "path": "/World/Joints/basket_handle_fold", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "basket_handle_fold", + "source_prim_path": "/World/Joints/basket_handle_fold", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_01" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -100.0, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.029999999329447746, + 0.1850000023841858 + ], + "localPos1": [ + 0.0, + 0.029999999329447746, + 0.1850000023841858 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "control_knob_spindle", + "path": "/World/Joints/control_knob_spindle", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "control_knob_spindle", + "source_prim_path": "/World/Joints/control_knob_spindle", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -360.0, + "upperLimit": 360.0, + "localPos0": [ + 0.0, + -0.1776130050420761, + 0.13707800209522247 + ], + "localPos1": [ + 0.0, + -0.1776130050420761, + 0.13707800209522247 + ], + "localRot0": [ + 0.7547095417976379, + 0.6560590267181396, + 0.0, + 0.0 + ], + "localRot1": [ + 0.7547095417976379, + 0.6560590267181396, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -504,52 +586,99 @@ "/World/part_04" ], "proxyPrim": [] + }, + "id": "lid_hinge", + "path": "/World/Joints/lid_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "lid_hinge", + "source_prim_path": "/World/Joints/lid_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_04" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -100.0, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.15000000596046448, + 0.22599999606609344 + ], + "localPos1": [ + 0.0, + 0.15000000596046448, + 0.22599999606609344 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 3, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15000000596046448, - 0.26945382356643677, - 0.20340582728385925 - ], "min": [ -0.15000000596046448, - 0.0, - -0.17750000953674316 + -0.20340582728385925, + 0.0 + ], + "max": [ + 0.15000000596046448, + 0.17750000953674316, + 0.26945382356643677 ], "size": [ 0.30000001192092896, - 0.26945382356643677, - 0.3809058368206024 - ] + 0.3809058368206024, + 0.26945382356643677 + ], + "units": "m" }, "description": "Deep Fryer", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 3.7699999883770943 + "total_mass": 3.7699999883770943, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00156", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.11465000361204147, - 0.00526127964258194 + "min": [ + -0.15000000596046448, + -0.18802256882190704, + 0.0 ], "max": [ 0.15000000596046448, - 0.22930000722408295, - 0.18802256882190704 + 0.17750000953674316, + 0.22930000722408295 ], - "min": [ - -0.15000000596046448, - 0.0, - -0.17750000953674316 - ] + "size": [ + 0.30000001192092896, + 0.3655225783586502, + 0.22930000722408295 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -559,25 +688,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.12742538377642632, - 0.011999990791082382 + "min": [ + -0.09879999607801437, + -0.11914318054914474, + 0.06685077399015427 ], "max": [ 0.09879999607801437, - 0.18799999356269836, - 0.11914318054914474 + 0.09514319896697998, + 0.18799999356269836 ], - "min": [ - -0.09879999607801437, - 0.06685077399015427, - -0.09514319896697998 - ] + "size": [ + 0.19759999215602875, + 0.21428637951612473, + 0.1211492195725441 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -587,25 +719,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.1850000023841858, - 0.04740999825298786 + "min": [ + -0.10009998828172684, + -0.12661999464035034, + 0.18068000674247742 ], "max": [ 0.10009998828172684, - 0.18931999802589417, - 0.12661999464035034 + 0.03179999813437462, + 0.18931999802589417 ], - "min": [ - -0.10009998828172684, - 0.18068000674247742, - -0.03179999813437462 - ] + "size": [ + 0.20019997656345367, + 0.15841999277472496, + 0.008639991283416748 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -615,25 +750,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.141599640250206, - 0.18940825015306473 + "min": [ + -0.026499999687075615, + -0.20340582728385925, + 0.1110445111989975 ], "max": [ 0.026499999687075615, - 0.1721547693014145, - 0.20340582728385925 + -0.1754106730222702, + 0.1721547693014145 ], - "min": [ - -0.026499999687075615, - 0.1110445111989975, - 0.1754106730222702 - ] + "size": [ + 0.05299999937415123, + 0.02799515426158905, + 0.06111025810241699 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -643,25 +781,28 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.2427269145846367, - 0.013500005006790161 + "min": [ + -0.145913764834404, + -0.1719065010547638, + 0.2160000056028366 ], "max": [ 0.145913764834404, - 0.26945382356643677, - 0.1719065010547638 + 0.14490649104118347, + 0.26945382356643677 ], - "min": [ - -0.145913764834404, - 0.2160000056028366, - -0.14490649104118347 - ] + "size": [ + 0.291827529668808, + 0.31681299209594727, + 0.05345381796360016 + ], + "units": "m" }, "collision": {}, "id": "part_04", @@ -671,10 +812,27 @@ "source": { "object_name": "World", "part_name": "part_04" - } + }, + "source_prim_path": "/World/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f054b068cd8e864edc11c7a5259a018d40ef9ccb74c1aec618cda218c93342f8" + }, + "usd_path": "batch35/D00156_Deep_Fryer/IsaacSim_assets_D00156/IsaacSim_asset_D00156.usd", + "usd_sha256": "0a010d9c6c26dc669bd72e3b23cc1f57043b43687d8c942a7c4ad98c8a006608", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -691,24 +849,75 @@ "up_axis": "Z", "bounds_m": [ 0.30000001192092896, - 0.26945382356643677, - 0.3809058368206024 - ] + 0.3809058368206024, + 0.26945382356643677 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0a010d9c6c26dc669bd72e3b23cc1f57043b43687d8c942a7c4ad98c8a006608", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.7699999883770943 + "value_kg": 3.7699999883770943, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0a010d9c6c26dc669bd72e3b23cc1f57043b43687d8c942a7c4ad98c8a006608", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.7699999883770943, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0a010d9c6c26dc669bd72e3b23cc1f57043b43687d8c942a7c4ad98c8a006608", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 224, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0a010d9c6c26dc669bd72e3b23cc1f57043b43687d8c942a7c4ad98c8a006608", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "0a010d9c6c26dc669bd72e3b23cc1f57043b43687d8c942a7c4ad98c8a006608", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 13, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:16:01.255671+00:00", + "joint_status": "passed", + "joints_total": 3, + "joints_passed": 3, + "joints_failed": 0, + "thumbnail_sha256": "212b52cac1a5462df3c1d2c47af9757c7045d3c331b317b71f53d754348e4c7a", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00157_Hot_Water_Dispenser/IsaacSim_assets_D00157/physics_D00157.json b/batch35/D00157_Hot_Water_Dispenser/IsaacSim_assets_D00157/physics_D00157.json index 0fa35de0e55f38b7cab2d86743413c1f299f91f9..a7f46259cbad83b6cfeddf7736fcbc73cd60eba8 100644 --- a/batch35/D00157_Hot_Water_Dispenser/IsaacSim_assets_D00157/physics_D00157.json +++ b/batch35/D00157_Hot_Water_Dispenser/IsaacSim_assets_D00157/physics_D00157.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "lid_hinge", + "path": "/World/Joints/lid_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "lid_hinge", + "source_prim_path": "/World/Joints/lid_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 50.0, + "localPos0": [ + 0.0, + 0.06650000065565109, + 0.29313698410987854 + ], + "localPos1": [ + 0.0, + 0.06650000065565109, + 0.29313698410987854 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "lever_pivot", + "path": "/World/Joints/lever_pivot", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "lever_pivot", + "source_prim_path": "/World/Joints/lever_pivot", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 30.0, + "localPos0": [ + 0.0, + -0.10300000011920929, + 0.17163698375225067 + ], + "localPos1": [ + 0.0, + -0.10300000011920929, + 0.17163698375225067 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -477,52 +559,96 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "FixedJoint", + "path": "/World/Joints/FixedJoint", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "FixedJoint", + "source_prim_path": "/World/Joints/FixedJoint", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 2, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0760099942314684, - 0.3004198727216288, - 0.13251365714393712 - ], "min": [ -0.07590230396123217, - 0.0016290345555630026, - -0.07976547978962512 + -0.13251365714393712, + 0.0016290345555630026 + ], + "max": [ + 0.0760099942314684, + 0.07976547978962512, + 0.3004198727216288 ], "size": [ 0.15191229819270058, - 0.2987908381660658, - 0.21227913693356223 - ] + 0.21227913693356223, + 0.2987908381660658 + ], + "units": "m" }, "description": "Hot Water Dispenser", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 1.6999999787658453 + "total_mass": 1.6999999787658453, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00157", "parts": [ { "bounds": { - "center": [ - 5.3845135118114895e-05, - 0.15065332161907186, - 0.026374088677156002 + "min": [ + -0.07590230396123217, + -0.13251365714393712, + 0.0016290345555630026 ], "max": [ 0.0760099942314684, - 0.2996776086825807, - 0.13251365714393712 + 0.07976547978962512, + 0.2996776086825807 ], - "min": [ - -0.07590230396123217, - 0.0016290345555630026, - -0.07976547978962512 - ] + "size": [ + 0.15191229819270058, + 0.21227913693356223, + 0.2980485741270177 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -532,25 +658,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00043075506209384884, - 0.2900362710287626, - -0.004718626378669322 + "min": [ + -0.06789751768451661, + -0.06208321348839413, + 0.2796526693358965 ], "max": [ 0.06875902780870431, - 0.3004198727216288, - 0.06208321348839413 + 0.07152046624573277, + 0.3004198727216288 ], - "min": [ - -0.06789751768451661, - 0.2796526693358965, - -0.07152046624573277 - ] + "size": [ + 0.13665654549322093, + 0.1336036797341269, + 0.02076720338573229 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -560,25 +689,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00027660746038905143, - 0.18550005611005382, - 0.11393220779937459 + "min": [ + -0.018249319899968523, + -0.12919661630706164, + 0.16676761833642803 ], "max": [ 0.018802534820746626, - 0.2042324938836796, - 0.1291966163070616 + -0.09866779929168756, + 0.2042324938836796 ], - "min": [ - -0.018249319899968523, - 0.16676761833642803, - 0.09866779929168756 - ] + "size": [ + 0.03705185472071515, + 0.030528817015374077, + 0.03746487554725156 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -588,25 +720,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 4.1083565474938494e-05, - 0.028359804061731785, - 0.09630216790914556 + "min": [ + -0.05498257393615777, + -0.1280840473971629, + 0.00947228595096129 ], "max": [ 0.055064741067107646, - 0.04724732217250228, - 0.1280840473971629 + -0.06452028842112821, + 0.04724732217250228 ], - "min": [ - -0.05498257393615777, - 0.009472285950961291, - 0.06452028842112821 - ] + "size": [ + 0.11004731500326542, + 0.06356375897603468, + 0.03777503622154099 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -616,10 +751,27 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "751e4faede2fbab08b47f8f1d8c3334e38ef5224068f8b3c89aafc7a0282c320" + }, + "usd_path": "batch35/D00157_Hot_Water_Dispenser/IsaacSim_assets_D00157/IsaacSim_asset_D00157.usd", + "usd_sha256": "1c687f9f4f6823e4679d51202e694c9822b48419e48b214afb338e8a627649dd", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -636,24 +788,77 @@ "up_axis": "Z", "bounds_m": [ 0.15191229819270058, - 0.2987908381660658, - 0.21227913693356223 - ] + 0.21227913693356223, + 0.2987908381660658 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c687f9f4f6823e4679d51202e694c9822b48419e48b214afb338e8a627649dd", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.6999999787658453 + "value_kg": 1.6999999787658453, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c687f9f4f6823e4679d51202e694c9822b48419e48b214afb338e8a627649dd", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.6999999787658453, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 31, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c687f9f4f6823e4679d51202e694c9822b48419e48b214afb338e8a627649dd", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 31, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1c687f9f4f6823e4679d51202e694c9822b48419e48b214afb338e8a627649dd", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "1c687f9f4f6823e4679d51202e694c9822b48419e48b214afb338e8a627649dd", + "supplemental_accepted": false, + "planned_test_count": 14, + "result_count": 14, + "passed": 12, + "skipped": 1, + "failed": 1, + "issues": [ + "culling_xz:fail" + ], + "warnings": [], + "completed_at": "2026-10-13T21:36:04.025867+00:00", + "joint_status": "failed", + "joints_total": 2, + "joints_passed": 2, + "joints_failed": 0, + "thumbnail_sha256": "de546b5d754641ac49a1511e82cb2329369fdb00b6c0abf5fc44a9d619defaf8", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00159_Ice_Maker/IsaacSim_assets_D00159/physics_D00159.json b/batch35/D00159_Ice_Maker/IsaacSim_assets_D00159/physics_D00159.json index 263a1fad6be34430f342d3ce03412e1a36bc342f..92f5daa239d3ef9a86bbd90c172be0bada53019f 100644 --- a/batch35/D00159_Ice_Maker/IsaacSim_assets_D00159/physics_D00159.json +++ b/batch35/D00159_Ice_Maker/IsaacSim_assets_D00159/physics_D00159.json @@ -168,52 +168,99 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "lid_hinge", + "path": "/World/Joints/lid_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "lid_hinge", + "source_prim_path": "/World/Joints/lid_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -100.0, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.12600700557231903, + 0.34998300671577454 + ], + "localPos1": [ + 0.0, + 0.12600700557231903, + 0.34998300671577454 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11999999731779099, - 0.3580000102519989, - 0.15719999372959137 - ], "min": [ -0.11999999731779099, - 0.0, - -0.15080000460147858 + -0.15719999372959137, + 0.0 + ], + "max": [ + 0.11999999731779099, + 0.15080000460147858, + 0.3580000102519989 ], "size": [ 0.23999999463558197, - 0.3580000102519989, - 0.30799999833106995 - ] + 0.30799999833106995, + 0.3580000102519989 + ], + "units": "m" }, "description": "Ice Maker", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 5.9000000059604645 + "total_mass": 5.9000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00159", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.1784999966621399, - 0.0031999945640563965 + "min": [ + -0.11999999731779099, + -0.15719999372959137, + 0.0 ], "max": [ 0.11999999731779099, - 0.3569999933242798, - 0.15719999372959137 + 0.15080000460147858, + 0.3569999933242798 ], - "min": [ - -0.11999999731779099, - 0.0, - -0.15080000460147858 - ] + "size": [ + 0.23999999463558197, + 0.30799999833106995, + 0.3569999933242798 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -223,25 +270,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.34025000035762787, - 0.008500002324581146 + "min": [ + -0.1185000017285347, + -0.1485000103712082, + 0.32249999046325684 ], "max": [ 0.1185000017285347, - 0.3580000102519989, - 0.1485000103712082 + 0.1315000057220459, + 0.3580000102519989 ], - "min": [ - -0.1185000017285347, - 0.32249999046325684, - -0.1315000057220459 - ] + "size": [ + 0.2370000034570694, + 0.2800000160932541, + 0.035500019788742065 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -251,10 +301,27 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5a80613018c7172bbb07c2e4f6f8d20fac990101c8727a35128a956a3f2e40ad" + }, + "usd_path": "batch35/D00159_Ice_Maker/IsaacSim_assets_D00159/IsaacSim_asset_D00159.usd", + "usd_sha256": "3a8856efcd05ded127997c1359246667b9e581a923f73aa3c5b6e51cc17c8d3c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -271,24 +338,75 @@ "up_axis": "Z", "bounds_m": [ 0.23999999463558197, - 0.3580000102519989, - 0.30799999833106995 - ] + 0.30799999833106995, + 0.3580000102519989 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a8856efcd05ded127997c1359246667b9e581a923f73aa3c5b6e51cc17c8d3c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 5.9000000059604645 + "value_kg": 5.9000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a8856efcd05ded127997c1359246667b9e581a923f73aa3c5b6e51cc17c8d3c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 5.9000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 250, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a8856efcd05ded127997c1359246667b9e581a923f73aa3c5b6e51cc17c8d3c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 250, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a8856efcd05ded127997c1359246667b9e581a923f73aa3c5b6e51cc17c8d3c", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "3a8856efcd05ded127997c1359246667b9e581a923f73aa3c5b6e51cc17c8d3c", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 13, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:11:01.920039+00:00", + "joint_status": "passed", + "joints_total": 1, + "joints_passed": 1, + "joints_failed": 0, + "thumbnail_sha256": "001729522c531fa6a1e8ab399ff67febfa9c266de6e2b7d56e2f0d73575df728", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00177_Crab_Cracker/IsaacSim_assets_D00177/physics_D00177.json b/batch35/D00177_Crab_Cracker/IsaacSim_assets_D00177/physics_D00177.json index 471358821718b3ad5e7335588e6471af09e69620..2f4807903f52f0abb8c66e26fd65b7c7b0eb87ee 100644 --- a/batch35/D00177_Crab_Cracker/IsaacSim_assets_D00177/physics_D00177.json +++ b/batch35/D00177_Crab_Cracker/IsaacSim_assets_D00177/physics_D00177.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "handle_left_pivot", + "path": "/World/Joints/handle_left_pivot", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "handle_left_pivot", + "source_prim_path": "/World/Joints/handle_left_pivot", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -75.0, + "upperLimit": 15.0, + "localPos0": [ + -0.012023000046610832, + 1.2000000424450263e-05, + 0.009449999779462814 + ], + "localPos1": [ + -0.012023000046610832, + 1.2000000424450263e-05, + 0.009449999779462814 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,52 +377,99 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "handle_right_pivot", + "path": "/World/Joints/handle_right_pivot", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "handle_right_pivot", + "source_prim_path": "/World/Joints/handle_right_pivot", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -15.0, + "upperLimit": 75.0, + "localPos0": [ + 0.012023000046610832, + 1.2000000424450263e-05, + 0.009449999779462814 + ], + "localPos1": [ + 0.012023000046610832, + 1.2000000424450263e-05, + 0.009449999779462814 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 2, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08002838492393494, - 0.019049998372793198, - 0.22589541971683502 - ], "min": [ -0.07983967661857605, - 0.0, - -0.010700584389269352 + -0.22589541971683502, + 0.0 + ], + "max": [ + 0.08002838492393494, + 0.010700584389269352, + 0.019049998372793198 ], "size": [ 0.159868061542511, - 0.019049998372793198, - 0.23659600410610437 - ] + 0.23659600410610437, + 0.019049998372793198 + ], + "units": "m" }, "description": "Crab Cracker", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.24000000581145287 + "total_mass": 0.24000000581145287, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00177", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.00944999954663217, - 0.0038997079245746136 + "min": [ + -0.02199999988079071, + -0.01850000023841858, + 0.002765271347016096 ], "max": [ 0.02199999988079071, - 0.016134727746248245, - 0.01850000023841858 + 0.010700584389269352, + 0.016134727746248245 ], - "min": [ - -0.02199999988079071, - 0.002765271347016096, - -0.010700584389269352 - ] + "size": [ + 0.04399999976158142, + 0.02920058462768793, + 0.013369456399232149 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -391,25 +479,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.042449781438335776, - 0.009449999779462814, - 0.1094776529353112 + "min": [ + -0.07983967661857605, + -0.22589541971683502, + 0.0 ], "max": [ -0.005059886258095503, - 0.01889999955892563, - 0.22589541971683502 + 0.0069401138462126255, + 0.01889999955892563 ], - "min": [ - -0.07983967661857605, - 0.0, - -0.0069401138462126255 - ] + "size": [ + 0.07477979036048055, + 0.23283553356304765, + 0.01889999955892563 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -419,25 +510,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.04252053564414382, - 0.00959999905899167, - 0.10942876571789384 + "min": [ + 0.005012686364352703, + -0.2258448451757431, + 0.00014999974519014359 ], "max": [ 0.08002838492393494, - 0.019049998372793198, - 0.2258448451757431 + 0.006987313739955425, + 0.019049998372793198 ], - "min": [ - 0.005012686364352703, - 0.00014999974519014359, - -0.006987313739955425 - ] + "size": [ + 0.07501569855958223, + 0.23283215891569853, + 0.018899998627603054 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -447,10 +541,27 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d012f1414adf1290ec54d63299d7c4e06faa3ddd7f47fe2e436cd7d27163f2f0" + }, + "usd_path": "batch35/D00177_Crab_Cracker/IsaacSim_assets_D00177/IsaacSim_asset_D00177.usd", + "usd_sha256": "71efd947f6ce3ee5840f42d6a5354011828b98c422adc9776d59d66cb25c8106", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -467,24 +578,75 @@ "up_axis": "Z", "bounds_m": [ 0.159868061542511, - 0.019049998372793198, - 0.23659600410610437 - ] + 0.23659600410610437, + 0.019049998372793198 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71efd947f6ce3ee5840f42d6a5354011828b98c422adc9776d59d66cb25c8106", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.24000000581145287 + "value_kg": 0.24000000581145287, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71efd947f6ce3ee5840f42d6a5354011828b98c422adc9776d59d66cb25c8106", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.24000000581145287, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71efd947f6ce3ee5840f42d6a5354011828b98c422adc9776d59d66cb25c8106", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71efd947f6ce3ee5840f42d6a5354011828b98c422adc9776d59d66cb25c8106", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "71efd947f6ce3ee5840f42d6a5354011828b98c422adc9776d59d66cb25c8106", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 13, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:35:59.995563+00:00", + "joint_status": "passed", + "joints_total": 2, + "joints_passed": 2, + "joints_failed": 0, + "thumbnail_sha256": "81dd09420de943c92b6d2aebf4a6fd02859e9e9c5f4653a1258875f552f9fe87", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00179_Poultry_Shears/IsaacSim_assets_D00179/physics_D00179.json b/batch35/D00179_Poultry_Shears/IsaacSim_assets_D00179/physics_D00179.json index ef1f7bd1404108243210fffd01e6c25893edaa91..df95ff1dba78d4a28d28eef28845764fd6e5df93 100644 --- a/batch35/D00179_Poultry_Shears/IsaacSim_assets_D00179/physics_D00179.json +++ b/batch35/D00179_Poultry_Shears/IsaacSim_assets_D00179/physics_D00179.json @@ -168,52 +168,99 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "pivot", + "path": "/World/Joints/pivot", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "pivot", + "source_prim_path": "/World/Joints/pivot", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 45.0, + "localPos0": [ + -3.999999989900971e-06, + -0.0013419999741017818, + 0.04626739025115967 + ], + "localPos1": [ + -3.999999989900971e-06, + -0.0013419999741017818, + 0.04626739025115967 + ], + "localRot0": [ + 0.7071067690849304, + 0.7071067690849304, + 0.0, + 0.0 + ], + "localRot1": [ + 0.7071067690849304, + 0.7071067690849304, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10843079098779833, - 0.012282741984284234, - 0.061106077451250226 - ], "min": [ -0.1065412047879005, - -4.166415585504617e-05, - -0.023404775744097887 + -0.061106077451250226, + -4.166415585504617e-05 + ], + "max": [ + 0.10843079098779833, + 0.023404775744097894, + 0.012282741984284234 ], "size": [ 0.2149719957756988, - 0.01232440614013928, - 0.08451085319534811 - ] + 0.08451085319534812, + 0.01232440614013928 + ], + "units": "m" }, "description": "Poultry Shears", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.23999999463558197 + "total_mass": 0.23999999463558197, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00179", "parts": [ { "bounds": { - "center": [ - 0.0009803550648142673, - 0.006127187297817714, - -0.005858195817208122 + "min": [ + -0.10647008085816978, + -0.011688384109681628, + -2.836738864880374e-05 ], "max": [ 0.10843079098779833, - 0.012282741984284234, - 0.011688384109681642 + 0.023404775744097894, + 0.012282741984284234 ], - "min": [ - -0.1064700808581698, - -2.8367388648804608e-05, - -0.023404775744097887 - ] + "size": [ + 0.21490087184596812, + 0.03509315985377952, + 0.012311109372933038 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -223,25 +270,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.012772742401334379, - 0.004631340433164974, - 0.020498959675692534 + "min": [ + -0.1065412047879005, + -0.061106077451250226, + -4.166415585504617e-05 ], "max": [ 0.08099571998523174, - 0.009304345022184994, - 0.061106077451250226 + 0.02010815809986516, + 0.009304345022184994 ], - "min": [ - -0.1065412047879005, - -4.166415585504617e-05, - -0.02010815809986516 - ] + "size": [ + 0.18753692477313222, + 0.08121423555111539, + 0.00934600917804004 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -251,10 +301,27 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "74ad02be419f46a5ebc659c09a8a6723e577611f00e43aba5dd49b62479d7d8b" + }, + "usd_path": "batch35/D00179_Poultry_Shears/IsaacSim_assets_D00179/IsaacSim_asset_D00179.usd", + "usd_sha256": "d4e86bb7834166aa8d08cd9c7d1e3ad7b0fc1fa2b98756780bb28caae964bcb2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -271,24 +338,58 @@ "up_axis": "Z", "bounds_m": [ 0.2149719957756988, - 0.01232440614013928, - 0.08451085319534811 - ] + 0.08451085319534812, + 0.01232440614013928 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4e86bb7834166aa8d08cd9c7d1e3ad7b0fc1fa2b98756780bb28caae964bcb2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.23999999463558197 + "value_kg": 0.23999999463558197, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4e86bb7834166aa8d08cd9c7d1e3ad7b0fc1fa2b98756780bb28caae964bcb2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.23999999463558197, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4e86bb7834166aa8d08cd9c7d1e3ad7b0fc1fa2b98756780bb28caae964bcb2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4e86bb7834166aa8d08cd9c7d1e3ad7b0fc1fa2b98756780bb28caae964bcb2", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00184_Strawberry_Huller/IsaacSim_assets_D00184/physics_D00184.json b/batch35/D00184_Strawberry_Huller/IsaacSim_assets_D00184/physics_D00184.json index 9818d33049c9f62bb758ba04612313f827ebc248..f2fd15c6258838573122de9ad69ec36bdf18786e 100644 --- a/batch35/D00184_Strawberry_Huller/IsaacSim_assets_D00184/physics_D00184.json +++ b/batch35/D00184_Strawberry_Huller/IsaacSim_assets_D00184/physics_D00184.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.011124826036393642, - 0.0065000057220458984, - 0.0003901336167473346 - ], "min": [ -0.011124826036393642, - -0.0065000057220458984, - -0.09036519378423691 + -0.0003901336167473346, + -0.0065000057220458984 + ], + "max": [ + 0.011124826036393642, + 0.09036519378423691, + 0.0065000057220458984 ], "size": [ 0.022249652072787285, - 0.013000011444091797, - 0.09075532740098424 - ] + 0.09075532740098424, + 0.013000011444091797 + ], + "units": "m" }, "description": "Strawberry Huller", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.05000000074505806 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00184", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.0, - -0.04498753008374479 + "min": [ + -0.011124826036393642, + -0.0003901336167473346, + -0.0065000057220458984 ], "max": [ 0.011124826036393642, - 0.0065000057220458984, - 0.0003901336167473346 + 0.09036519378423691, + 0.0065000057220458984 ], - "min": [ - -0.011124826036393642, - -0.0065000057220458984, - -0.09036519378423691 - ] + "size": [ + 0.022249652072787285, + 0.09075532740098424, + 0.013000011444091797 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -54,10 +60,27 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "98dee80292e933ca2ef258eb3e2fe541cd4343e55105c4c2e3d3074b0caa1a42" + }, + "usd_path": "batch35/D00184_Strawberry_Huller/IsaacSim_assets_D00184/IsaacSim_asset_D00184.usd", + "usd_sha256": "e7fa947f0acb0afea823b1ed625e60ca1efad8e1de0926424acd947063dfc683", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -74,24 +97,75 @@ "up_axis": "Z", "bounds_m": [ 0.022249652072787285, - 0.013000011444091797, - 0.09075532740098424 - ] + 0.09075532740098424, + 0.013000011444091797 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e7fa947f0acb0afea823b1ed625e60ca1efad8e1de0926424acd947063dfc683", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05000000074505806 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e7fa947f0acb0afea823b1ed625e60ca1efad8e1de0926424acd947063dfc683", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e7fa947f0acb0afea823b1ed625e60ca1efad8e1de0926424acd947063dfc683", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e7fa947f0acb0afea823b1ed625e60ca1efad8e1de0926424acd947063dfc683", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "e7fa947f0acb0afea823b1ed625e60ca1efad8e1de0926424acd947063dfc683", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 10, + "skipped": 2, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:06.064824+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "88def8915d93622c543329df401e582fc2d60423eefd151500509381aafa840c", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00185 Pineapple Corer/IsaacSim_assets_D00185/physics_D00185.json b/batch35/D00185 Pineapple Corer/IsaacSim_assets_D00185/physics_D00185.json index 95f706083c689b563f877a9369c514c248b69ee5..43dfc23e7de6611f6ce0b6bda3d9ce5cbf14ed90 100644 --- a/batch35/D00185 Pineapple Corer/IsaacSim_assets_D00185/physics_D00185.json +++ b/batch35/D00185 Pineapple Corer/IsaacSim_assets_D00185/physics_D00185.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07169017414630463, - 0.350029184785802, - 0.05505109160961454 - ], "min": [ -0.07210986056869967, - -1.4180389968043537e-06, - -0.055072578527787026 + -0.05505109160961454, + -1.4180389968043537e-06 + ], + "max": [ + 0.07169017414630463, + 0.05507257852778702, + 0.350029184785802 ], "size": [ 0.1438000347150043, - 0.35003060282479875, - 0.11012367013740157 - ] + 0.11012367013740157, + 0.35003060282479875 + ], + "units": "m" }, "description": "Pineapple Corer", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.2800000011920929 + "total_mass": 0.2800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00185", "parts": [ { "bounds": { - "center": [ - -0.00020984321119751903, - 0.1750138833734026, - -1.0743459086241802e-05 + "min": [ + -0.07210986056869967, + -0.05505109160961454, + -1.4180389968043537e-06 ], "max": [ 0.07169017414630463, - 0.350029184785802, - 0.05505109160961454 + 0.05507257852778702, + 0.350029184785802 ], - "min": [ - -0.07210986056869967, - -1.4180389968043537e-06, - -0.055072578527787026 - ] + "size": [ + 0.1438000347150043, + 0.11012367013740157, + 0.35003060282479875 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -54,10 +60,27 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7aeacaaf83d39dfdb51761f79ab7a95e41a6b62f50a94b0ac4de3e7141930f76" + }, + "usd_path": "batch35/D00185 Pineapple Corer/IsaacSim_assets_D00185/IsaacSim_asset_D00185.usd", + "usd_sha256": "5fe94081164734f7bfeaf6eb92fc2bdc90262d4d0c839a7c36641e5acea122d2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -74,24 +97,75 @@ "up_axis": "Z", "bounds_m": [ 0.1438000347150043, - 0.35003060282479875, - 0.11012367013740157 - ] + 0.11012367013740157, + 0.35003060282479875 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5fe94081164734f7bfeaf6eb92fc2bdc90262d4d0c839a7c36641e5acea122d2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2800000011920929 + "value_kg": 0.2800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5fe94081164734f7bfeaf6eb92fc2bdc90262d4d0c839a7c36641e5acea122d2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5fe94081164734f7bfeaf6eb92fc2bdc90262d4d0c839a7c36641e5acea122d2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 5, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5fe94081164734f7bfeaf6eb92fc2bdc90262d4d0c839a7c36641e5acea122d2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "5fe94081164734f7bfeaf6eb92fc2bdc90262d4d0c839a7c36641e5acea122d2", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:00.532086+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "5da8f703a5a3e6dcfc96731638f44dda9b9353496b4b6c5bdb4d4f495c1ce71e", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00194_Range_Hood/IsaacSim_assets_D00194/physics_D00194.json b/batch35/D00194_Range_Hood/IsaacSim_assets_D00194/physics_D00194.json index 9015fdeafe4c5afa63316ee1788aa69613d8398c..4f60956a8affeed02cc0a110a0b90fc3901c2cfe 100644 --- a/batch35/D00194_Range_Hood/IsaacSim_assets_D00194/physics_D00194.json +++ b/batch35/D00194_Range_Hood/IsaacSim_assets_D00194/physics_D00194.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "chimney_slide", + "path": "/World/Joints/chimney_slide", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "chimney_slide", + "source_prim_path": "/World/Joints/chimney_slide", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 0.15000000596046448, + "localPos0": [ + 0.0, + -0.14000000059604645, + 0.017345240339636803 + ], + "localPos1": [ + 0.0, + -0.14000000059604645, + 0.017345240339636803 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "fan_button_1_latch", + "path": "/World/Joints/fan_button_1_latch", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "fan_button_1_latch", + "source_prim_path": "/World/Joints/fan_button_1_latch", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 0.004999999888241291, + "localPos0": [ + -0.07999999821186066, + -0.46549999713897705, + 0.017345240339636803 + ], + "localPos1": [ + -0.07999999821186066, + -0.46549999713897705, + 0.017345240339636803 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -504,6 +586,47 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "fan_button_2_latch", + "path": "/World/Joints/fan_button_2_latch", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "fan_button_2_latch", + "source_prim_path": "/World/Joints/fan_button_2_latch", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 0.004999999888241291, + "localPos0": [ + -0.03500000014901161, + -0.46549999713897705, + 0.017345240339636803 + ], + "localPos1": [ + -0.03500000014901161, + -0.46549999713897705, + 0.017345240339636803 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -672,6 +795,47 @@ "/World/part_04" ], "proxyPrim": [] + }, + "id": "fan_button_3_latch", + "path": "/World/Joints/fan_button_3_latch", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "fan_button_3_latch", + "source_prim_path": "/World/Joints/fan_button_3_latch", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_04" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 0.004999999888241291, + "localPos0": [ + 0.009999999776482582, + -0.46549999713897705, + 0.017345240339636803 + ], + "localPos1": [ + 0.009999999776482582, + -0.46549999713897705, + 0.017345240339636803 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -840,52 +1004,99 @@ "/World/part_05" ], "proxyPrim": [] + }, + "id": "light_button_latch", + "path": "/World/Joints/light_button_latch", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "light_button_latch", + "source_prim_path": "/World/Joints/light_button_latch", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_05" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 0.004999999888241291, + "localPos0": [ + 0.07965400069952011, + -0.46551400423049927, + 0.017345240339636803 + ], + "localPos1": [ + 0.07965400069952011, + -0.46551400423049927, + 0.017345240339636803 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 5, + "rigid_body_count": 6, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.3799999952316284, - 0.7773452401161194, - 0.4812000095844269 - ], "min": [ -0.3799999952316284, - 0.0, - -0.014000000432133675 + -0.4812000095844269, + 0.0 + ], + "max": [ + 0.3799999952316284, + 0.014000000432133675, + 0.7773452401161194 ], "size": [ 0.7599999904632568, - 0.7773452401161194, - 0.49520001001656055 - ] + 0.49520001001656055, + 0.7773452401161194 + ], + "units": "m" }, "description": "Range Hood", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 8.999999858438969 + "total_mass": 8.999999858438969, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00194", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.33617261052131653, - 0.2336000045761466 + "min": [ + -0.3799999952316284, + -0.4812000095844269, + 0.0 ], "max": [ 0.3799999952316284, - 0.6723452210426331, - 0.4812000095844269 + 0.014000000432133675, + 0.6723452210426331 ], - "min": [ - -0.3799999952316284, - 0.0, - -0.014000000432133675 - ] + "size": [ + 0.7599999904632568, + 0.49520001001656055, + 0.6723452210426331 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -895,25 +1106,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.6273452490568161, - 0.14000000152736902 + "min": [ + -0.14644286036491394, + -0.26600000262260437, + 0.4773452579975128 ], "max": [ 0.14644286036491394, - 0.7773452401161194, - 0.26600000262260437 + -0.014000000432133675, + 0.7773452401161194 ], - "min": [ - -0.14644286036491394, - 0.4773452579975128, - 0.014000000432133675 - ] + "size": [ + 0.2928857207298279, + 0.2520000021904707, + 0.29999998211860657 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -923,25 +1137,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.08000000193715096, - 0.020595239475369453, - 0.46524499356746674 + "min": [ + -0.0894903838634491, + -0.4747353792190552, + 0.008845239877700806 ], "max": [ -0.07050962001085281, - 0.0323452390730381, - 0.4747353792190552 + -0.4557546079158783, + 0.0323452390730381 ], - "min": [ - -0.0894903838634491, - 0.008845239877700806, - 0.4557546079158783 - ] + "size": [ + 0.018980763852596283, + 0.01898077130317688, + 0.023499999195337296 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -951,25 +1168,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.03500000108033419, - 0.020595239475369453, - 0.46541500091552734 + "min": [ + -0.04449986293911934, + -0.47489213943481445, + 0.008845239877700806 ], "max": [ -0.025500139221549034, - 0.0323452390730381, - 0.47489213943481445 + -0.45593786239624023, + 0.0323452390730381 ], - "min": [ - -0.04449986293911934, - 0.008845239877700806, - 0.45593786239624023 - ] + "size": [ + 0.018999723717570305, + 0.01895427703857422, + 0.023499999195337296 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -979,25 +1199,28 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0100000002712477, - 0.020595239475369453, - 0.46558500826358795 + "min": [ + 0.0005020155222155154, + -0.47508299350738525, + 0.008845239877700806 ], "max": [ 0.019497985020279884, - 0.0323452390730381, - 0.47508299350738525 + -0.45608702301979065, + 0.0323452390730381 ], - "min": [ - 0.0005020155222155154, - 0.008845239877700806, - 0.45608702301979065 - ] + "size": [ + 0.01899596949806437, + 0.018995970487594604, + 0.023499999195337296 + ], + "units": "m" }, "collision": {}, "id": "part_04", @@ -1007,25 +1230,28 @@ "source": { "object_name": "World", "part_name": "part_04" - } + }, + "source_prim_path": "/World/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.08000000193715096, - 0.020595239475369453, - 0.46575498580932617 + "min": [ + 0.07050574570894241, + -0.47524964809417725, + 0.008845239877700806 ], "max": [ 0.0894942581653595, - 0.0323452390730381, - 0.47524964809417725 + -0.4562603235244751, + 0.0323452390730381 ], - "min": [ - 0.07050574570894241, - 0.008845239877700806, - 0.4562603235244751 - ] + "size": [ + 0.018988512456417084, + 0.01898932456970215, + 0.023499999195337296 + ], + "units": "m" }, "collision": {}, "id": "part_05", @@ -1035,10 +1261,27 @@ "source": { "object_name": "World", "part_name": "part_05" - } + }, + "source_prim_path": "/World/part_05", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ac900d4cdf146a75fa512bb91b2ac3431577afb06e70c0278d6234ae68fdf4dd" + }, + "usd_path": "batch35/D00194_Range_Hood/IsaacSim_assets_D00194/IsaacSim_asset_D00194.usd", + "usd_sha256": "47852d362ec3de33ff5f6cfe64ff7c7a7d58dcccdb4b134c45ff6e558b36e6e4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -1055,24 +1298,75 @@ "up_axis": "Z", "bounds_m": [ 0.7599999904632568, - 0.7773452401161194, - 0.49520001001656055 - ] + 0.49520001001656055, + 0.7773452401161194 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47852d362ec3de33ff5f6cfe64ff7c7a7d58dcccdb4b134c45ff6e558b36e6e4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 8.999999858438969 + "value_kg": 8.999999858438969, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47852d362ec3de33ff5f6cfe64ff7c7a7d58dcccdb4b134c45ff6e558b36e6e4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 8.999999858438969, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 6 + "status": "verified", + "confidence": "high", + "shape_count": 124, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47852d362ec3de33ff5f6cfe64ff7c7a7d58dcccdb4b134c45ff6e558b36e6e4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 124, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 5 + "moving_joints": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "47852d362ec3de33ff5f6cfe64ff7c7a7d58dcccdb4b134c45ff6e558b36e6e4", + "scope": "authored_usd_joint_schema", + "joint_count": 5, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "47852d362ec3de33ff5f6cfe64ff7c7a7d58dcccdb4b134c45ff6e558b36e6e4", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 13, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:06.554661+00:00", + "joint_status": "passed", + "joints_total": 5, + "joints_passed": 5, + "joints_failed": 0, + "thumbnail_sha256": "39133457e1acfb827eb0516c7d7fa4e7d71f1ab3edf86c318ba5b4d85faa967f", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00218_Crockpot/IsaacSim_assets_D00218/physics_D00218.json b/batch35/D00218_Crockpot/IsaacSim_assets_D00218/physics_D00218.json index a7b09b96f3684425612b415d56a17a33eb5da951..d41dc8cbba63d1a0aa0f63b690b03418b0178623 100644 --- a/batch35/D00218_Crockpot/IsaacSim_assets_D00218/physics_D00218.json +++ b/batch35/D00218_Crockpot/IsaacSim_assets_D00218/physics_D00218.json @@ -168,52 +168,99 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "control_knob_spindle", + "path": "/World/Joints/control_knob_spindle", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "control_knob_spindle", + "source_prim_path": "/World/Joints/control_knob_spindle", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -360.0, + "upperLimit": 360.0, + "localPos0": [ + 0.0, + -0.11599999666213989, + 0.0820000022649765 + ], + "localPos1": [ + 0.0, + -0.11599999666213989, + 0.0820000022649765 + ], + "localRot0": [ + 0.7071067690849304, + 0.7071067690849304, + 0.0, + 0.0 + ], + "localRot1": [ + 0.7071067690849304, + 0.7071067690849304, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.18581846356391907, - 0.24449999630451202, - 0.1356000006198883 - ], "min": [ -0.18581846356391907, - 0.0, - -0.12999999523162842 + -0.1356000006198883, + 0.0 + ], + "max": [ + 0.18581846356391907, + 0.12999999523162842, + 0.24449999630451202 ], "size": [ 0.37163692712783813, - 0.24449999630451202, - 0.2655999958515167 - ] + 0.2655999958515167, + 0.24449999630451202 + ], + "units": "m" }, "description": "Crockpot", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 4.220000047236681 + "total_mass": 4.220000047236681, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00218", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.08900000154972076, + "min": [ + -0.18581846356391907, + -0.12999999523162842, 0.0 ], "max": [ 0.18581846356391907, - 0.17800000309944153, - 0.12999999523162842 + 0.12999999523162842, + 0.17800000309944153 ], - "min": [ - -0.18581846356391907, - 0.0, - -0.12999999523162842 - ] + "size": [ + 0.37163692712783813, + 0.25999999046325684, + 0.17800000309944153 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -223,25 +270,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.11900000087916851, - 0.0 + "min": [ + -0.1680348515510559, + -0.11700454354286194, + 0.0494999997317791 ], "max": [ 0.1680348515510559, - 0.18850000202655792, - 0.11700454354286194 + 0.11700454354286194, + 0.18850000202655792 ], - "min": [ - -0.1680348515510559, - 0.0494999997317791, - -0.11700454354286194 - ] + "size": [ + 0.3360697031021118, + 0.23400908708572388, + 0.13900000229477882 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -251,25 +301,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.0820000097155571, - 0.12869999557733536 + "min": [ + -0.011931223794817924, + -0.1356000006198883, + 0.07006878405809402 ], "max": [ 0.011931223794817924, - 0.09393123537302017, - 0.1356000006198883 + -0.12179999053478241, + 0.09393123537302017 ], - "min": [ - -0.011931223794817924, - 0.07006878405809402, - 0.12179999053478241 - ] + "size": [ + 0.02386244758963585, + 0.013800010085105896, + 0.023862451314926147 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -279,25 +332,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.21457841247320175, - 0.0 + "min": [ + -0.15119999647140503, + -0.1111999973654747, + 0.18465682864189148 ], "max": [ 0.15119999647140503, - 0.24449999630451202, - 0.1111999973654747 + 0.1111999973654747, + 0.24449999630451202 ], - "min": [ - -0.15119999647140503, - 0.18465682864189148, - -0.1111999973654747 - ] + "size": [ + 0.30239999294281006, + 0.2223999947309494, + 0.059843167662620544 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -307,10 +363,27 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3500c5286f0b2672606489659a9f1484f8dcbc694df375cbff67299846fa51a7" + }, + "usd_path": "batch35/D00218_Crockpot/IsaacSim_assets_D00218/IsaacSim_asset_D00218.usd", + "usd_sha256": "d972462025d4e1f2761d6971c2c457a37440ee4048339825e481a1a9867d370a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -327,24 +400,77 @@ "up_axis": "Z", "bounds_m": [ 0.37163692712783813, - 0.24449999630451202, - 0.2655999958515167 - ] + 0.2655999958515167, + 0.24449999630451202 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d972462025d4e1f2761d6971c2c457a37440ee4048339825e481a1a9867d370a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.220000047236681 + "value_kg": 4.220000047236681, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d972462025d4e1f2761d6971c2c457a37440ee4048339825e481a1a9867d370a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.220000047236681, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d972462025d4e1f2761d6971c2c457a37440ee4048339825e481a1a9867d370a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexDecomposition", + "convexHull", + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d972462025d4e1f2761d6971c2c457a37440ee4048339825e481a1a9867d370a", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "d972462025d4e1f2761d6971c2c457a37440ee4048339825e481a1a9867d370a", + "supplemental_accepted": true, + "planned_test_count": 13, + "result_count": 13, + "passed": 13, + "skipped": 0, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:08.286084+00:00", + "joint_status": "passed", + "joints_total": 1, + "joints_passed": 1, + "joints_failed": 0, + "thumbnail_sha256": "223ad6f97a08d518f226b9ce27f2ec885e0dfb22a8ef16eb8469181e0e2388af", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00277 Dish Soap Dispenser/IsaacSim_assets_D00277/physics_D00277.json b/batch35/D00277 Dish Soap Dispenser/IsaacSim_assets_D00277/physics_D00277.json index 7d3f7e047355c30d04f266addf8c2a9e4ede33b7..2e5ae8f32b481aece440a7035b521a3eb51de8b4 100644 --- a/batch35/D00277 Dish Soap Dispenser/IsaacSim_assets_D00277/physics_D00277.json +++ b/batch35/D00277 Dish Soap Dispenser/IsaacSim_assets_D00277/physics_D00277.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "pump_swivel", + "path": "/World/Joints/pump_swivel", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "pump_swivel", + "source_prim_path": "/World/Joints/pump_swivel", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -180.0, + "upperLimit": 180.0, + "localPos0": [ + 0.0, + 0.0, + 0.21799999475479126 + ], + "localPos1": [ + 0.0, + 0.0, + 0.21799999475479126 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,52 +377,99 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "press_head_slide", + "path": "/World/Joints/press_head_slide", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "press_head_slide", + "source_prim_path": "/World/Joints/press_head_slide", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_01" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.00800000037997961, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.0, + 0.21799999475479126 + ], + "localPos1": [ + 0.0, + 0.0, + 0.21799999475479126 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 2, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.040241619186482086, - 0.2938638102746351, - 0.04022680680191703 - ], "min": [ -0.1019023910943559, - 0.0011884629547728033, - -0.03985794479409429 + -0.04022680680191704, + 0.0011884629547728033 + ], + "max": [ + 0.040241619186482086, + 0.03985794479409429, + 0.2938638102746351 ], "size": [ 0.142144010280838, - 0.2926753473198623, - 0.08008475159601132 - ] + 0.08008475159601133, + 0.2926753473198623 + ], + "units": "m" }, "description": "Dish Soap Dispenser", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.16999999433755875 + "total_mass": 0.16999999433755875, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00277", "parts": [ { "bounds": { - "center": [ - 0.0003912902726622876, - 0.11033318444244979, - 0.00018443100391137002 + "min": [ + -0.03945903864115751, + -0.04022680680191704, + 0.0011884629547728033 ], "max": [ 0.040241619186482086, - 0.21947790593012678, - 0.04022680680191703 + 0.03985794479409429, + 0.21947790593012678 ], - "min": [ - -0.03945903864115751, - 0.0011884629547728033, - -0.03985794479409429 - ] + "size": [ + 0.0797006578276396, + 0.08008475159601133, + 0.218289442975354 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -391,7 +479,9 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "collision": {}, @@ -402,25 +492,27 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01" }, { "bounds": { - "center": [ - -0.039113155872672674, - 0.25259020892335926, - -0.0005606942273217921 + "min": [ + -0.1019023910943559, + -0.02194594247516329, + 0.21131660757208337 ], "max": [ 0.023676079349010563, - 0.2938638102746351, - 0.02194594247516329 + 0.023067330929806874, + 0.2938638102746351 ], - "min": [ - -0.1019023910943559, - 0.21131660757208337, - -0.023067330929806874 - ] + "size": [ + 0.12557847044336648, + 0.04501327340497016, + 0.08254720270255173 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -430,10 +522,27 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "93b1f89a96acd3cdc40e2fecda927fe4eecaf9dca88a87a9aae51a6d416cc28a" + }, + "usd_path": "batch35/D00277 Dish Soap Dispenser/IsaacSim_assets_D00277/IsaacSim_asset_D00277.usd", + "usd_sha256": "a837ae577f82e4563a153fc8a47197f10c41eda17f878e64e17aee50293e1c7b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -450,24 +559,58 @@ "up_axis": "Z", "bounds_m": [ 0.142144010280838, - 0.2926753473198623, - 0.08008475159601132 - ] + 0.08008475159601133, + 0.2926753473198623 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a837ae577f82e4563a153fc8a47197f10c41eda17f878e64e17aee50293e1c7b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.16999999433755875 + "value_kg": 0.16999999433755875, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a837ae577f82e4563a153fc8a47197f10c41eda17f878e64e17aee50293e1c7b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.16999999433755875, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 14, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a837ae577f82e4563a153fc8a47197f10c41eda17f878e64e17aee50293e1c7b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 14, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a837ae577f82e4563a153fc8a47197f10c41eda17f878e64e17aee50293e1c7b", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00291_Electric_Kettle/IsaacSim_assets_D00291/physics_D00291.json b/batch35/D00291_Electric_Kettle/IsaacSim_assets_D00291/physics_D00291.json index 86a6f9b4ab1d55c311f13d8202abdb45e6c1b257..d76abc99c8bfafdf9f92c6109838c1558e526148 100644 --- a/batch35/D00291_Electric_Kettle/IsaacSim_assets_D00291/physics_D00291.json +++ b/batch35/D00291_Electric_Kettle/IsaacSim_assets_D00291/physics_D00291.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "lid_hinge", + "path": "/World/Joints/lid_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "lid_hinge", + "source_prim_path": "/World/Joints/lid_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -110.0, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.054499998688697815, + 0.20340000092983246 + ], + "localPos1": [ + 0.0, + 0.054499998688697815, + 0.20340000092983246 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -337,52 +378,99 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "release_button_press", + "path": "/World/Joints/release_button_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "release_button_press", + "source_prim_path": "/World/Joints/release_button_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.004000000189989805, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.08799999952316284, + 0.19630199670791626 + ], + "localPos1": [ + 0.0, + 0.08799999952316284, + 0.19630199670791626 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 2, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07550869419355877, - 0.21849995851516724, - 0.07550058327615261 - ], "min": [ -0.07549129889230244, - -1.862645149230957e-08, - -0.12105324305593967 + -0.07550058327615261, + -1.862645149230957e-08 + ], + "max": [ + 0.07550869419355877, + 0.12105324305593967, + 0.21849995851516724 ], "size": [ 0.1509999930858612, - 0.21849997714161873, - 0.19655382633209229 - ] + 0.19655382633209229, + 0.21849997714161873 + ], + "units": "m" }, "description": "Electric Kettle", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 1.0279999738559127 + "total_mass": 1.0279999738559127, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00291", "parts": [ { "bounds": { - "center": [ - 8.69765062816441e-06, - 0.10489998385310173, - -0.022776329889893532 + "min": [ + -0.07549129889230244, + -0.07550058327615261, + -1.862645149230957e-08 ], "max": [ 0.07550869419355877, - 0.20979998633265495, - 0.07550058327615261 + 0.12105324305593967, + 0.20979998633265495 ], - "min": [ - -0.07549129889230244, - -1.862645149230957e-08, - -0.12105324305593967 - ] + "size": [ + 0.1509999930858612, + 0.19655382633209229, + 0.20980000495910645 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -392,25 +480,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 8.697878001839854e-06, - 0.20829995721578598, - -0.0010994223339366727 + "min": [ + -0.051891301502109854, + -0.05450057634880068, + 0.19809995591640472 ], "max": [ 0.051908697258113534, - 0.21849995851516724, - 0.05450057634880068 + 0.05669942101667402, + 0.21849995851516724 ], - "min": [ - -0.051891301502109854, - 0.19809995591640472, - -0.05669942101667402 - ] + "size": [ + 0.10379999876022339, + 0.1111999973654747, + 0.020400002598762512 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -420,25 +511,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 8.66763002704829e-06, - 0.19544780999422073, - -0.0879993885755539 + "min": [ + -0.008491332831908949, + 0.07949938625097275, + 0.18879781663417816 ], "max": [ 0.008508668091963045, - 0.2020978033542633, - -0.07949938625097275 + 0.09649939090013504, + 0.2020978033542633 ], - "min": [ - -0.008491332831908949, - 0.18879781663417816, - -0.09649939090013504 - ] + "size": [ + 0.017000000923871994, + 0.017000004649162292, + 0.013299986720085144 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -448,10 +542,27 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "83d141dd0b196ea1d026c8cd02f825bc71b461cac1e6ea01c33d011b0842039b" + }, + "usd_path": "batch35/D00291_Electric_Kettle/IsaacSim_assets_D00291/IsaacSim_asset_D00291.usd", + "usd_sha256": "1a4d154c68296eff7789506bfdfa10773b6fa2162200d9ec04cc5442d7cbaac3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -468,24 +579,59 @@ "up_axis": "Z", "bounds_m": [ 0.1509999930858612, - 0.21849997714161873, - 0.19655382633209229 - ] + 0.19655382633209229, + 0.21849997714161873 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1a4d154c68296eff7789506bfdfa10773b6fa2162200d9ec04cc5442d7cbaac3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0279999738559127 + "value_kg": 1.0279999738559127, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1a4d154c68296eff7789506bfdfa10773b6fa2162200d9ec04cc5442d7cbaac3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0279999738559127, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 30, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1a4d154c68296eff7789506bfdfa10773b6fa2162200d9ec04cc5442d7cbaac3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 30, + "approximations": [ + "convexHull", + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1a4d154c68296eff7789506bfdfa10773b6fa2162200d9ec04cc5442d7cbaac3", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00299_Espresso_Maker/IsaacSim_assets_D00299/physics_D00299.json b/batch35/D00299_Espresso_Maker/IsaacSim_assets_D00299/physics_D00299.json index 419ba733148e705542eaa807e9500cab65a73318..4b6acd26a3c3dd76bd596266ae7f4eb4c445e1eb 100644 --- a/batch35/D00299_Espresso_Maker/IsaacSim_assets_D00299/physics_D00299.json +++ b/batch35/D00299_Espresso_Maker/IsaacSim_assets_D00299/physics_D00299.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "brew_dial_spindle", + "path": "/World/Joints/brew_dial_spindle", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "brew_dial_spindle", + "source_prim_path": "/World/Joints/brew_dial_spindle", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -360.0, + "upperLimit": 360.0, + "localPos0": [ + 0.0, + -0.14499999582767487, + 0.30250000953674316 + ], + "localPos1": [ + 0.0, + -0.14499999582767487, + 0.30250000953674316 + ], + "localRot0": [ + 0.7071067690849304, + 0.7071067690849304, + 0.0, + 0.0 + ], + "localRot1": [ + 0.7071067690849304, + 0.7071067690849304, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "portafilter_twist_lock", + "path": "/World/Joints/portafilter_twist_lock", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "portafilter_twist_lock", + "source_prim_path": "/World/Joints/portafilter_twist_lock", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 60.0, + "localPos0": [ + 0.0, + -0.0949999988079071, + 0.17299999296665192 + ], + "localPos1": [ + 0.0, + -0.0949999988079071, + 0.17299999296665192 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -504,6 +586,47 @@ "/World/part_05" ], "proxyPrim": [] + }, + "id": "steam_wand_swivel", + "path": "/World/Joints/steam_wand_swivel", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "steam_wand_swivel", + "source_prim_path": "/World/Joints/steam_wand_swivel", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_05" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -60.0, + "upperLimit": 60.0, + "localPos0": [ + 0.10000000149011612, + -0.08500000089406967, + 0.25 + ], + "localPos1": [ + 0.10000000149011612, + -0.08500000089406967, + 0.25 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -645,6 +768,44 @@ "/World/part_00" ], "proxyPrim": [] + }, + "id": "FixedJoint_00_03", + "path": "/World/Joints/FixedJoint_00_03", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "FixedJoint_00_03", + "source_prim_path": "/World/Joints/FixedJoint_00_03", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/part_03" + ], + "body1": [ + "/World/part_00" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -786,52 +947,96 @@ "/World/part_04" ], "proxyPrim": [] + }, + "id": "FixedJoint_00_04", + "path": "/World/Joints/FixedJoint_00_04", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "FixedJoint_00_04", + "source_prim_path": "/World/Joints/FixedJoint_00_04", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_04" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 3, + "rigid_body_count": 6, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1828775703907013, - 0.38100001215934753, - 0.22939598560333252 - ], "min": [ -0.10000000149011612, - 0.0, - -0.14249999821186066 + -0.22939598560333252, + 0.0 + ], + "max": [ + 0.1828775703907013, + 0.14249999821186066, + 0.38100001215934753 ], "size": [ 0.2828775718808174, - 0.38100001215934753, - 0.3718959838151932 - ] + 0.3718959838151932, + 0.38100001215934753 + ], + "units": "m" }, "description": "Espresso Maker", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 4.900000009685755 + "total_mass": 4.900000009685755, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00299", "parts": [ { "bounds": { - "center": [ - 0.007500000298023224, - 0.19050000607967377, - 0.0026500001549720764 + "min": [ + -0.10000000149011612, + -0.1453000009059906, + 0.0 ], "max": [ 0.11500000208616257, - 0.38100001215934753, - 0.1453000009059906 + 0.14000000059604645, + 0.38100001215934753 ], - "min": [ - -0.10000000149011612, - 0.0, - -0.14000000059604645 - ] + "size": [ + 0.2150000035762787, + 0.28530000150203705, + 0.38100001215934753 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -841,25 +1046,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.304603710770607, - 0.1432499699294567 + "min": [ + -0.022499999031424522, + -0.16199997067451477, + 0.2800000011920929 ], "max": [ 0.022499999031424522, - 0.3292074203491211, - 0.16199997067451477 + -0.12449996918439865, + 0.3292074203491211 ], - "min": [ - -0.022499999031424522, - 0.2800000011920929, - 0.12449996918439865 - ] + "size": [ + 0.044999998062849045, + 0.03750000149011612, + 0.0492074191570282 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -869,25 +1077,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.1445309929549694, - 0.14444798976182938 + "min": [ + -0.038766976445913315, + -0.22939598560333252, + 0.11157197505235672 ], "max": [ 0.038766976445913315, - 0.1774900108575821, - 0.22939598560333252 + -0.05949999392032623, + 0.1774900108575821 ], - "min": [ - -0.038766976445913315, - 0.11157197505235672, - 0.05949999392032623 - ] + "size": [ + 0.07753395289182663, + 0.1698959916830063, + 0.06591803580522537 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -897,25 +1108,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.19899999536573887, - -0.11474999785423279 + "min": [ + -0.07199999690055847, + 0.08699999749660492, + 0.05000000074505806 ], "max": [ 0.07199999690055847, - 0.3479999899864197, - -0.08699999749660492 + 0.14249999821186066, + 0.3479999899864197 ], - "min": [ - -0.07199999690055847, - 0.05000000074505806, - -0.14249999821186066 - ] + "size": [ + 0.14399999380111694, + 0.05550000071525574, + 0.2979999892413616 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -925,25 +1139,28 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 1.1175870895385742e-08, - 0.03700000140815973, - 0.09899999760091305 + "min": [ + -0.08149999380111694, + -0.14399999380111694, + 0.01399998925626278 ], "max": [ 0.08150001615285873, - 0.060000013560056686, - 0.14399999380111694 + -0.05400000140070915, + 0.060000013560056686 ], - "min": [ - -0.08149999380111694, - 0.01399998925626278, - 0.05400000140070915 - ] + "size": [ + 0.16300000995397568, + 0.08999999240040779, + 0.04600002430379391 + ], + "units": "m" }, "collision": {}, "id": "part_04", @@ -953,25 +1170,28 @@ "source": { "object_name": "World", "part_name": "part_04" - } + }, + "source_prim_path": "/World/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.13643878698349, - 0.16533679515123367, - 0.08500001579523087 + "min": [ + 0.09000000357627869, + -0.09480001777410507, + 0.07288233935832977 ], "max": [ 0.1828775703907013, - 0.2577912509441376, - 0.09480001777410507 + -0.07520001381635666, + 0.2577912509441376 ], - "min": [ - 0.09000000357627869, - 0.07288233935832977, - 0.07520001381635666 - ] + "size": [ + 0.09287756681442261, + 0.019600003957748413, + 0.1849089115858078 + ], + "units": "m" }, "collision": {}, "id": "part_05", @@ -981,10 +1201,27 @@ "source": { "object_name": "World", "part_name": "part_05" - } + }, + "source_prim_path": "/World/part_05", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "05289912fb2564097915f74f3153148683807cbccfee36883154a68487bd703b" + }, + "usd_path": "batch35/D00299_Espresso_Maker/IsaacSim_assets_D00299/IsaacSim_asset_D00299.usd", + "usd_sha256": "40330d478883acacacf3d1cd293287f1fe2b1386ccd9cb4d8ab5e669f1d2adf9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -1001,24 +1238,58 @@ "up_axis": "Z", "bounds_m": [ 0.2828775718808174, - 0.38100001215934753, - 0.3718959838151932 - ] + 0.3718959838151932, + 0.38100001215934753 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "40330d478883acacacf3d1cd293287f1fe2b1386ccd9cb4d8ab5e669f1d2adf9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.900000009685755 + "value_kg": 4.900000009685755, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "40330d478883acacacf3d1cd293287f1fe2b1386ccd9cb4d8ab5e669f1d2adf9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.900000009685755, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 6 + "status": "verified", + "confidence": "high", + "shape_count": 180, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "40330d478883acacacf3d1cd293287f1fe2b1386ccd9cb4d8ab5e669f1d2adf9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 180, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 5 + "moving_joints": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "40330d478883acacacf3d1cd293287f1fe2b1386ccd9cb4d8ab5e669f1d2adf9", + "scope": "authored_usd_joint_schema", + "joint_count": 5, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00300_Faucet/IsaacSim_assets_D00300/physics_D00300.json b/batch35/D00300_Faucet/IsaacSim_assets_D00300/physics_D00300.json index 3a7c4c1b57c253289a3b7f62c50f40ba968bf641..2937f980ef76fa738f030f4e0e3368e3727af7ab 100644 --- a/batch35/D00300_Faucet/IsaacSim_assets_D00300/physics_D00300.json +++ b/batch35/D00300_Faucet/IsaacSim_assets_D00300/physics_D00300.json @@ -168,6 +168,47 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "spout_pivot", + "path": "/World/Joints/spout_pivot", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "spout_pivot", + "source_prim_path": "/World/Joints/spout_pivot", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -60.0, + "upperLimit": 60.0, + "localPos0": [ + 0.0, + 0.0, + 0.19599999487400055 + ], + "localPos1": [ + 0.0, + 0.0, + 0.19599999487400055 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -337,6 +378,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "handle_pivot", + "path": "/World/Joints/handle_pivot", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "handle_pivot", + "source_prim_path": "/World/Joints/handle_pivot", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_01" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 50.0, + "localPos0": [ + 0.04500000178813934, + 0.0, + 0.0949999988079071 + ], + "localPos1": [ + 0.04500000178813934, + 0.0, + 0.0949999988079071 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -507,52 +589,99 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "handle_side_pivot", + "path": "/World/Joints/handle_side_pivot", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "handle_side_pivot", + "source_prim_path": "/World/Joints/handle_side_pivot", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -45.0, + "upperLimit": 45.0, + "localPos0": [ + 0.04500000178813934, + 0.0, + 0.0949999988079071 + ], + "localPos1": [ + 0.04500000178813934, + 0.0, + 0.0949999988079071 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 3, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10999999940395355, - 0.42890000343322754, - 0.15704840421676636 - ], "min": [ -0.10999999940395355, - 0.0, - -0.03200000151991844 + -0.15704840421676636, + 0.0 + ], + "max": [ + 0.10999999940395355, + 0.03200000151991844, + 0.42890000343322754 ], "size": [ 0.2199999988079071, - 0.42890000343322754, - 0.1890484057366848 - ] + 0.1890484057366848, + 0.42890000343322754 + ], + "units": "m" }, "description": "Faucet", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 2.69000000692904 + "total_mass": 2.69000000692904, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00300", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.09749999642372131, + "min": [ + -0.10999999940395355, + -0.03200000151991844, 0.0 ], "max": [ 0.10999999940395355, - 0.19499999284744263, - 0.03200000151991844 + 0.03200000151991844, + 0.19499999284744263 ], - "min": [ - -0.10999999940395355, - 0.0, - -0.03200000151991844 - ] + "size": [ + 0.2199999988079071, + 0.06400000303983688, + 0.19499999284744263 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -562,7 +691,9 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "collision": {}, @@ -573,25 +704,27 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01" }, { "bounds": { - "center": [ - 0.06126673799008131, - 0.1476326659321785, - 0.0 + "min": [ + 0.030999979004263878, + -0.015799999237060547, + 0.07919999957084656 ], "max": [ 0.09153349697589874, - 0.21606533229351044, - 0.015799999237060547 + 0.015799999237060547, + 0.21606533229351044 ], - "min": [ - 0.030999979004263878, - 0.07919999957084656, - -0.015799999237060547 - ] + "size": [ + 0.060533517971634865, + 0.031599998474121094, + 0.13686533272266388 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -601,25 +734,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.31244999915361404, - 0.06952420249581337 + "min": [ + -0.024048391729593277, + -0.15704840421676636, + 0.19599999487400055 ], "max": [ 0.024048391729593277, - 0.42890000343322754, - 0.15704840421676636 + 0.017999999225139618, + 0.42890000343322754 ], - "min": [ - -0.024048391729593277, - 0.19599999487400055, - -0.017999999225139618 - ] + "size": [ + 0.048096783459186554, + 0.17504840344190598, + 0.232900008559227 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -629,10 +765,27 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f8367b7855707517b051cc91695b480662c487e48aa65115ea0f61a845c402c7" + }, + "usd_path": "batch35/D00300_Faucet/IsaacSim_assets_D00300/IsaacSim_asset_D00300.usd", + "usd_sha256": "c862761e87bc17639ce5c54962744c60e64c13546647c19dc0b84f60cb3e1f88", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -649,24 +802,58 @@ "up_axis": "Z", "bounds_m": [ 0.2199999988079071, - 0.42890000343322754, - 0.1890484057366848 - ] + 0.1890484057366848, + 0.42890000343322754 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c862761e87bc17639ce5c54962744c60e64c13546647c19dc0b84f60cb3e1f88", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.69000000692904 + "value_kg": 2.69000000692904, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c862761e87bc17639ce5c54962744c60e64c13546647c19dc0b84f60cb3e1f88", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.69000000692904, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c862761e87bc17639ce5c54962744c60e64c13546647c19dc0b84f60cb3e1f88", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c862761e87bc17639ce5c54962744c60e64c13546647c19dc0b84f60cb3e1f88", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00312_Food_Processor/IsaacSim_assets_D00312/physics_D00312.json b/batch35/D00312_Food_Processor/IsaacSim_assets_D00312/physics_D00312.json index 784299fe74a8429857078a3561cdefe19fa6ac2f..1e5dbdb784f878e8c9019bef1d8ede55e8704c55 100644 --- a/batch35/D00312_Food_Processor/IsaacSim_assets_D00312/physics_D00312.json +++ b/batch35/D00312_Food_Processor/IsaacSim_assets_D00312/physics_D00312.json @@ -168,6 +168,47 @@ "/World/part_04" ], "proxyPrim": [] + }, + "id": "bowl_lock_twist", + "path": "/World/Joints/bowl_lock_twist", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "bowl_lock_twist", + "source_prim_path": "/World/Joints/bowl_lock_twist", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_04" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -15.0, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.0, + 0.1428000032901764 + ], + "localPos1": [ + 0.0, + 0.0, + 0.1428000032901764 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "blade_spin", + "path": "/World/Joints/blade_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "blade_spin", + "source_prim_path": "/World/Joints/blade_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_04" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -360.0, + "upperLimit": 360.0, + "localPos0": [ + 0.0, + 0.0, + 0.16580000519752502 + ], + "localPos1": [ + 0.0, + 0.0, + 0.16580000519752502 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -504,52 +586,99 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "speed_dial_turn", + "path": "/World/Joints/speed_dial_turn", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "speed_dial_turn", + "source_prim_path": "/World/Joints/speed_dial_turn", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -360.0, + "upperLimit": 360.0, + "localPos0": [ + 0.0, + -0.09000000357627869, + 0.07479999959468842 + ], + "localPos1": [ + 0.0, + -0.09000000357627869, + 0.07479999959468842 + ], + "localRot0": [ + 0.7071067690849304, + 0.7071067690849304, + 0.0, + 0.0 + ], + "localRot1": [ + 0.7071067690849304, + 0.7071067690849304, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 3, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12553490977734327, - 0.3237321972846985, - 0.11980011820826578 - ], "min": [ -0.10000004811445251, - 2.9802322387695312e-08, - -0.09999988332856447 + -0.11980011820826578, + 2.9802322387695312e-08 + ], + "max": [ + 0.12553490977734327, + 0.09999988332856447, + 0.3237321972846985 ], "size": [ 0.22553495789179578, - 0.3237321674823761, - 0.21980000153683024 - ] + 0.21980000153683024, + 0.3237321674823761 + ], + "units": "m" }, "description": "Food Processor", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 3.5599999018013477 + "total_mass": 3.5599999018013477, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00312", "parts": [ { "bounds": { - "center": [ - -4.662433639168739e-08, - 0.0829000324010849, - 1.1816155165433884e-07 + "min": [ + -0.10000004811445251, + -0.10000011965166777, + 2.9802322387695312e-08 ], "max": [ 0.09999995486577973, - 0.1658000349998474, - 0.10000011965166777 + 0.09999988332856447, + 0.1658000349998474 ], - "min": [ - -0.10000004811445251, - 2.9802322387695312e-08, - -0.09999988332856447 - ] + "size": [ + 0.20000000298023224, + 0.20000000298023224, + 0.16580000519752502 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -559,25 +688,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -5.343463271856308e-08, - 0.18779996037483215, - 1.2171221897006035e-07 + "min": [ + -0.030070636770687997, + -0.05722564709139988, + 0.14879995584487915 ], "max": [ 0.03007052990142256, - 0.22679996490478516, - 0.05722564709139988 + 0.05722540366696194, + 0.22679996490478516 ], - "min": [ - -0.030070636770687997, - 0.14879995584487915, - -0.05722540366696194 - ] + "size": [ + 0.06014116667211056, + 0.11445105075836182, + 0.078000009059906 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -587,25 +719,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.001995240105316043, - 0.3093396872282028, - -4.1633265936980024e-05 + "min": [ + -0.09683424676768482, + -0.09287829754975974, + 0.29494717717170715 ], "max": [ 0.09284376655705273, - 0.3237321972846985, - 0.09287829754975974 + 0.0929615640816337, + 0.3237321972846985 ], - "min": [ - -0.09683424676768482, - 0.29494717717170715, - -0.0929615640816337 - ] + "size": [ + 0.18967801332473755, + 0.18583986163139343, + 0.028785020112991333 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -615,25 +750,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -1.7794688921130009e-06, - 0.07479999964086159, - 0.10190011567715472 + "min": [ + -0.02880168986487952, + -0.11980011820826578, + 0.046000084353515804 ], "max": [ 0.028798130927095295, - 0.10359991492820737, - 0.11980011820826578 + -0.08400011314604366, + 0.10359991492820737 ], - "min": [ - -0.02880168986487952, - 0.046000084353515804, - 0.08400011314604366 - ] + "size": [ + 0.057599820791974815, + 0.03580000506222211, + 0.05759983057469157 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -643,25 +781,28 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.018267462961375713, - 0.2205500304698944, - 9.228810426975542e-08 + "min": [ + -0.08899998385459185, + -0.08900003795847056, + 0.1333000361919403 ], "max": [ 0.12553490977734327, - 0.3078000247478485, - 0.08900003795847056 + 0.08899985338226202, + 0.3078000247478485 ], - "min": [ - -0.08899998385459185, - 0.1333000361919403, - -0.08899985338226202 - ] + "size": [ + 0.21453489363193512, + 0.17799989134073257, + 0.1744999885559082 + ], + "units": "m" }, "collision": {}, "id": "part_04", @@ -671,10 +812,27 @@ "source": { "object_name": "World", "part_name": "part_04" - } + }, + "source_prim_path": "/World/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6701dcabcfd00f3075680ef6f086a45d4f3ca3f9be49cd0e5f3a8786ef2fd10f" + }, + "usd_path": "batch35/D00312_Food_Processor/IsaacSim_assets_D00312/IsaacSim_asset_D00312.usd", + "usd_sha256": "88ddbbf7d813e5eb0811543d5ccdaaee85e6f248ddcd091165dc8b30dfd38da5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -691,24 +849,59 @@ "up_axis": "Z", "bounds_m": [ 0.22553495789179578, - 0.3237321674823761, - 0.21980000153683024 - ] + 0.21980000153683024, + 0.3237321674823761 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "88ddbbf7d813e5eb0811543d5ccdaaee85e6f248ddcd091165dc8b30dfd38da5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.5599999018013477 + "value_kg": 3.5599999018013477, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "88ddbbf7d813e5eb0811543d5ccdaaee85e6f248ddcd091165dc8b30dfd38da5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.5599999018013477, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 204, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "88ddbbf7d813e5eb0811543d5ccdaaee85e6f248ddcd091165dc8b30dfd38da5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 204, + "approximations": [ + "convexHull", + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "88ddbbf7d813e5eb0811543d5ccdaaee85e6f248ddcd091165dc8b30dfd38da5", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00319_French_Press/IsaacSim_assets_D00319/physics_D00319.json b/batch35/D00319_French_Press/IsaacSim_assets_D00319/physics_D00319.json index 83e032c26d2d0ae20579f348b1e6d82e521adedd..4d98f53f15ba1187418b8eb415eb46b947659d28 100644 --- a/batch35/D00319_French_Press/IsaacSim_assets_D00319/physics_D00319.json +++ b/batch35/D00319_French_Press/IsaacSim_assets_D00319/physics_D00319.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10887965559959412, - 0.24500399827957153, - 0.056293707340955734 - ], "min": [ -0.060789745301008224, - 0.0, - -0.056293707340955734 + -0.056293707340955734, + 0.0 + ], + "max": [ + 0.10887965559959412, + 0.056293707340955734, + 0.24500399827957153 ], "size": [ 0.16966940090060234, - 0.24500399827957153, - 0.11258741468191147 - ] + 0.11258741468191147, + 0.24500399827957153 + ], + "units": "m" }, "description": "French Press", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.9300000071525574 + "total_mass": 0.9300000071525574, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00319", "parts": [ { "bounds": { - "center": [ - 0.024044955149292946, - 0.09879929572343826, + "min": [ + -0.060789745301008224, + -0.056293707340955734, 0.0 ], "max": [ 0.10887965559959412, - 0.19759859144687653, - 0.056293707340955734 + 0.056293707340955734, + 0.19759859144687653 ], - "min": [ - -0.060789745301008224, - 0.0, - -0.056293707340955734 - ] + "size": [ + 0.16966940090060234, + 0.11258741468191147, + 0.19759859144687653 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -54,25 +60,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.13750199880450964, - 1.1175870895385742e-08 + "min": [ + -0.05298403650522232, + -0.052984047681093216, + 0.029999999329447746 ], "max": [ 0.05298403650522232, - 0.24500399827957153, - 0.052984047681093216 + 0.052984025329351425, + 0.24500399827957153 ], - "min": [ - -0.05298403650522232, - 0.029999999329447746, - -0.052984025329351425 - ] + "size": [ + 0.10596807301044464, + 0.10596807301044464, + 0.2150039989501238 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -82,10 +91,27 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "62400825f05a61cc1c680a6f529522103aefcd0633f293a3476d041bbdd67a94" + }, + "usd_path": "batch35/D00319_French_Press/IsaacSim_assets_D00319/IsaacSim_asset_D00319.usd", + "usd_sha256": "71cdfa0b2352bf0d6b2118cec4c45ed985ec7429f6e3a12c042a2c94cd21cd54", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -102,24 +128,60 @@ "up_axis": "Z", "bounds_m": [ 0.16966940090060234, - 0.24500399827957153, - 0.11258741468191147 - ] + 0.11258741468191147, + 0.24500399827957153 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71cdfa0b2352bf0d6b2118cec4c45ed985ec7429f6e3a12c042a2c94cd21cd54", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.9300000071525574 + "value_kg": 0.9300000071525574, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71cdfa0b2352bf0d6b2118cec4c45ed985ec7429f6e3a12c042a2c94cd21cd54", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.9300000071525574, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71cdfa0b2352bf0d6b2118cec4c45ed985ec7429f6e3a12c042a2c94cd21cd54", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexDecomposition", + "convexHull", + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71cdfa0b2352bf0d6b2118cec4c45ed985ec7429f6e3a12c042a2c94cd21cd54", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00320_Electric_Skillet/D00320_Electric_Skillet/IsaacSim_assets_D00320/physics_D00320.json b/batch35/D00320_Electric_Skillet/D00320_Electric_Skillet/IsaacSim_assets_D00320/physics_D00320.json index 07a2b31fbf3be2a6db0c3e07bbc0c967e205e78e..96e491cce365dd4c8b87fde14ca474fb82fb9918 100644 --- a/batch35/D00320_Electric_Skillet/D00320_Electric_Skillet/IsaacSim_assets_D00320/physics_D00320.json +++ b/batch35/D00320_Electric_Skillet/D00320_Electric_Skillet/IsaacSim_assets_D00320/physics_D00320.json @@ -168,6 +168,47 @@ "/World/part_04" ], "proxyPrim": [] + }, + "id": "probe_slide", + "path": "/World/Joints/probe_slide", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "probe_slide", + "source_prim_path": "/World/Joints/probe_slide", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_04" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 0.009999999776482582, + "localPos0": [ + 0.0, + 0.0, + 0.029999999329447746 + ], + "localPos1": [ + 0.0, + 0.0, + 0.029999999329447746 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "dial_rotate", + "path": "/World/Joints/dial_rotate", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "dial_rotate", + "source_prim_path": "/World/Joints/dial_rotate", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_04" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -270.0, + "upperLimit": 0.0, + "localPos0": [ + 0.2280000001192093, + 0.0, + 0.041999999433755875 + ], + "localPos1": [ + 0.2280000001192093, + 0.0, + 0.041999999433755875 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -504,52 +586,99 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "power_switch_toggle", + "path": "/World/Joints/power_switch_toggle", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "power_switch_toggle", + "source_prim_path": "/World/Joints/power_switch_toggle", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_04" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -15.0, + "upperLimit": 15.0, + "localPos0": [ + 0.24500000476837158, + -0.02449999935925007, + 0.027499999850988388 + ], + "localPos1": [ + 0.24500000476837158, + -0.02449999935925007, + 0.027499999850988388 + ], + "localRot0": [ + 0.9914448857307434, + -0.13052617013454437, + 0.0, + 0.0 + ], + "localRot1": [ + 0.9914448857307434, + -0.13052617013454437, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 3, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2619999945163727, - 0.125, - 0.14100000262260437 - ], "min": [ -0.20000000298023224, - 0.0, - -0.14100000262260437 + -0.14100000262260437, + 0.0 + ], + "max": [ + 0.2619999945163727, + 0.14100000262260437, + 0.125 ], "size": [ 0.4619999974966049, - 0.125, - 0.28200000524520874 - ] + 0.28200000524520874, + 0.125 + ], + "units": "m" }, "description": "Electric Skillet", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 2.190000018104911 + "total_mass": 2.190000018104911, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00320", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.03680000081658363, + "min": [ + -0.20000000298023224, + -0.14100000262260437, 0.0 ], "max": [ 0.20000000298023224, - 0.07360000163316727, - 0.14100000262260437 + 0.14100000262260437, + 0.07360000163316727 ], - "min": [ - -0.20000000298023224, - 0.0, - -0.14100000262260437 - ] + "size": [ + 0.4000000059604645, + 0.28200000524520874, + 0.07360000163316727 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -559,25 +688,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.09940000250935555, - 0.0 + "min": [ + -0.16899999976158142, + -0.13899999856948853, + 0.07380000501871109 ], "max": [ 0.16899999976158142, - 0.125, - 0.13899999856948853 + 0.13899999856948853, + 0.125 ], - "min": [ - -0.16899999976158142, - 0.07380000501871109, - -0.13899999856948853 - ] + "size": [ + 0.33799999952316284, + 0.27799999713897705, + 0.05119999498128891 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -587,25 +719,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.2449999898672104, - 0.027499999850988388, - 0.02449999563395977 + "min": [ + 0.242249995470047, + -0.02798059955239296, + 0.02119096741080284 ], "max": [ 0.24774998426437378, - 0.033809032291173935, - 0.02798059955239296 + -0.02101939171552658, + 0.033809032291173935 ], - "min": [ - 0.242249995470047, - 0.02119096741080284, - 0.02101939171552658 - ] + "size": [ + 0.005499988794326782, + 0.006961207836866379, + 0.012618064880371094 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -615,25 +750,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.2280000001192093, - 0.04884999990463257, - 0.0 + "min": [ + 0.21170000731945038, + -0.01585790514945984, + 0.04399999976158142 ], "max": [ 0.2442999929189682, - 0.053700000047683716, - 0.01585790514945984 + 0.01585790514945984, + 0.053700000047683716 ], - "min": [ - 0.21170000731945038, - 0.04399999976158142, - -0.01585790514945984 - ] + "size": [ + 0.03259998559951782, + 0.03171581029891968, + 0.009700000286102295 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -643,25 +781,28 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.2097499966621399, - 0.028699999675154686, - 0.0014000004157423973 + "min": [ + 0.1574999988079071, + -0.02630000002682209, + 0.013000000268220901 ], "max": [ 0.2619999945163727, - 0.04439999908208847, - 0.02630000002682209 + 0.023499999195337296, + 0.04439999908208847 ], - "min": [ - 0.1574999988079071, - 0.013000000268220901, - -0.023499999195337296 - ] + "size": [ + 0.10449999570846558, + 0.049799999222159386, + 0.03139999881386757 + ], + "units": "m" }, "collision": {}, "id": "part_04", @@ -671,10 +812,27 @@ "source": { "object_name": "World", "part_name": "part_04" - } + }, + "source_prim_path": "/World/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b14d7171e10af6a55c39b56e5f4ff0c7585085a84aa43c127591d8ecc88eb1e8" + }, + "usd_path": "batch35/D00320_Electric_Skillet/D00320_Electric_Skillet/IsaacSim_assets_D00320/IsaacSim_asset_D00320.usd", + "usd_sha256": "041635d199449cbcc852c18ea72b5f9c140244a45c197a751956570782e49dcf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -691,24 +849,58 @@ "up_axis": "Z", "bounds_m": [ 0.4619999974966049, - 0.125, - 0.28200000524520874 - ] + 0.28200000524520874, + 0.125 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "041635d199449cbcc852c18ea72b5f9c140244a45c197a751956570782e49dcf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.190000018104911 + "value_kg": 2.190000018104911, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "041635d199449cbcc852c18ea72b5f9c140244a45c197a751956570782e49dcf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.190000018104911, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 261, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "041635d199449cbcc852c18ea72b5f9c140244a45c197a751956570782e49dcf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 261, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "041635d199449cbcc852c18ea72b5f9c140244a45c197a751956570782e49dcf", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00373_Multi_Cooker/IsaacSim_assets_D00373/physics_D00373.json b/batch35/D00373_Multi_Cooker/IsaacSim_assets_D00373/physics_D00373.json index c663cf88b5ca981237eb85bd43e5bf9f7a7ec5f1..c8198c694efd99b1cc3630d91ac04a2cf88a742f 100644 --- a/batch35/D00373_Multi_Cooker/IsaacSim_assets_D00373/physics_D00373.json +++ b/batch35/D00373_Multi_Cooker/IsaacSim_assets_D00373/physics_D00373.json @@ -168,6 +168,47 @@ "/World/lid" ], "proxyPrim": [] + }, + "id": "lid_twist_lock", + "path": "/World/Joints/lid_twist_lock", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "lid_twist_lock", + "source_prim_path": "/World/Joints/lid_twist_lock", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/lid" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -100.0, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.15800000727176666, + 0.257999986410141 + ], + "localPos1": [ + 0.0, + 0.15800000727176666, + 0.257999986410141 + ], + "localRot0": [ + 0.7071067690849304, + 0.0, + 0.7071067690849304, + 0.0 + ], + "localRot1": [ + 0.7071067690849304, + 0.0, + 0.7071067690849304, + 0.0 + ], + "static_frames": [] } }, { @@ -336,52 +377,99 @@ "/World/steam_release_valve" ], "proxyPrim": [] + }, + "id": "steam_valve_toggle", + "path": "/World/Joints/steam_valve_toggle", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "steam_valve_toggle", + "source_prim_path": "/World/Joints/steam_valve_toggle", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/lid" + ], + "body1": [ + "/World/steam_release_valve" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 90.0, + "localPos0": [ + 4.199999966658652e-05, + -0.05797399953007698, + 0.31349998712539673 + ], + "localPos1": [ + 4.199999966658652e-05, + -0.05797399953007698, + 0.31349998712539673 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 2, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17000000178813934, - 0.3474999964237213, - 0.16082888841629028 - ], "min": [ -0.17000000178813934, - 0.0, - -0.17599999904632568 + -0.16082888841629028, + 0.0 + ], + "max": [ + 0.17000000178813934, + 0.17599999904632568, + 0.3474999964237213 ], "size": [ 0.3400000035762787, - 0.3474999964237213, - 0.33682888746261597 - ] + 0.33682888746261597, + 0.3474999964237213 + ], + "units": "m" }, "description": "Multi Cooker", "name": "body", "object_type": "rigid_bodies", - "total_mass": 4.229999987408519 + "total_mass": 4.229999987408519, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00373", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.13899999856948853, - -0.01624995470046997 + "min": [ + -0.17000000178813934, + -0.14350008964538574, + 0.0 ], "max": [ 0.17000000178813934, - 0.27799999713897705, - 0.14350008964538574 + 0.17599999904632568, + 0.27799999713897705 ], - "min": [ - -0.17000000178813934, - 0.0, - -0.17599999904632568 - ] + "size": [ + 0.3400000035762787, + 0.3195000886917114, + 0.27799999713897705 + ], + "units": "m" }, "collision": {}, "id": "body", @@ -391,25 +479,28 @@ "source": { "object_name": "World", "part_name": "body" - } + }, + "source_prim_path": "/World/body", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.2957249879837036, - -0.0028355568647384644 + "min": [ + -0.14779998362064362, + -0.16082888841629028, + 0.24949997663497925 ], "max": [ 0.14779998362064362, - 0.341949999332428, - 0.16082888841629028 + 0.1665000021457672, + 0.341949999332428 ], - "min": [ - -0.14779998362064362, - 0.24949997663497925, - -0.1665000021457672 - ] + "size": [ + 0.29559996724128723, + 0.3273288905620575, + 0.09245002269744873 + ], + "units": "m" }, "collision": {}, "id": "lid", @@ -419,25 +510,28 @@ "source": { "object_name": "World", "part_name": "lid" - } + }, + "source_prim_path": "/World/lid", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 4.212185740470886e-05, - 0.3254999965429306, - 0.06582366023212671 + "min": [ + -0.026757877320051193, + -0.10047365725040436, + 0.3034999966621399 ], "max": [ 0.02684212103486061, - 0.3474999964237213, - 0.10047365725040436 + -0.031173663213849068, + 0.3474999964237213 ], - "min": [ - -0.026757877320051193, - 0.3034999966621399, - 0.031173663213849068 - ] + "size": [ + 0.053599998354911804, + 0.06929999403655529, + 0.04399999976158142 + ], + "units": "m" }, "collision": {}, "id": "steam_release_valve", @@ -447,25 +541,28 @@ "source": { "object_name": "World", "part_name": "steam_release_valve" - } + }, + "source_prim_path": "/World/steam_release_valve", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 2.60770320892334e-08, - 0.19100000709295273, - -2.9802322387695312e-08 + "min": [ + -0.11499994993209839, + -0.114999920129776, + 0.1120000034570694 ], "max": [ 0.11500000208616257, - 0.27000001072883606, - 0.114999920129776 + 0.11499997973442078, + 0.27000001072883606 ], - "min": [ - -0.11499994993209839, - 0.1120000034570694, - -0.11499997973442078 - ] + "size": [ + 0.22999995201826096, + 0.22999989986419678, + 0.15800000727176666 + ], + "units": "m" }, "collision": {}, "id": "inner_pot", @@ -475,10 +572,27 @@ "source": { "object_name": "World", "part_name": "inner_pot" - } + }, + "source_prim_path": "/World/inner_pot", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "03d1e694491f98ffc48d5598a5afd9c21adc7ca0a5e426170b33c2d524b980e8" + }, + "usd_path": "batch35/D00373_Multi_Cooker/IsaacSim_assets_D00373/IsaacSim_asset_D00373.usd", + "usd_sha256": "1afda53e63e1b317c5d0f3309858b592bf943c6d7385cab664167e6ac74a9d9a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -495,24 +609,58 @@ "up_axis": "Z", "bounds_m": [ 0.3400000035762787, - 0.3474999964237213, - 0.33682888746261597 - ] + 0.33682888746261597, + 0.3474999964237213 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1afda53e63e1b317c5d0f3309858b592bf943c6d7385cab664167e6ac74a9d9a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.229999987408519 + "value_kg": 4.229999987408519, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1afda53e63e1b317c5d0f3309858b592bf943c6d7385cab664167e6ac74a9d9a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.229999987408519, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 472, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1afda53e63e1b317c5d0f3309858b592bf943c6d7385cab664167e6ac74a9d9a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 472, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1afda53e63e1b317c5d0f3309858b592bf943c6d7385cab664167e6ac74a9d9a", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch35/D00423_Juicer/D00423_Juicer/IsaacSim_assets_D00423/physics_D00423.json b/batch35/D00423_Juicer/D00423_Juicer/IsaacSim_assets_D00423/physics_D00423.json index 7e83f7ed5a75522bc2c71aa9d2d86566ea61fce2..572f98f3a92768fd76c6ea6f8d7193715f98cd8c 100644 --- a/batch35/D00423_Juicer/D00423_Juicer/IsaacSim_assets_D00423/physics_D00423.json +++ b/batch35/D00423_Juicer/D00423_Juicer/IsaacSim_assets_D00423/physics_D00423.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "auger_spin", + "path": "/World/Joints/auger_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "auger_spin", + "source_prim_path": "/World/Joints/auger_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": "-Infinity", + "upperLimit": "Infinity", + "localPos0": [ + 0.03999999910593033, + 0.0, + 0.23499999940395355 + ], + "localPos1": [ + 0.03999999910593033, + 0.0, + 0.23499999940395355 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "button_press", + "path": "/World/Joints/button_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "button_press", + "source_prim_path": "/World/Joints/button_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.00800000037997961, + "upperLimit": 0.0, + "localPos0": [ + -0.10000000149011612, + -0.017999999225139618, + 0.30399999022483826 + ], + "localPos1": [ + -0.10000000149011612, + -0.017999999225139618, + 0.30399999022483826 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -504,52 +586,99 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "pusher_slide", + "path": "/World/Joints/pusher_slide", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "pusher_slide", + "source_prim_path": "/World/Joints/pusher_slide", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.03200000151991844, + "upperLimit": 0.0, + "localPos0": [ + -0.014999999664723873, + 0.0, + 0.36000001430511475 + ], + "localPos1": [ + -0.014999999664723873, + 0.0, + 0.36000001430511475 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 3, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.20499999821186066, - 0.47200000286102295, - 0.07999999821186066 - ], "min": [ -0.17499999701976776, - 0.0, - -0.07999999821186066 + -0.07999999821186066, + 0.0 + ], + "max": [ + 0.20499999821186066, + 0.07999999821186066, + 0.47200000286102295 ], "size": [ 0.3799999952316284, - 0.47200000286102295, - 0.1599999964237213 - ] + 0.1599999964237213, + 0.47200000286102295 + ], + "units": "m" }, "description": "Juicer", "name": "Masticating Juicer", "object_type": "rigid_bodies", - "total_mass": 3.047999962233007 + "total_mass": 3.047999962233007, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00423", "parts": [ { "bounds": { - "center": [ - 0.015000000596046448, - 0.18400000035762787, + "min": [ + -0.17499999701976776, + -0.07999999821186066, 0.0 ], "max": [ 0.20499999821186066, - 0.36800000071525574, - 0.07999999821186066 + 0.07999999821186066, + 0.36800000071525574 ], - "min": [ - -0.17499999701976776, - 0.0, - -0.07999999821186066 - ] + "size": [ + 0.3799999952316284, + 0.1599999964237213, + 0.36800000071525574 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -559,25 +688,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.03500000201165676, - 0.23500000685453415, - 0.0 + "min": [ + -0.04400000348687172, + -0.035999998450279236, + 0.1989516168832779 ], "max": [ 0.11400000751018524, - 0.2710483968257904, - 0.035999998450279236 + 0.035999998450279236, + 0.2710483968257904 ], - "min": [ - -0.04400000348687172, - 0.1989516168832779, - -0.035999998450279236 - ] + "size": [ + 0.15800001099705696, + 0.07199999690055847, + 0.07209677994251251 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -587,25 +719,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.10000000149011612, - 0.3099999874830246, - 0.017999999225139618 + "min": [ + -0.11100000143051147, + -0.028999999165534973, + 0.30399999022483826 ], "max": [ -0.08900000154972076, - 0.31599998474121094, - 0.028999999165534973 + -0.006999999284744263, + 0.31599998474121094 ], - "min": [ - -0.11100000143051147, - 0.30399999022483826, - 0.006999999284744263 - ] + "size": [ + 0.02199999988079071, + 0.02199999988079071, + 0.01199999451637268 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -615,25 +750,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.014999999199062586, - 0.39500001072883606, - 0.0 + "min": [ + -0.03999999910593033, + -0.02500000037252903, + 0.31800001859664917 ], "max": [ 0.010000000707805157, - 0.47200000286102295, - 0.02500000037252903 + 0.02500000037252903, + 0.47200000286102295 ], - "min": [ - -0.03999999910593033, - 0.31800001859664917, - -0.02500000037252903 - ] + "size": [ + 0.049999999813735485, + 0.05000000074505806, + 0.15399998426437378 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -643,10 +781,27 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c4bfa19797e961166e85d45a9d08b1f8e74ffc4dc04d8bc637d2ec7e56e1758f" + }, + "usd_path": "batch35/D00423_Juicer/D00423_Juicer/IsaacSim_assets_D00423/IsaacSim_asset_D00423.usd", + "usd_sha256": "5617a784b86cadaf64b690036899d4bbcbd6a2e20fac40db6f3366bdd5ab0b0e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -663,24 +818,58 @@ "up_axis": "Z", "bounds_m": [ 0.3799999952316284, - 0.47200000286102295, - 0.1599999964237213 - ] + 0.1599999964237213, + 0.47200000286102295 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5617a784b86cadaf64b690036899d4bbcbd6a2e20fac40db6f3366bdd5ab0b0e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.047999962233007 + "value_kg": 3.047999962233007, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5617a784b86cadaf64b690036899d4bbcbd6a2e20fac40db6f3366bdd5ab0b0e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.047999962233007, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 91, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5617a784b86cadaf64b690036899d4bbcbd6a2e20fac40db6f3366bdd5ab0b0e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 91, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5617a784b86cadaf64b690036899d4bbcbd6a2e20fac40db6f3366bdd5ab0b0e", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00532_Mixer/D00532_Mixer/IsaacSim_assets_D00532/physics_D00532.json b/batch36/D00532_Mixer/D00532_Mixer/IsaacSim_assets_D00532/physics_D00532.json index a5f12a47d366e8d5db17ba75b012a36cb1890cbb..c05dfc19899d91d8fa7b680e7025b75f3389c87a 100644 --- a/batch36/D00532_Mixer/D00532_Mixer/IsaacSim_assets_D00532/physics_D00532.json +++ b/batch36/D00532_Mixer/D00532_Mixer/IsaacSim_assets_D00532/physics_D00532.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "head_tilt", + "path": "/World/Joints/head_tilt", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "head_tilt", + "source_prim_path": "/World/Joints/head_tilt", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 60.0, + "localPos0": [ + 0.0, + -0.10499999672174454, + 0.22499999403953552 + ], + "localPos1": [ + 0.0, + -0.10499999672174454, + 0.22499999403953552 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "beater_spin", + "path": "/World/Joints/beater_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "beater_spin", + "source_prim_path": "/World/Joints/beater_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_01" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": "-Infinity", + "upperLimit": "Infinity", + "localPos0": [ + -0.0, + 0.11999999731779099, + 0.20149999856948853 + ], + "localPos1": [ + -0.0, + 0.11999999731779099, + 0.20149999856948853 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -505,6 +587,47 @@ "/World/part_04" ], "proxyPrim": [] + }, + "id": "speed_lever_slide", + "path": "/World/Joints/speed_lever_slide", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "speed_lever_slide", + "source_prim_path": "/World/Joints/speed_lever_slide", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_04" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.03500000014901161, + "upperLimit": 0.0, + "localPos0": [ + 0.05400000140070915, + -0.07249999791383743, + 0.1679999977350235 + ], + "localPos1": [ + 0.05400000140070915, + -0.07249999791383743, + 0.1679999977350235 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -673,52 +796,99 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "tilt_latch_turn", + "path": "/World/Joints/tilt_latch_turn", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "tilt_latch_turn", + "source_prim_path": "/World/Joints/tilt_latch_turn", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_01" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 20.0, + "localPos0": [ + 0.04699999839067459, + -0.10849999636411667, + 0.2619999945163727 + ], + "localPos1": [ + 0.04699999839067459, + -0.10849999636411667, + 0.2619999945163727 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 4, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13628509640693665, - 0.3499999940395355, - 0.35600000619888306 - ], "min": [ -0.11249999701976776, - 0.0, - -0.23280000686645508 + -0.35600000619888306, + 0.0 + ], + "max": [ + 0.13628509640693665, + 0.23280000686645508, + 0.3499999940395355 ], "size": [ 0.2487850934267044, - 0.3499999940395355, - 0.5888000130653381 - ] + 0.5888000130653381, + 0.3499999940395355 + ], + "units": "m" }, "description": "Mixer", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 6.8500000443309546 + "total_mass": 6.8500000443309546, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00532", "parts": [ { "bounds": { - "center": [ - 0.011892549693584442, - 0.11874999850988388, - 0.06159999966621399 + "min": [ + -0.11249999701976776, + -0.35600000619888306, + 0.0 ], "max": [ 0.13628509640693665, - 0.23749999701976776, - 0.35600000619888306 + 0.23280000686645508, + 0.23749999701976776 ], - "min": [ - -0.11249999701976776, - 0.0, - -0.23280000686645508 - ] + "size": [ + 0.2487850934267044, + 0.5888000130653381, + 0.23749999701976776 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -728,25 +898,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.005374997854232788, - 0.2704999968409538, - -0.030000001192092896 + "min": [ + -0.06674999743700027, + -0.13899999856948853, + 0.19099999964237213 ], "max": [ 0.0560000017285347, - 0.3499999940395355, - 0.13899999856948853 + 0.19900000095367432, + 0.3499999940395355 ], - "min": [ - -0.06674999743700027, - 0.19099999964237213, - -0.19900000095367432 - ] + "size": [ + 0.12274999916553497, + 0.33799999952316284, + 0.1589999943971634 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -756,25 +929,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.005349930375814438, - 0.1497500017285347, - -0.12000000476837158 + "min": [ + -0.04640159755945206, + 0.06569328904151917, + 0.07999999821186066 ], "max": [ 0.05710145831108093, - 0.21950000524520874, - -0.06569328904151917 + 0.174306720495224, + 0.21950000524520874 ], - "min": [ - -0.04640159755945206, - 0.07999999821186066, - -0.174306720495224 - ] + "size": [ + 0.10350305587053299, + 0.10861343145370483, + 0.13950000703334808 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -784,25 +960,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.04699999839067459, - 0.2620000094175339, - 0.1262499988079071 + "min": [ + 0.035999998450279236, + -0.1459999978542328, + 0.2535000145435333 ], "max": [ 0.057999998331069946, - 0.2705000042915344, - 0.1459999978542328 + -0.10649999976158142, + 0.2705000042915344 ], - "min": [ - 0.035999998450279236, - 0.2535000145435333, - 0.10649999976158142 - ] + "size": [ + 0.02199999988079071, + 0.03949999809265137, + 0.0169999897480011 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -812,25 +991,28 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.05400000046938658, - 0.1680000051856041, - 0.07250000163912773 + "min": [ + 0.029999999329447746, + -0.08250000327825546, + 0.15800000727176666 ], "max": [ 0.07800000160932541, - 0.17800000309944153, - 0.08250000327825546 + -0.0625, + 0.17800000309944153 ], - "min": [ - 0.029999999329447746, - 0.15800000727176666, - 0.0625 - ] + "size": [ + 0.04800000227987766, + 0.020000003278255463, + 0.019999995827674866 + ], + "units": "m" }, "collision": {}, "id": "part_04", @@ -840,10 +1022,27 @@ "source": { "object_name": "World", "part_name": "part_04" - } + }, + "source_prim_path": "/World/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b1b582f7e0ab2350c31a7948b6dfe77c0e1fff18a877dcd06b9434c60aadc3fc" + }, + "usd_path": "batch36/D00532_Mixer/D00532_Mixer/IsaacSim_assets_D00532/IsaacSim_asset_D00532.usd", + "usd_sha256": "71b6cfbc327f5a0e38c801b65dfa3cb55f6f331339754a1a5d21592b25b9a974", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -860,24 +1059,58 @@ "up_axis": "Z", "bounds_m": [ 0.2487850934267044, - 0.3499999940395355, - 0.5888000130653381 - ] + 0.5888000130653381, + 0.3499999940395355 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71b6cfbc327f5a0e38c801b65dfa3cb55f6f331339754a1a5d21592b25b9a974", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 6.8500000443309546 + "value_kg": 6.8500000443309546, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71b6cfbc327f5a0e38c801b65dfa3cb55f6f331339754a1a5d21592b25b9a974", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 6.8500000443309546, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 322, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71b6cfbc327f5a0e38c801b65dfa3cb55f6f331339754a1a5d21592b25b9a974", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 322, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 4 + "moving_joints": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "71b6cfbc327f5a0e38c801b65dfa3cb55f6f331339754a1a5d21592b25b9a974", + "scope": "authored_usd_joint_schema", + "joint_count": 4, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00593_Pasta_Maker/D00593_Pasta_Maker/IsaacSim_assets_D00593/physics_D00593.json b/batch36/D00593_Pasta_Maker/D00593_Pasta_Maker/IsaacSim_assets_D00593/physics_D00593.json index 1b4dcfdc817f1b1c6569b0df56648f77413ba278..374b544879ff0b2d260564af205756d022a0349c 100644 --- a/batch36/D00593_Pasta_Maker/D00593_Pasta_Maker/IsaacSim_assets_D00593/physics_D00593.json +++ b/batch36/D00593_Pasta_Maker/D00593_Pasta_Maker/IsaacSim_assets_D00593/physics_D00593.json @@ -150,6 +150,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "piv_roller_drive_spin", + "path": "/World/Joints/piv_roller_drive_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "piv_roller_drive_spin", + "source_prim_path": "/World/Joints/piv_roller_drive_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -360.0, + "upperLimit": 360.0, + "localPos0": [ + 0.0, + 0.0182499997317791, + 0.07199999690055847 + ], + "localPos1": [ + 0.0, + 0.0182499997317791, + 0.07199999690055847 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -300,6 +341,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "piv_roller_idler_spin", + "path": "/World/Joints/piv_roller_idler_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "piv_roller_idler_spin", + "source_prim_path": "/World/Joints/piv_roller_idler_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -360.0, + "upperLimit": 360.0, + "localPos0": [ + 0.0, + -0.0182499997317791, + 0.07199999690055847 + ], + "localPos1": [ + 0.0, + -0.0182499997317791, + 0.07199999690055847 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -450,6 +532,47 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "piv_thickness_dial_rotate", + "path": "/World/Joints/piv_thickness_dial_rotate", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "piv_thickness_dial_rotate", + "source_prim_path": "/World/Joints/piv_thickness_dial_rotate", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 320.0, + "localPos0": [ + 0.09000000357627869, + -0.017999999225139618, + 0.07199999690055847 + ], + "localPos1": [ + 0.09000000357627869, + -0.017999999225139618, + 0.07199999690055847 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -600,6 +723,47 @@ "/World/part_04" ], "proxyPrim": [] + }, + "id": "piv_clamp_screw_travel", + "path": "/World/Joints/piv_clamp_screw_travel", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_clamp_screw_travel", + "source_prim_path": "/World/Joints/piv_clamp_screw_travel", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_04" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.009999999776482582, + "upperLimit": 0.0, + "localPos0": [ + -0.09650000184774399, + -0.035999998450279236, + 0.0 + ], + "localPos1": [ + -0.09650000184774399, + -0.035999998450279236, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -750,6 +914,47 @@ "/World/part_05" ], "proxyPrim": [] + }, + "id": "piv_crank_insert", + "path": "/World/Joints/piv_crank_insert", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_crank_insert", + "source_prim_path": "/World/Joints/piv_crank_insert", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_01" + ], + "body1": [ + "/World/part_05" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -0.019999999552965164, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.0182499997317791, + 0.07199999690055847 + ], + "localPos1": [ + 0.0, + 0.0182499997317791, + 0.07199999690055847 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -919,52 +1124,99 @@ "/World/part_06" ], "proxyPrim": [] + }, + "id": "piv_crank_grip_spin", + "path": "/World/Joints/piv_crank_grip_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "piv_crank_grip_spin", + "source_prim_path": "/World/Joints/piv_crank_grip_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_05" + ], + "body1": [ + "/World/part_06" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -720000.0, + "upperLimit": 720000.0, + "localPos0": [ + -0.11900000274181366, + 0.050710998475551605, + 0.03331499919295311 + ], + "localPos1": [ + -0.11900000274181366, + 0.050710998475551605, + 0.03331499919295311 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 6, + "rigid_body_count": 7, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0949999988079071, - 0.11150000244379044, - 0.052000001072883606 - ], "min": [ -0.132999986410141, - -0.02070000022649765, - -0.059237610548734665 + -0.052000001072883606, + -0.02070000022649765 + ], + "max": [ + 0.0949999988079071, + 0.059237610548734665, + 0.11150000244379044 ], "size": [ 0.2279999852180481, - 0.13220000267028809, - 0.11123761162161827 - ] + 0.11123761162161827, + 0.13220000267028809 + ], + "units": "m" }, "description": "Pasta Maker", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 2.8499999418854713 + "total_mass": 2.8499999418854713, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00593", "parts": [ { "bounds": { - "center": [ - -0.01180998608469963, - 0.050160001032054424, - 0.0030000004917383194 + "min": [ + -0.11119997501373291, + -0.052000001072883606, + -0.011180000379681587 ], "max": [ 0.08758000284433365, - 0.11150000244379044, - 0.052000001072883606 + 0.04600000008940697, + 0.11150000244379044 ], - "min": [ - -0.11119997501373291, - -0.011180000379681587, - -0.04600000008940697 - ] + "size": [ + 0.19877997785806656, + 0.09800000116229057, + 0.12268000282347202 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -974,25 +1226,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -9.999796748161316e-05, - 0.06949733011424541, - -0.018249998072860762 + "min": [ + -0.07649999856948853, + 0.0007553439936600626, + 0.0494999997317791 ], "max": [ 0.0763000026345253, - 0.08949466049671173, - -0.0007553439936600626 + 0.03574465215206146, + 0.08949466049671173 ], - "min": [ - -0.07649999856948853, - 0.0494999997317791, - -0.03574465215206146 - ] + "size": [ + 0.15280000120401382, + 0.0349893081584014, + 0.03999466076493263 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -1002,25 +1257,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.06949733011424541, - 0.018249998072860762 + "min": [ + -0.0763000026345253, + -0.03574465215206146, + 0.0494999997317791 ], "max": [ 0.0763000026345253, - 0.08949466049671173, - 0.03574465215206146 + -0.0007553439936600626, + 0.08949466049671173 ], - "min": [ - -0.0763000026345253, - 0.0494999997317791, - 0.0007553439936600626 - ] + "size": [ + 0.1526000052690506, + 0.0349893081584014, + 0.03999466076493263 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -1030,25 +1288,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.08974999934434891, - 0.07480569556355476, - 0.018000030308030546 + "min": [ + 0.08449999988079071, + -0.03489602357149124, + 0.05511140078306198 ], "max": [ 0.0949999988079071, - 0.09449999034404755, - 0.03489602357149124 + -0.00110403704456985, + 0.09449999034404755 ], - "min": [ - 0.08449999988079071, - 0.05511140078306198, - 0.00110403704456985 - ] + "size": [ + 0.010499998927116394, + 0.03379198652692139, + 0.039388589560985565 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -1058,25 +1319,28 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.09650000184774399, - -0.005850000306963921, - 0.036000000312924385 + "min": [ + -0.10400000214576721, + -0.048500001430511475, + -0.02070000022649765 ], "max": [ -0.08900000154972076, - 0.008999999612569809, - 0.048500001430511475 + -0.023499999195337296, + 0.008999999612569809 ], - "min": [ - -0.10400000214576721, - -0.02070000022649765, - 0.023499999195337296 - ] + "size": [ + 0.015000000596046448, + 0.02500000223517418, + 0.02969999983906746 + ], + "units": "m" }, "collision": {}, "id": "part_04", @@ -1086,25 +1350,28 @@ "source": { "object_name": "World", "part_name": "part_04" - } + }, + "source_prim_path": "/World/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.09875000268220901, - 0.053231898695230484, - -0.03399829752743244 + "min": [ + -0.12700000405311584, + 0.010322917252779007, + 0.026536725461483 ], "max": [ -0.07050000131130219, - 0.07992707192897797, - -0.010322917252779007 + 0.057673677802085876, + 0.07992707192897797 ], - "min": [ - -0.12700000405311584, - 0.026536725461483, - -0.057673677802085876 - ] + "size": [ + 0.05650000274181366, + 0.04735076054930687, + 0.053390346467494965 + ], + "units": "m" }, "collision": {}, "id": "part_05", @@ -1114,25 +1381,28 @@ "source": { "object_name": "World", "part_name": "part_05" - } + }, + "source_prim_path": "/World/part_05", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.11899998784065247, - 0.034463861025869846, - -0.04974659904837608 + "min": [ + -0.132999986410141, + 0.0402555875480175, + 0.02497284673154354 ], "max": [ -0.10499998927116394, - 0.04395487532019615, - -0.0402555875480175 + 0.059237610548734665, + 0.04395487532019615 ], - "min": [ - -0.132999986410141, - 0.02497284673154354, - -0.059237610548734665 - ] + "size": [ + 0.02799999713897705, + 0.018982023000717163, + 0.01898202858865261 + ], + "units": "m" }, "collision": {}, "id": "part_06", @@ -1142,10 +1412,27 @@ "source": { "object_name": "World", "part_name": "part_06" - } + }, + "source_prim_path": "/World/part_06", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "07231bc017117b830c85535c15ce936890bcb1e7069116b96363bfdbc5f1a0d8" + }, + "usd_path": "batch36/D00593_Pasta_Maker/D00593_Pasta_Maker/IsaacSim_assets_D00593/IsaacSim_asset_D00593.usd", + "usd_sha256": "415d2cd62a9507615fefb1d65764faf4fbe4156f5f5dbfe155edda5c6c9c67d0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -1162,24 +1449,58 @@ "up_axis": "Z", "bounds_m": [ 0.2279999852180481, - 0.13220000267028809, - 0.11123761162161827 - ] + 0.11123761162161827, + 0.13220000267028809 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "415d2cd62a9507615fefb1d65764faf4fbe4156f5f5dbfe155edda5c6c9c67d0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.8499999418854713 + "value_kg": 2.8499999418854713, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "415d2cd62a9507615fefb1d65764faf4fbe4156f5f5dbfe155edda5c6c9c67d0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.8499999418854713, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 7 + "status": "verified", + "confidence": "high", + "shape_count": 91, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "415d2cd62a9507615fefb1d65764faf4fbe4156f5f5dbfe155edda5c6c9c67d0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 91, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 6 + "moving_joints": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "415d2cd62a9507615fefb1d65764faf4fbe4156f5f5dbfe155edda5c6c9c67d0", + "scope": "authored_usd_joint_schema", + "joint_count": 6, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00605_Water_Filter_Pitcher/D00605_Water_Filter_Pitcher/IsaacSim_assets_D00605/physics_D00605.json b/batch36/D00605_Water_Filter_Pitcher/D00605_Water_Filter_Pitcher/IsaacSim_assets_D00605/physics_D00605.json index abad4373c4e7fb34b76d03e82b2ac20a77518e63..953098ad1510dd90b1b96fafc909f92fa408ef46 100644 --- a/batch36/D00605_Water_Filter_Pitcher/D00605_Water_Filter_Pitcher/IsaacSim_assets_D00605/physics_D00605.json +++ b/batch36/D00605_Water_Filter_Pitcher/D00605_Water_Filter_Pitcher/IsaacSim_assets_D00605/physics_D00605.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "filtration_lift", + "path": "/World/Joints/filtration_lift", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "filtration_lift", + "source_prim_path": "/World/Joints/filtration_lift", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 0.1899999976158142, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "cartridge_slide", + "path": "/World/Joints/cartridge_slide", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "cartridge_slide", + "source_prim_path": "/World/Joints/cartridge_slide", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_01" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 0.05999999865889549, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -504,52 +586,99 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "lid_flap_hinge", + "path": "/World/Joints/lid_flap_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "lid_flap_hinge", + "source_prim_path": "/World/Joints/lid_flap_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_01" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -70.0, + "upperLimit": 75.0, + "localPos0": [ + 0.010080000385642052, + 0.0, + 0.23951399326324463 + ], + "localPos1": [ + 0.010080000385642052, + 0.0, + 0.23951399326324463 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 3, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16099801659584045, - 0.3211156129837036, - 0.07200001180171967 - ], "min": [ -0.12768112123012543, - 0.0, - -0.07200001180171967 + -0.07200001180171967, + 0.0 + ], + "max": [ + 0.16099801659584045, + 0.07200001180171967, + 0.3211156129837036 ], "size": [ 0.2886791378259659, - 0.3211156129837036, - 0.14400002360343933 - ] + 0.14400002360343933, + 0.3211156129837036 + ], + "units": "m" }, "description": "Water Filter Pitcher", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.8999999947845936 + "total_mass": 0.8999999947845936, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00605", "parts": [ { "bounds": { - "center": [ - 0.016658447682857513, - 0.11394040286540985, + "min": [ + -0.12768112123012543, + -0.06995056569576263, 0.0 ], "max": [ 0.16099801659584045, - 0.2278808057308197, - 0.06995056569576263 + 0.06995056569576263, + 0.2278808057308197 ], - "min": [ - -0.12768112123012543, - 0.0, - -0.06995056569576263 - ] + "size": [ + 0.2886791378259659, + 0.13990113139152527, + 0.2278808057308197 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -559,25 +688,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.002734605222940445, - 0.16932149976491928, - 0.0 + "min": [ + -0.10850922018289566, + -0.07200001180171967, + 0.10122999548912048 ], "max": [ 0.10304000973701477, - 0.23741300404071808, - 0.07200001180171967 + 0.07200001180171967, + 0.23741300404071808 ], - "min": [ - -0.10850922018289566, - 0.10122999548912048, - -0.07200001180171967 - ] + "size": [ + 0.21154922991991043, + 0.14400002360343933, + 0.1361830085515976 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -587,25 +719,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.10163109749555588, - 0.0 + "min": [ + -0.041439998894929886, + -0.03700000047683716, + 0.05252499878406525 ], "max": [ 0.041439998894929886, - 0.1507371962070465, - 0.03700000047683716 + 0.03700000047683716, + 0.1507371962070465 ], - "min": [ - -0.041439998894929886, - 0.05252499878406525, - -0.03700000047683716 - ] + "size": [ + 0.08287999778985977, + 0.07400000095367432, + 0.09821219742298126 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -615,25 +750,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.006205551326274872, - 0.28006983548402786, - -1.862645149230957e-09 + "min": [ + -0.02200116403400898, + -0.03800000250339508, + 0.2390240579843521 ], "max": [ 0.009590061381459236, - 0.3211156129837036, - 0.03800000250339508 + 0.03800000622868538, + 0.3211156129837036 ], - "min": [ - -0.02200116403400898, - 0.2390240579843521, - -0.03800000622868538 - ] + "size": [ + 0.031591225415468216, + 0.07600000873208046, + 0.0820915549993515 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -643,10 +781,27 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2aa175c9a55cfac61dcce2f98584525621e75e2e4027ed7f5a2fc267d63ed8ca" + }, + "usd_path": "batch36/D00605_Water_Filter_Pitcher/D00605_Water_Filter_Pitcher/IsaacSim_assets_D00605/IsaacSim_asset_D00605.usd", + "usd_sha256": "6cbc04a2717c12131be822be07285b5d1a10aece01a658ffa92f2d1db49a65fe", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -663,24 +818,58 @@ "up_axis": "Z", "bounds_m": [ 0.2886791378259659, - 0.3211156129837036, - 0.14400002360343933 - ] + 0.14400002360343933, + 0.3211156129837036 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6cbc04a2717c12131be822be07285b5d1a10aece01a658ffa92f2d1db49a65fe", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8999999947845936 + "value_kg": 0.8999999947845936, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6cbc04a2717c12131be822be07285b5d1a10aece01a658ffa92f2d1db49a65fe", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8999999947845936, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 61, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6cbc04a2717c12131be822be07285b5d1a10aece01a658ffa92f2d1db49a65fe", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 61, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6cbc04a2717c12131be822be07285b5d1a10aece01a658ffa92f2d1db49a65fe", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00606_Soda_Maker/D00606_Soda_Maker/IsaacSim_assets_D00606/physics_D00606.json b/batch36/D00606_Soda_Maker/D00606_Soda_Maker/IsaacSim_assets_D00606/physics_D00606.json index 4fc73a72380d363529b50881be4a2bf441f9fa6c..2b30a0670858bba8776261255188a18773f6cc21 100644 --- a/batch36/D00606_Soda_Maker/D00606_Soda_Maker/IsaacSim_assets_D00606/physics_D00606.json +++ b/batch36/D00606_Soda_Maker/D00606_Soda_Maker/IsaacSim_assets_D00606/physics_D00606.json @@ -168,52 +168,99 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "button_press", + "path": "/World/Joints/button_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "button_press", + "source_prim_path": "/World/Joints/button_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.004999999888241291, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + -0.04800000041723251, + 0.37400001287460327 + ], + "localPos1": [ + 0.0, + -0.04800000041723251, + 0.37400001287460327 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06499999761581421, - 0.3880000114440918, - 0.09350000321865082 - ], "min": [ -0.06499999761581421, - 0.0, - -0.09799999743700027 + -0.09350000321865082, + 0.0 + ], + "max": [ + 0.06499999761581421, + 0.09799999743700027, + 0.3880000114440918 ], "size": [ 0.12999999523162842, - 0.3880000114440918, - 0.1915000006556511 - ] + 0.1915000006556511, + 0.3880000114440918 + ], + "units": "m" }, "description": "Soda Maker", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 1.740000018849969 + "total_mass": 1.740000018849969, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00606", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.18850000202655792, - -0.0022499971091747284 + "min": [ + -0.06499999761581421, + -0.09350000321865082, + 0.0 ], "max": [ 0.06499999761581421, - 0.37700000405311584, - 0.09350000321865082 + 0.09799999743700027, + 0.37700000405311584 ], - "min": [ - -0.06499999761581421, - 0.0, - -0.09799999743700027 - ] + "size": [ + 0.12999999523162842, + 0.1915000006556511, + 0.37700000405311584 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -223,25 +270,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 5.587935447692871e-09, - 0.1492499951273203, - 0.047999994829297066 + "min": [ + -0.040999989956617355, + -0.08899998664855957, + 0.036000002175569534 ], "max": [ 0.04100000113248825, - 0.26249998807907104, - 0.08899998664855957 + -0.007000003010034561, + 0.26249998807907104 ], - "min": [ - -0.040999989956617355, - 0.036000002175569534, - 0.007000003010034561 - ] + "size": [ + 0.0819999910891056, + 0.08199998363852501, + 0.2264999859035015 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -251,25 +301,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.3765000104904175, - 0.04800000041723251 + "min": [ + -0.014499999582767487, + -0.0625, + 0.36500000953674316 ], "max": [ 0.014499999582767487, - 0.3880000114440918, - 0.0625 + -0.03350000083446503, + 0.3880000114440918 ], - "min": [ - -0.014499999582767487, - 0.36500000953674316, - 0.03350000083446503 - ] + "size": [ + 0.028999999165534973, + 0.028999999165534973, + 0.023000001907348633 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -279,10 +332,27 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d859502229c518adacb9e38900099f2b9bf63ac8374762c78388882eb6c77bb0" + }, + "usd_path": "batch36/D00606_Soda_Maker/D00606_Soda_Maker/IsaacSim_assets_D00606/IsaacSim_asset_D00606.usd", + "usd_sha256": "8d0e90db3dbe2fbaa82504e503ee299cdd7efa3d1febfe262ccc2a9576d9fb29", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -299,24 +369,58 @@ "up_axis": "Z", "bounds_m": [ 0.12999999523162842, - 0.3880000114440918, - 0.1915000006556511 - ] + 0.1915000006556511, + 0.3880000114440918 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d0e90db3dbe2fbaa82504e503ee299cdd7efa3d1febfe262ccc2a9576d9fb29", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.740000018849969 + "value_kg": 1.740000018849969, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d0e90db3dbe2fbaa82504e503ee299cdd7efa3d1febfe262ccc2a9576d9fb29", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.740000018849969, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 106, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d0e90db3dbe2fbaa82504e503ee299cdd7efa3d1febfe262ccc2a9576d9fb29", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 106, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d0e90db3dbe2fbaa82504e503ee299cdd7efa3d1febfe262ccc2a9576d9fb29", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00607_Cold_Brew_Maker/D00607_Cold_Brew_Maker/IsaacSim_assets_D00607/physics_D00607.json b/batch36/D00607_Cold_Brew_Maker/D00607_Cold_Brew_Maker/IsaacSim_assets_D00607/physics_D00607.json index abe1ac5459bddc929335241cf5000463e988adde..dfd36a2a50cbf1001d26e4d7aa05262b2274ad66 100644 --- a/batch36/D00607_Cold_Brew_Maker/D00607_Cold_Brew_Maker/IsaacSim_assets_D00607/physics_D00607.json +++ b/batch36/D00607_Cold_Brew_Maker/D00607_Cold_Brew_Maker/IsaacSim_assets_D00607/physics_D00607.json @@ -150,6 +150,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "jnt_filter_unseat", + "path": "/World/Joints/jnt_filter_unseat", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "jnt_filter_unseat", + "source_prim_path": "/World/Joints/jnt_filter_unseat", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": false, + "axis": "Z", + "lowerLimit": -0.019999999552965164, + "upperLimit": 0.10000000149011612, + "localPos0": [ + 0.0, + 0.0, + 0.23559999465942383 + ], + "localPos1": [ + 0.0, + 0.0, + 0.23559999465942383 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -318,6 +359,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "jnt_lid_lift", + "path": "/World/Joints/jnt_lid_lift", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "jnt_lid_lift", + "source_prim_path": "/World/Joints/jnt_lid_lift", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 0.15000000596046448, + "localPos0": [ + 0.0, + 0.0, + 0.2353000044822693 + ], + "localPos1": [ + 0.0, + 0.0, + 0.2353000044822693 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -459,52 +541,96 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "jnt_filter_fixed", + "path": "/World/Joints/jnt_filter_fixed", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "jnt_filter_fixed", + "source_prim_path": "/World/Joints/jnt_filter_fixed", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/part_01" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0569629929959774, - 0.27250000834465027, - 0.05696291849017143 - ], "min": [ -0.05696294084191322, - 0.0, - -0.056962963193655014 + -0.05696291849017143, + 0.0 + ], + "max": [ + 0.0569629929959774, + 0.056962963193655014, + 0.27250000834465027 ], "size": [ 0.11392593383789062, - 0.27250000834465027, - 0.11392588168382645 - ] + 0.11392588168382645, + 0.27250000834465027 + ], + "units": "m" }, "description": "Cold Brew Maker", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.8200000151991844 + "total_mass": 0.8200000151991844, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00607", "parts": [ { "bounds": { - "center": [ - 2.60770320892334e-08, - 0.12274999916553497, - -2.2351741790771484e-08 + "min": [ + -0.05696294084191322, + -0.05696291849017143, + 0.0 ], "max": [ 0.0569629929959774, - 0.24549999833106995, - 0.05696291849017143 + 0.056962963193655014, + 0.24549999833106995 ], - "min": [ - -0.05696294084191322, - 0.0, - -0.056962963193655014 - ] + "size": [ + 0.11392593383789062, + 0.11392588168382645, + 0.24549999833106995 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -514,25 +640,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 2.0489096641540527e-08, - 0.255900003015995, - -1.862645149230957e-08 + "min": [ + -0.05557495728135109, + -0.0555749386548996, + 0.23929999768733978 ], "max": [ 0.05557499825954437, - 0.27250000834465027, - 0.0555749386548996 + 0.05557497590780258, + 0.27250000834465027 ], - "min": [ - -0.05557495728135109, - 0.23929999768733978, - -0.05557497590780258 - ] + "size": [ + 0.11114995554089546, + 0.11114991456270218, + 0.033200010657310486 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -542,25 +671,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -1.6763806343078613e-08, - 0.13988249748945236, - 1.4901161193847656e-08 + "min": [ + -0.048450034111738205, + -0.0484500490128994, + 0.03149999678134918 ], "max": [ 0.04845000058412552, - 0.24826499819755554, - 0.0484500490128994 + 0.04845001921057701, + 0.24826499819755554 ], - "min": [ - -0.048450034111738205, - 0.03149999678134918, - -0.04845001921057701 - ] + "size": [ + 0.09690003469586372, + 0.09690006822347641, + 0.21676500141620636 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -570,10 +702,27 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ea2aa39dc3389851362657ae91a757b1b071852b410a1991b38febe6445657d9" + }, + "usd_path": "batch36/D00607_Cold_Brew_Maker/D00607_Cold_Brew_Maker/IsaacSim_assets_D00607/IsaacSim_asset_D00607.usd", + "usd_sha256": "e827b4f71e32925945a7269530f65777e4e75451e3a78cff765baffc02429765", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -590,24 +739,58 @@ "up_axis": "Z", "bounds_m": [ 0.11392593383789062, - 0.27250000834465027, - 0.11392588168382645 - ] + 0.11392588168382645, + 0.27250000834465027 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e827b4f71e32925945a7269530f65777e4e75451e3a78cff765baffc02429765", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8200000151991844 + "value_kg": 0.8200000151991844, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e827b4f71e32925945a7269530f65777e4e75451e3a78cff765baffc02429765", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8200000151991844, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 84, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e827b4f71e32925945a7269530f65777e4e75451e3a78cff765baffc02429765", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 84, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e827b4f71e32925945a7269530f65777e4e75451e3a78cff765baffc02429765", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00657_Pressure_Cooker/IsaacSim_assets_D00657/physics_D00657.json b/batch36/D00657_Pressure_Cooker/IsaacSim_assets_D00657/physics_D00657.json index 8e12d7fa2a59d1c6cbf0c31deee663dc342255e4..1b4eda4a66d65ecad73ae51a9ce8815086cc99cb 100644 --- a/batch36/D00657_Pressure_Cooker/IsaacSim_assets_D00657/physics_D00657.json +++ b/batch36/D00657_Pressure_Cooker/IsaacSim_assets_D00657/physics_D00657.json @@ -168,6 +168,47 @@ "/World/lock_handle" ], "proxyPrim": [] + }, + "id": "lock_handle_rotate", + "path": "/World/Joints/lock_handle_rotate", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "lock_handle_rotate", + "source_prim_path": "/World/Joints/lock_handle_rotate", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/lid" + ], + "body1": [ + "/World/lock_handle" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 35.0, + "localPos0": [ + 0.0, + 0.0, + 0.1899999976158142 + ], + "localPos1": [ + 0.0, + 0.0, + 0.1899999976158142 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -309,52 +350,96 @@ "/World/lid" ], "proxyPrim": [] + }, + "id": "FixedJoint", + "path": "/World/Joints/FixedJoint", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "FixedJoint", + "source_prim_path": "/World/Joints/FixedJoint", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/pressure_valve" + ], + "body1": [ + "/World/lid" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1876000016927719, - 0.24000000953674316, - 0.11297869682312012 - ], "min": [ -0.1876000016927719, - 0.0, - -0.11297869682312012 + -0.11297869682312012, + 0.0 + ], + "max": [ + 0.1876000016927719, + 0.11297869682312012, + 0.24000000953674316 ], "size": [ 0.3752000033855438, - 0.24000000953674316, - 0.22595739364624023 - ] + 0.22595739364624023, + 0.24000000953674316 + ], + "units": "m" }, "description": "Pressure Cooker", "name": "pot_body", "object_type": "rigid_bodies", - "total_mass": 3.4200000129640102 + "total_mass": 3.4200000129640102, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00657", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.08250000327825546, + "min": [ + -0.1876000016927719, + -0.10997926443815231, 0.0 ], "max": [ 0.1876000016927719, - 0.16500000655651093, - 0.10997926443815231 + 0.10997926443815231, + 0.16500000655651093 ], - "min": [ - -0.1876000016927719, - 0.0, - -0.10997926443815231 - ] + "size": [ + 0.3752000033855438, + 0.21995852887630463, + 0.16500000655651093 + ], + "units": "m" }, "collision": {}, "id": "pot_body", @@ -364,25 +449,28 @@ "source": { "object_name": "World", "part_name": "pot_body" - } + }, + "source_prim_path": "/World/pot_body", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.17225000262260437, - 0.0 + "min": [ + -0.11297869682312012, + -0.11297869682312012, + 0.15049999952316284 ], "max": [ 0.11297869682312012, - 0.1940000057220459, - 0.11297869682312012 + 0.11297869682312012, + 0.1940000057220459 ], - "min": [ - -0.11297869682312012, - 0.15049999952316284, - -0.11297869682312012 - ] + "size": [ + 0.22595739364624023, + 0.22595739364624023, + 0.04350000619888306 + ], + "units": "m" }, "collision": {}, "id": "lid", @@ -392,25 +480,28 @@ "source": { "object_name": "World", "part_name": "lid" - } + }, + "source_prim_path": "/World/lid", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.008000001311302185, - 0.19075000286102295, - 0.0 + "min": [ + -0.11800000071525574, + -0.10400000214576721, + 0.14149999618530273 ], "max": [ 0.1340000033378601, - 0.24000000953674316, - 0.10400000214576721 + 0.10400000214576721, + 0.24000000953674316 ], - "min": [ - -0.11800000071525574, - 0.14149999618530273, - -0.10400000214576721 - ] + "size": [ + 0.25200000405311584, + 0.20800000429153442, + 0.09850001335144043 + ], + "units": "m" }, "collision": {}, "id": "lock_handle", @@ -420,25 +511,28 @@ "source": { "object_name": "World", "part_name": "lock_handle" - } + }, + "source_prim_path": "/World/lock_handle", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.1844889372587204, - 0.06499999947845936 + "min": [ + -0.00999559834599495, + -0.07499559968709946, + 0.16373895108699799 ], "max": [ 0.00999559834599495, - 0.2052389234304428, - 0.07499559968709946 + -0.05500439926981926, + 0.2052389234304428 ], - "min": [ - -0.00999559834599495, - 0.16373895108699799, - 0.05500439926981926 - ] + "size": [ + 0.0199911966919899, + 0.019991200417280197, + 0.041499972343444824 + ], + "units": "m" }, "collision": {}, "id": "pressure_valve", @@ -448,10 +542,27 @@ "source": { "object_name": "World", "part_name": "pressure_valve" - } + }, + "source_prim_path": "/World/pressure_valve", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2e8b8aacaaafe048424edde58d984b681fcfedd7e6383090cef2a8cd993c9e5f" + }, + "usd_path": "batch36/D00657_Pressure_Cooker/IsaacSim_assets_D00657/IsaacSim_asset_D00657.usd", + "usd_sha256": "646ad7fa7e7a4deccbd3986aa6765356b64832713cd0517d218817c403edb446", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -468,24 +579,60 @@ "up_axis": "Z", "bounds_m": [ 0.3752000033855438, - 0.24000000953674316, - 0.22595739364624023 - ] + 0.22595739364624023, + 0.24000000953674316 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "646ad7fa7e7a4deccbd3986aa6765356b64832713cd0517d218817c403edb446", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.4200000129640102 + "value_kg": 3.4200000129640102, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "646ad7fa7e7a4deccbd3986aa6765356b64832713cd0517d218817c403edb446", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.4200000129640102, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "646ad7fa7e7a4deccbd3986aa6765356b64832713cd0517d218817c403edb446", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexDecomposition", + "convexHull", + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "646ad7fa7e7a4deccbd3986aa6765356b64832713cd0517d218817c403edb446", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00669_Rice_Cooker/IsaacSim_assets_D00669/physics_D00669.json b/batch36/D00669_Rice_Cooker/IsaacSim_assets_D00669/physics_D00669.json index f1ebf73edf32c07315f18c0336b90ffce536c171..47567c587898fabd30f955861ad6d72fc73cb0ac 100644 --- a/batch36/D00669_Rice_Cooker/IsaacSim_assets_D00669/physics_D00669.json +++ b/batch36/D00669_Rice_Cooker/IsaacSim_assets_D00669/physics_D00669.json @@ -168,52 +168,99 @@ "/World/lid" ], "proxyPrim": [] + }, + "id": "lid_hinge", + "path": "/World/Joints/lid_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "lid_hinge", + "source_prim_path": "/World/Joints/lid_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/lid" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 100.0, + "localPos0": [ + 0.0, + 0.1459999978542328, + 0.16200000047683716 + ], + "localPos1": [ + 0.0, + 0.1459999978542328, + 0.16200000047683716 + ], + "localRot0": [ + -0.0, + 0.0, + 0.7071067690849304, + 0.7071067690849304 + ], + "localRot1": [ + -0.0, + 0.0, + 0.7071067690849304, + 0.7071067690849304 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12675313651561737, - 0.2160000205039978, - 0.1683361828327179 - ], "min": [ -0.12675313651561737, - 0.0, - -0.1683361828327179 + -0.1683361828327179, + 0.0 + ], + "max": [ + 0.12675313651561737, + 0.1683361828327179, + 0.2160000205039978 ], "size": [ 0.25350627303123474, - 0.2160000205039978, - 0.3366723656654358 - ] + 0.3366723656654358, + 0.2160000205039978 + ], + "units": "m" }, "description": "Rice Cooker", "name": "body", "object_type": "rigid_bodies", - "total_mass": 2.700000047683716 + "total_mass": 2.700000047683716, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00669", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.08649999648332596, + "min": [ + -0.12675313651561737, + -0.1683361828327179, 0.0 ], "max": [ 0.12675313651561737, - 0.17299999296665192, - 0.1683361828327179 + 0.1683361828327179, + 0.17299999296665192 ], - "min": [ - -0.12675313651561737, - 0.0, - -0.1683361828327179 - ] + "size": [ + 0.25350627303123474, + 0.3366723656654358, + 0.17299999296665192 + ], + "units": "m" }, "collision": {}, "id": "body", @@ -223,25 +270,28 @@ "source": { "object_name": "World", "part_name": "body" - } + }, + "source_prim_path": "/World/body", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -1.1175870895385742e-08, - 0.1825011968612671, - -0.03332070633769035 + "min": [ + -0.1225479245185852, + -0.09790834039449692, + 0.14900237321853638 ], "max": [ 0.12254790216684341, - 0.2160000205039978, - 0.09790834039449692 + 0.16454975306987762, + 0.2160000205039978 ], - "min": [ - -0.1225479245185852, - 0.14900237321853638, - -0.16454975306987762 - ] + "size": [ + 0.24509582668542862, + 0.26245809346437454, + 0.06699764728546143 + ], + "units": "m" }, "collision": {}, "id": "lid", @@ -251,10 +301,27 @@ "source": { "object_name": "World", "part_name": "lid" - } + }, + "source_prim_path": "/World/lid", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "88db85a472b0168cac42160ca039e70e8f0928ca577d680867d991d8d871e7c5" + }, + "usd_path": "batch36/D00669_Rice_Cooker/IsaacSim_assets_D00669/IsaacSim_asset_D00669.usd", + "usd_sha256": "90d6f01c18020634b3a21613cff310670f01aa8e2963ffb601fab4796beeff0e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -271,24 +338,58 @@ "up_axis": "Z", "bounds_m": [ 0.25350627303123474, - 0.2160000205039978, - 0.3366723656654358 - ] + 0.3366723656654358, + 0.2160000205039978 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90d6f01c18020634b3a21613cff310670f01aa8e2963ffb601fab4796beeff0e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.700000047683716 + "value_kg": 2.700000047683716, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90d6f01c18020634b3a21613cff310670f01aa8e2963ffb601fab4796beeff0e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.700000047683716, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 229, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90d6f01c18020634b3a21613cff310670f01aa8e2963ffb601fab4796beeff0e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 229, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90d6f01c18020634b3a21613cff310670f01aa8e2963ffb601fab4796beeff0e", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00671_Kitchen_Tongs/IsaacSim_assets_D00671/physics_D00671.json b/batch36/D00671_Kitchen_Tongs/IsaacSim_assets_D00671/physics_D00671.json index 3665efa3dcd9621e4b1f78778e8221994bfe9e30..512c8bdcfa763a876b6fbeab476a23a312487bb3 100644 --- a/batch36/D00671_Kitchen_Tongs/IsaacSim_assets_D00671/physics_D00671.json +++ b/batch36/D00671_Kitchen_Tongs/IsaacSim_assets_D00671/physics_D00671.json @@ -168,52 +168,99 @@ "/World/arm_upper" ], "proxyPrim": [] + }, + "id": "pivot_hinge", + "path": "/World/Joints/pivot_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "pivot_hinge", + "source_prim_path": "/World/Joints/pivot_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/arm_lower" + ], + "body1": [ + "/World/arm_upper" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -20.0, + "upperLimit": 30.0, + "localPos0": [ + 0.0, + 0.0002500000118743628, + 0.05443444103002548 + ], + "localPos1": [ + 0.0, + 0.0002500000118743628, + 0.05443444103002548 + ], + "localRot0": [ + 0.6963642835617065, + 0.6963642835617065, + -0.12278774380683899, + 0.12278774380683899 + ], + "localRot1": [ + 0.6963642835617065, + 0.6963642835617065, + -0.12278774380683899, + 0.12278774380683899 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1594367828255635, - 0.04358280513227216, - 0.07684568697807558 - ], "min": [ -0.03970599665236089, - 0.0005052474343400261, - -0.21464000961572072 + -0.07684568697807558, + 0.0005052474343400261 + ], + "max": [ + 0.1594367828255635, + 0.21464000961572072, + 0.04358280513227216 ], "size": [ 0.1991427794779244, - 0.04307755769793213, - 0.2914856965937963 - ] + 0.2914856965937963, + 0.04307755769793213 + ], + "units": "m" }, "description": "Kitchen Tongs", "name": "arm_lower", "object_type": "rigid_bodies", - "total_mass": 0.11999999731779099 + "total_mass": 0.11999999731779099, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00671", "parts": [ { "bounds": { - "center": [ - 0.05986539308660131, - 0.022070366888467013, - -0.03641492296570778 + "min": [ + -0.03970599665236089, + -0.0665706444001436, + 0.0005579286446618656 ], "max": [ 0.1594367828255635, - 0.04358280513227216, - 0.0665706444001436 + 0.13940049033155916, + 0.04358280513227216 ], - "min": [ - -0.03970599665236089, - 0.0005579286446618656, - -0.13940049033155916 - ] + "size": [ + 0.1991427794779244, + 0.20597113473170275, + 0.043024876487610296 + ], + "units": "m" }, "collision": {}, "id": "arm_lower", @@ -223,25 +270,28 @@ "source": { "object_name": "World", "part_name": "arm_lower" - } + }, + "source_prim_path": "/World/arm_lower", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.029453737930780977, - 0.022015090667064238, - -0.06889716131882256 + "min": [ + -0.03886858336941871, + -0.07684568697807558, + 0.0005052474343400261 ], "max": [ -0.020038892492143245, - 0.04352493389978845, - 0.07684568697807558 + 0.21464000961572072, + 0.04352493389978845 ], - "min": [ - -0.03886858336941871, - 0.0005052474343400261, - -0.21464000961572072 - ] + "size": [ + 0.018829690877275464, + 0.2914856965937963, + 0.04301968646544842 + ], + "units": "m" }, "collision": {}, "id": "arm_upper", @@ -251,10 +301,27 @@ "source": { "object_name": "World", "part_name": "arm_upper" - } + }, + "source_prim_path": "/World/arm_upper", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f49234b5e86c7ad8102eb189a0a263f6592c55f3848a5daa93bb4c7b19661dc9" + }, + "usd_path": "batch36/D00671_Kitchen_Tongs/IsaacSim_assets_D00671/IsaacSim_asset_D00671.usd", + "usd_sha256": "ed5ba2493cdd937ea48d4a93f9e6ffb2fee3673a52b415ca28687fb658e97ea5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -271,24 +338,58 @@ "up_axis": "Z", "bounds_m": [ 0.1991427794779244, - 0.04307755769793213, - 0.2914856965937963 - ] + 0.2914856965937963, + 0.04307755769793213 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ed5ba2493cdd937ea48d4a93f9e6ffb2fee3673a52b415ca28687fb658e97ea5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.11999999731779099 + "value_kg": 0.11999999731779099, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ed5ba2493cdd937ea48d4a93f9e6ffb2fee3673a52b415ca28687fb658e97ea5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11999999731779099, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 27, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ed5ba2493cdd937ea48d4a93f9e6ffb2fee3673a52b415ca28687fb658e97ea5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 27, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ed5ba2493cdd937ea48d4a93f9e6ffb2fee3673a52b415ca28687fb658e97ea5", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00692_Sandwich_Maker/IsaacSim_assets_D00692/physics_D00692.json b/batch36/D00692_Sandwich_Maker/IsaacSim_assets_D00692/physics_D00692.json index b23a2f94f158abf4a437b8b474a1020c62aea858..a86dfac454f488d23580adfbcfdbe5adc3055508 100644 --- a/batch36/D00692_Sandwich_Maker/IsaacSim_assets_D00692/physics_D00692.json +++ b/batch36/D00692_Sandwich_Maker/IsaacSim_assets_D00692/physics_D00692.json @@ -168,52 +168,99 @@ "/World/lid" ], "proxyPrim": [] + }, + "id": "lid_hinge", + "path": "/World/Joints/lid_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "lid_hinge", + "source_prim_path": "/World/Joints/lid_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/lid" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 180.0, + "localPos0": [ + 0.0, + -0.11299999803304672, + 0.035999998450279236 + ], + "localPos1": [ + 0.0, + -0.11299999803304672, + 0.035999998450279236 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1145000010728836, - 0.07900000363588333, - 0.1185000017285347 - ], "min": [ -0.1145000010728836, - 0.0, - -0.11400000005960464 + -0.1185000017285347, + 0.0 + ], + "max": [ + 0.1145000010728836, + 0.11400000005960464, + 0.07900000363588333 ], "size": [ 0.2290000021457672, - 0.07900000363588333, - 0.23250000178813934 - ] + 0.23250000178813934, + 0.07900000363588333 + ], + "units": "m" }, "description": "Sandwich Maker", "name": "body", "object_type": "rigid_bodies", - "total_mass": 2.299999952316284 + "total_mass": 2.299999952316284, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00692", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.020749999210238457, - 0.002250000834465027 + "min": [ + -0.1145000010728836, + -0.1185000017285347, + 0.0 ], "max": [ 0.1145000010728836, - 0.04149999842047691, - 0.1185000017285347 + 0.11400000005960464, + 0.04149999842047691 ], - "min": [ - -0.1145000010728836, - 0.0, - -0.11400000005960464 - ] + "size": [ + 0.2290000021457672, + 0.23250000178813934, + 0.04149999842047691 + ], + "units": "m" }, "collision": {}, "id": "body", @@ -223,25 +270,28 @@ "source": { "object_name": "World", "part_name": "body" - } + }, + "source_prim_path": "/World/body", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.05475000198930502, - 0.003750000149011612 + "min": [ + -0.1145000010728836, + -0.1185000017285347, + 0.030500000342726707 ], "max": [ 0.1145000010728836, - 0.07900000363588333, - 0.1185000017285347 + 0.11100000143051147, + 0.07900000363588333 ], - "min": [ - -0.1145000010728836, - 0.030500000342726707, - -0.11100000143051147 - ] + "size": [ + 0.2290000021457672, + 0.22950000315904617, + 0.048500003293156624 + ], + "units": "m" }, "collision": {}, "id": "lid", @@ -251,10 +301,27 @@ "source": { "object_name": "World", "part_name": "lid" - } + }, + "source_prim_path": "/World/lid", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a1a7b96ccbb6466f506126d38e76073b3f842a83fc7dcda7955c72da6dc93c60" + }, + "usd_path": "batch36/D00692_Sandwich_Maker/IsaacSim_assets_D00692/IsaacSim_asset_D00692.usd", + "usd_sha256": "c233d5ceb8991c1ee2951e52259b2ad305d1b93956e70209f6167b57acce973f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -271,24 +338,58 @@ "up_axis": "Z", "bounds_m": [ 0.2290000021457672, - 0.07900000363588333, - 0.23250000178813934 - ] + 0.23250000178813934, + 0.07900000363588333 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c233d5ceb8991c1ee2951e52259b2ad305d1b93956e70209f6167b57acce973f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.299999952316284 + "value_kg": 2.299999952316284, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c233d5ceb8991c1ee2951e52259b2ad305d1b93956e70209f6167b57acce973f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.299999952316284, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 112, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c233d5ceb8991c1ee2951e52259b2ad305d1b93956e70209f6167b57acce973f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 112, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c233d5ceb8991c1ee2951e52259b2ad305d1b93956e70209f6167b57acce973f", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00693_Espresso_Machine/IsaacSim_assets_D00693/physics_D00693.json b/batch36/D00693_Espresso_Machine/IsaacSim_assets_D00693/physics_D00693.json index 534c7f8c4ed6e2a8489215faedb266e56465a51b..fc512fd025f2481baf8534a2766f548e66c59e93 100644 --- a/batch36/D00693_Espresso_Machine/IsaacSim_assets_D00693/physics_D00693.json +++ b/batch36/D00693_Espresso_Machine/IsaacSim_assets_D00693/physics_D00693.json @@ -168,6 +168,47 @@ "/World/portafilter" ], "proxyPrim": [] + }, + "id": "portafilter_lock", + "path": "/World/Joints/portafilter_lock", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "portafilter_lock", + "source_prim_path": "/World/Joints/portafilter_lock", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/portafilter" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -45.0, + "upperLimit": 45.0, + "localPos0": [ + 0.0, + -0.12200000137090683, + 0.14800000190734863 + ], + "localPos1": [ + 0.0, + -0.12200000137090683, + 0.14800000190734863 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/steam_knob" ], "proxyPrim": [] + }, + "id": "steam_knob_spindle", + "path": "/World/Joints/steam_knob_spindle", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "steam_knob_spindle", + "source_prim_path": "/World/Joints/steam_knob_spindle", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/steam_knob" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -90.0, + "upperLimit": 90.0, + "localPos0": [ + 0.0729999989271164, + -0.10000000149011612, + 0.24699999392032623 + ], + "localPos1": [ + 0.0729999989271164, + -0.10000000149011612, + 0.24699999392032623 + ], + "localRot0": [ + 0.7071067690849304, + 0.0, + 0.0, + -0.7071067690849304 + ], + "localRot1": [ + 0.7071067690849304, + 0.0, + 0.0, + -0.7071067690849304 + ], + "static_frames": [] } }, { @@ -504,6 +586,47 @@ "/World/steam_wand" ], "proxyPrim": [] + }, + "id": "steam_wand_swivel", + "path": "/World/Joints/steam_wand_swivel", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "steam_wand_swivel", + "source_prim_path": "/World/Joints/steam_wand_swivel", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/steam_wand" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -90.0, + "upperLimit": 90.0, + "localPos0": [ + 0.08049999922513962, + -0.0860000029206276, + 0.1899999976158142 + ], + "localPos1": [ + 0.08049999922513962, + -0.0860000029206276, + 0.1899999976158142 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -672,6 +795,47 @@ "/World/panel_button_onoff" ], "proxyPrim": [] + }, + "id": "panel_button_onoff_press", + "path": "/World/Joints/panel_button_onoff_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "panel_button_onoff_press", + "source_prim_path": "/World/Joints/panel_button_onoff_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/panel_button_onoff" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.004000000189989805, + "localPos0": [ + -0.03530000150203705, + -0.156700000166893, + 0.28299999237060547 + ], + "localPos1": [ + -0.03530000150203705, + -0.156700000166893, + 0.28299999237060547 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -840,6 +1004,47 @@ "/World/panel_button_1cup" ], "proxyPrim": [] + }, + "id": "panel_button_1cup_press", + "path": "/World/Joints/panel_button_1cup_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "panel_button_1cup_press", + "source_prim_path": "/World/Joints/panel_button_1cup_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/panel_button_1cup" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.004000000189989805, + "localPos0": [ + -0.011800000444054604, + -0.156700000166893, + 0.28299999237060547 + ], + "localPos1": [ + -0.011800000444054604, + -0.156700000166893, + 0.28299999237060547 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1008,6 +1213,47 @@ "/World/panel_button_2cup" ], "proxyPrim": [] + }, + "id": "panel_button_2cup_press", + "path": "/World/Joints/panel_button_2cup_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "panel_button_2cup_press", + "source_prim_path": "/World/Joints/panel_button_2cup_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/panel_button_2cup" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.004000000189989805, + "localPos0": [ + 0.011800000444054604, + -0.156700000166893, + 0.28299999237060547 + ], + "localPos1": [ + 0.011800000444054604, + -0.156700000166893, + 0.28299999237060547 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1176,6 +1422,47 @@ "/World/panel_button_steam" ], "proxyPrim": [] + }, + "id": "panel_button_steam_press", + "path": "/World/Joints/panel_button_steam_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "panel_button_steam_press", + "source_prim_path": "/World/Joints/panel_button_steam_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/panel_button_steam" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.004000000189989805, + "localPos0": [ + 0.03530000150203705, + -0.156700000166893, + 0.28299999237060547 + ], + "localPos1": [ + 0.03530000150203705, + -0.156700000166893, + 0.28299999237060547 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1317,6 +1604,44 @@ "/World/drip_tray" ], "proxyPrim": [] + }, + "id": "FixedJoint_drip_tray", + "path": "/World/Joints/FixedJoint_drip_tray", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "FixedJoint_drip_tray", + "source_prim_path": "/World/Joints/FixedJoint_drip_tray", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/drip_tray" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1458,52 +1783,96 @@ "/World/water_tank" ], "proxyPrim": [] + }, + "id": "FixedJoint_water_tank", + "path": "/World/Joints/FixedJoint_water_tank", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "FixedJoint_water_tank", + "source_prim_path": "/World/Joints/FixedJoint_water_tank", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/water_tank" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 7, + "rigid_body_count": 10, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11709223687648773, - 0.30399999022483826, - 0.25200000405311584 - ], "min": [ -0.0729999989271164, - 0.0, - -0.15950000286102295 + -0.25200000405311584, + 0.0 + ], + "max": [ + 0.11709223687648773, + 0.15950000286102295, + 0.30399999022483826 ], "size": [ 0.19009223580360413, - 0.30399999022483826, - 0.4115000069141388 - ] + 0.4115000069141388, + 0.30399999022483826 + ], + "units": "m" }, "description": "Espresso Machine", "name": "body", "object_type": "rigid_bodies", - "total_mass": 5.030000003054738 + "total_mass": 5.030000003054738, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00693", "parts": [ { "bounds": { - "center": [ - 0.00975000113248825, - 0.15199999511241913, - 0.002750001847743988 + "min": [ + -0.0729999989271164, + -0.16500000655651093, + 0.0 ], "max": [ 0.0925000011920929, - 0.30399999022483826, - 0.16500000655651093 + 0.15950000286102295, + 0.30399999022483826 ], - "min": [ - -0.0729999989271164, - 0.0, - -0.15950000286102295 - ] + "size": [ + 0.1655000001192093, + 0.3245000094175339, + 0.30399999022483826 + ], + "units": "m" }, "collision": {}, "id": "body", @@ -1513,25 +1882,28 @@ "source": { "object_name": "World", "part_name": "body" - } + }, + "source_prim_path": "/World/body", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 2.0489096641540527e-08, - 0.038149996660649776, - 0.09779999777674675 + "min": [ + -0.058499980717897415, + -0.1615999937057495, + 0.02869999222457409 ], "max": [ 0.0585000216960907, - 0.047600001096725464, - 0.1615999937057495 + -0.03400000184774399, + 0.047600001096725464 ], - "min": [ - -0.058499980717897415, - 0.02869999222457409, - 0.03400000184774399 - ] + "size": [ + 0.11700000241398811, + 0.12759999185800552, + 0.018900008872151375 + ], + "units": "m" }, "collision": {}, "id": "drip_tray", @@ -1541,25 +1913,28 @@ "source": { "object_name": "World", "part_name": "drip_tray" - } + }, + "source_prim_path": "/World/drip_tray", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -8.381903171539307e-09, - 0.12098783999681473, - 0.1716499961912632 + "min": [ + -0.030700016766786575, + -0.25200000405311584, + 0.09047567844390869 ], "max": [ 0.030700000002980232, - 0.15150000154972076, - 0.25200000405311584 + -0.09129998832941055, + 0.15150000154972076 ], - "min": [ - -0.030700016766786575, - 0.09047567844390869, - 0.09129998832941055 - ] + "size": [ + 0.06140001676976681, + 0.1607000157237053, + 0.06102432310581207 + ], + "units": "m" }, "collision": {}, "id": "portafilter", @@ -1569,25 +1944,28 @@ "source": { "object_name": "World", "part_name": "portafilter" - } + }, + "source_prim_path": "/World/portafilter", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0856499969959259, - 0.24699999392032623, - 0.0868999995291233 + "min": [ + 0.06650000065565109, + -0.10849999636411667, + 0.23579999804496765 ], "max": [ 0.10479999333620071, - 0.2581999897956848, - 0.10849999636411667 + -0.06530000269412994, + 0.2581999897956848 ], - "min": [ - 0.06650000065565109, - 0.23579999804496765, - 0.06530000269412994 - ] + "size": [ + 0.03829999268054962, + 0.043199993669986725, + 0.022399991750717163 + ], + "units": "m" }, "collision": {}, "id": "steam_knob", @@ -1597,25 +1975,28 @@ "source": { "object_name": "World", "part_name": "steam_knob" - } + }, + "source_prim_path": "/World/steam_knob", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.09629611670970917, - 0.1380000039935112, - 0.0860000029206276 + "min": [ + 0.0754999965429306, + -0.09180000424385071, + 0.08550000190734863 ], "max": [ 0.11709223687648773, - 0.19050000607967377, - 0.09180000424385071 + -0.08020000159740448, + 0.19050000607967377 ], - "min": [ - 0.0754999965429306, - 0.08550000190734863, - 0.08020000159740448 - ] + "size": [ + 0.04159224033355713, + 0.011600002646446228, + 0.10500000417232513 + ], + "units": "m" }, "collision": {}, "id": "steam_wand", @@ -1625,25 +2006,28 @@ "source": { "object_name": "World", "part_name": "steam_wand" - } + }, + "source_prim_path": "/World/steam_wand", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -7.450580596923828e-09, - 0.17275000549852848, - -0.11140000075101852 + "min": [ + -0.06800001114606857, + 0.06599999964237213, + 0.0430000014603138 ], "max": [ 0.06799999624490738, - 0.30250000953674316, - -0.06599999964237213 + 0.15680000185966492, + 0.30250000953674316 ], - "min": [ - -0.06800001114606857, - 0.0430000014603138, - -0.15680000185966492 - ] + "size": [ + 0.13600000739097595, + 0.09080000221729279, + 0.25950000807642937 + ], + "units": "m" }, "collision": {}, "id": "water_tank", @@ -1653,25 +2037,28 @@ "source": { "object_name": "World", "part_name": "water_tank" - } + }, + "source_prim_path": "/World/water_tank", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.03525000158697367, - 0.28300000727176666, - 0.15675000101327896 + "min": [ + -0.04375000298023224, + -0.16050000488758087, + 0.27950000762939453 ], "max": [ -0.026750000193715096, - 0.2865000069141388, - 0.16050000488758087 + -0.15299999713897705, + 0.2865000069141388 ], - "min": [ - -0.04375000298023224, - 0.27950000762939453, - 0.15299999713897705 - ] + "size": [ + 0.017000002786517143, + 0.007500007748603821, + 0.006999999284744263 + ], + "units": "m" }, "collision": {}, "id": "panel_button_onoff", @@ -1681,25 +2068,28 @@ "source": { "object_name": "World", "part_name": "panel_button_onoff" - } + }, + "source_prim_path": "/World/panel_button_onoff", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.011750000179745257, - 0.28300000727176666, - 0.15675000101327896 + "min": [ + -0.020250000059604645, + -0.16050000488758087, + 0.27950000762939453 ], "max": [ -0.003250000299885869, - 0.2865000069141388, - 0.16050000488758087 + -0.15299999713897705, + 0.2865000069141388 ], - "min": [ - -0.020250000059604645, - 0.27950000762939453, - 0.15299999713897705 - ] + "size": [ + 0.016999999759718776, + 0.007500007748603821, + 0.006999999284744263 + ], + "units": "m" }, "collision": {}, "id": "panel_button_1cup", @@ -1709,25 +2099,28 @@ "source": { "object_name": "World", "part_name": "panel_button_1cup" - } + }, + "source_prim_path": "/World/panel_button_1cup", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.011750000063329935, - 0.28300000727176666, - 0.15675000101327896 + "min": [ + 0.0032500000670552254, + -0.16050000488758087, + 0.27950000762939453 ], "max": [ 0.020250000059604645, - 0.2865000069141388, - 0.16050000488758087 + -0.15299999713897705, + 0.2865000069141388 ], - "min": [ - 0.0032500000670552254, - 0.27950000762939453, - 0.15299999713897705 - ] + "size": [ + 0.01699999999254942, + 0.007500007748603821, + 0.006999999284744263 + ], + "units": "m" }, "collision": {}, "id": "panel_button_2cup", @@ -1737,25 +2130,28 @@ "source": { "object_name": "World", "part_name": "panel_button_2cup" - } + }, + "source_prim_path": "/World/panel_button_2cup", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.03524999972432852, - 0.28300000727176666, - 0.15675000101327896 + "min": [ + 0.026750000193715096, + -0.16050000488758087, + 0.27950000762939453 ], "max": [ 0.04374999925494194, - 0.2865000069141388, - 0.16050000488758087 + -0.15299999713897705, + 0.2865000069141388 ], - "min": [ - 0.026750000193715096, - 0.27950000762939453, - 0.15299999713897705 - ] + "size": [ + 0.016999999061226845, + 0.007500007748603821, + 0.006999999284744263 + ], + "units": "m" }, "collision": {}, "id": "panel_button_steam", @@ -1765,10 +2161,27 @@ "source": { "object_name": "World", "part_name": "panel_button_steam" - } + }, + "source_prim_path": "/World/panel_button_steam", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d69ed6dd8d26ce2194642a2ab32c44dbeec969bcec4d0a8873979cd221fb7741" + }, + "usd_path": "batch36/D00693_Espresso_Machine/IsaacSim_assets_D00693/IsaacSim_asset_D00693.usd", + "usd_sha256": "7d6f10e6081bc13525eb0954855ba6842d538a320592e20c198fde1a2848f4b7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -1785,24 +2198,58 @@ "up_axis": "Z", "bounds_m": [ 0.19009223580360413, - 0.30399999022483826, - 0.4115000069141388 - ] + 0.4115000069141388, + 0.30399999022483826 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d6f10e6081bc13525eb0954855ba6842d538a320592e20c198fde1a2848f4b7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 5.030000003054738 + "value_kg": 5.030000003054738, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d6f10e6081bc13525eb0954855ba6842d538a320592e20c198fde1a2848f4b7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 5.030000003054738, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 10 + "status": "verified", + "confidence": "high", + "shape_count": 177, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d6f10e6081bc13525eb0954855ba6842d538a320592e20c198fde1a2848f4b7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 177, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 9 + "moving_joints": 7, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d6f10e6081bc13525eb0954855ba6842d538a320592e20c198fde1a2848f4b7", + "scope": "authored_usd_joint_schema", + "joint_count": 9, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00713_Scale_Food_Processor/D00713_Scale_Food_Processor/IsaacSim_assets_D00713/physics_D00713.json b/batch36/D00713_Scale_Food_Processor/D00713_Scale_Food_Processor/IsaacSim_assets_D00713/physics_D00713.json index d4fa62521732bf75d00c57869b3f11880a1251ae..e7494d3ea8490ba02f7ef727b769a7d596340168 100644 --- a/batch36/D00713_Scale_Food_Processor/D00713_Scale_Food_Processor/IsaacSim_assets_D00713/physics_D00713.json +++ b/batch36/D00713_Scale_Food_Processor/D00713_Scale_Food_Processor/IsaacSim_assets_D00713/physics_D00713.json @@ -168,6 +168,47 @@ "/World/chopping_blade" ], "proxyPrim": [] + }, + "id": "blade_spin", + "path": "/World/Joints/blade_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "blade_spin", + "source_prim_path": "/World/Joints/blade_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/chopping_blade" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": "-Infinity", + "upperLimit": "Infinity", + "localPos0": [ + 0.0, + 0.0, + 0.19900000095367432 + ], + "localPos1": [ + 0.0, + 0.0, + 0.19900000095367432 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -351,6 +392,47 @@ "/World/power_button" ], "proxyPrim": [] + }, + "id": "power_button_press", + "path": "/World/Joints/power_button_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "power_button_press", + "source_prim_path": "/World/Joints/power_button_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/power_button" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 0.0020000000949949026, + "localPos0": [ + -0.057999998331069946, + -0.09579700231552124, + 0.0820000022649765 + ], + "localPos1": [ + -0.057999998331069946, + -0.09579700231552124, + 0.0820000022649765 + ], + "localRot0": [ + -0.6293205618858337, + 0.7771458029747009, + 0.0, + 0.0 + ], + "localRot1": [ + -0.6293205618858337, + 0.7771458029747009, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -519,6 +601,47 @@ "/World/chop_button" ], "proxyPrim": [] + }, + "id": "chop_button_press", + "path": "/World/Joints/chop_button_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "chop_button_press", + "source_prim_path": "/World/Joints/chop_button_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/chop_button" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.0010000000474974513, + "upperLimit": 0.0, + "localPos0": [ + -0.05249999836087227, + -0.10520000010728836, + 0.048500001430511475 + ], + "localPos1": [ + -0.05249999836087227, + -0.10520000010728836, + 0.048500001430511475 + ], + "localRot0": [ + 0.77714604139328, + -0.6293205618858337, + 0.0, + 0.0 + ], + "localRot1": [ + 0.77714604139328, + -0.6293205618858337, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -687,6 +810,47 @@ "/World/puree_button" ], "proxyPrim": [] + }, + "id": "puree_button_press", + "path": "/World/Joints/puree_button_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "puree_button_press", + "source_prim_path": "/World/Joints/puree_button_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/puree_button" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.0010000000474974513, + "upperLimit": 0.0, + "localPos0": [ + 0.05249999836087227, + -0.10520000010728836, + 0.048500001430511475 + ], + "localPos1": [ + 0.05249999836087227, + -0.10520000010728836, + 0.048500001430511475 + ], + "localRot0": [ + 0.77714604139328, + -0.6293205618858337, + 0.0, + 0.0 + ], + "localRot1": [ + 0.77714604139328, + -0.6293205618858337, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -855,6 +1019,47 @@ "/World/shred_button" ], "proxyPrim": [] + }, + "id": "shred_button_press", + "path": "/World/Joints/shred_button_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "shred_button_press", + "source_prim_path": "/World/Joints/shred_button_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/shred_button" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.0010000000474974513, + "upperLimit": 0.0, + "localPos0": [ + 0.017500000074505806, + -0.10520000010728836, + 0.048500001430511475 + ], + "localPos1": [ + 0.017500000074505806, + -0.10520000010728836, + 0.048500001430511475 + ], + "localRot0": [ + 0.77714604139328, + -0.6293205618858337, + 0.0, + 0.0 + ], + "localRot1": [ + 0.77714604139328, + -0.6293205618858337, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1023,6 +1228,47 @@ "/World/slice_button" ], "proxyPrim": [] + }, + "id": "slice_button_press", + "path": "/World/Joints/slice_button_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "slice_button_press", + "source_prim_path": "/World/Joints/slice_button_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/slice_button" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.0010000000474974513, + "upperLimit": 0.0, + "localPos0": [ + -0.017500000074505806, + -0.10520000010728836, + 0.048500001430511475 + ], + "localPos1": [ + -0.017500000074505806, + -0.10520000010728836, + 0.048500001430511475 + ], + "localRot0": [ + 0.77714604139328, + -0.6293205618858337, + 0.0, + 0.0 + ], + "localRot1": [ + 0.77714604139328, + -0.6293205618858337, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1191,6 +1437,47 @@ "/World/scale_button" ], "proxyPrim": [] + }, + "id": "scale_button_press", + "path": "/World/Joints/scale_button_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "scale_button_press", + "source_prim_path": "/World/Joints/scale_button_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/scale_button" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.0010000000474974513, + "upperLimit": 0.0, + "localPos0": [ + -0.03200000151991844, + -0.09969999641180038, + 0.0828000009059906 + ], + "localPos1": [ + -0.03200000151991844, + -0.09969999641180038, + 0.0828000009059906 + ], + "localRot0": [ + 0.77714604139328, + -0.6293205618858337, + 0.0, + 0.0 + ], + "localRot1": [ + 0.77714604139328, + -0.6293205618858337, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1359,6 +1646,47 @@ "/World/tare_button" ], "proxyPrim": [] + }, + "id": "tare_button_press", + "path": "/World/Joints/tare_button_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "tare_button_press", + "source_prim_path": "/World/Joints/tare_button_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/tare_button" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.0010000000474974513, + "upperLimit": 0.0, + "localPos0": [ + 0.03799999877810478, + -0.09969999641180038, + 0.0828000009059906 + ], + "localPos1": [ + 0.03799999877810478, + -0.09969999641180038, + 0.0828000009059906 + ], + "localRot0": [ + 0.77714604139328, + -0.6293205618858337, + 0.0, + 0.0 + ], + "localRot1": [ + 0.77714604139328, + -0.6293205618858337, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1527,52 +1855,99 @@ "/World/unit_button" ], "proxyPrim": [] + }, + "id": "unit_button_press", + "path": "/World/Joints/unit_button_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "unit_button_press", + "source_prim_path": "/World/Joints/unit_button_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/unit_button" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.0010000000474974513, + "upperLimit": 0.0, + "localPos0": [ + 0.061500001698732376, + -0.09969999641180038, + 0.0828000009059906 + ], + "localPos1": [ + 0.061500001698732376, + -0.09969999641180038, + 0.0828000009059906 + ], + "localRot0": [ + 0.77714604139328, + -0.6293205618858337, + 0.0, + 0.0 + ], + "localRot1": [ + 0.77714604139328, + -0.6293205618858337, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 9, + "rigid_body_count": 11, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15666083991527557, - 0.4772999882698059, - 0.10999999940395355 - ], "min": [ -0.10100000351667404, - 0.0, - -0.10999999940395355 + -0.10999999940395355, + 0.0 + ], + "max": [ + 0.15666083991527557, + 0.10999999940395355, + 0.4772999882698059 ], "size": [ 0.2576608434319496, - 0.4772999882698059, - 0.2199999988079071 - ] + 0.2199999988079071, + 0.4772999882698059 + ], + "units": "m" }, "description": "Scale Food Processor", "name": "body", "object_type": "rigid_bodies", - "total_mass": 3.5100000500679016 + "total_mass": 3.5100000500679016, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00713", "parts": [ { "bounds": { - "center": [ - 0.027830418199300766, - 0.19750000536441803, + "min": [ + -0.10100000351667404, + -0.10999999940395355, 0.0 ], "max": [ 0.15666083991527557, - 0.39500001072883606, - 0.10999999940395355 + 0.10999999940395355, + 0.39500001072883606 ], - "min": [ - -0.10100000351667404, - 0.0, - -0.10999999940395355 - ] + "size": [ + 0.2576608434319496, + 0.2199999988079071, + 0.39500001072883606 + ], + "units": "m" }, "collision": {}, "id": "body", @@ -1582,25 +1957,28 @@ "source": { "object_name": "World", "part_name": "body" - } + }, + "source_prim_path": "/World/body", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.004157127812504768, - 0.20674999803304672, - 0.0013419613242149353 + "min": [ + -0.05673256143927574, + -0.039185259491205215, + 0.1655000001192093 ], "max": [ 0.06504681706428528, - 0.24799999594688416, - 0.039185259491205215 + 0.036501336842775345, + 0.24799999594688416 ], - "min": [ - -0.05673256143927574, - 0.1655000001192093, - -0.036501336842775345 - ] + "size": [ + 0.12177937850356102, + 0.07568659633398056, + 0.08249999582767487 + ], + "units": "m" }, "collision": {}, "id": "chopping_blade", @@ -1610,25 +1988,28 @@ "source": { "object_name": "World", "part_name": "chopping_blade" - } + }, + "source_prim_path": "/World/chopping_blade", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.057999998331069946, - 0.08181288093328476, - 0.09542493149638176 + "min": [ + -0.06729999929666519, + -0.10285504162311554, + 0.0716557577252388 ], "max": [ -0.0486999973654747, - 0.09197000414133072, - 0.10285504162311554 + -0.08799482136964798, + 0.09197000414133072 ], - "min": [ - -0.06729999929666519, - 0.0716557577252388, - 0.08799482136964798 - ] + "size": [ + 0.01860000193119049, + 0.01486022025346756, + 0.02031424641609192 + ], + "units": "m" }, "collision": {}, "id": "power_button", @@ -1638,25 +2019,28 @@ "source": { "object_name": "World", "part_name": "power_button" - } + }, + "source_prim_path": "/World/power_button", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.4061499983072281, - 0.0 + "min": [ + -0.03849999979138374, + -0.03849999979138374, + 0.33500000834465027 ], "max": [ 0.03849999979138374, - 0.4772999882698059, - 0.03849999979138374 + 0.03849999979138374, + 0.4772999882698059 ], - "min": [ - -0.03849999979138374, - 0.33500000834465027, - -0.03849999979138374 - ] + "size": [ + 0.07699999958276749, + 0.07699999958276749, + 0.14229997992515564 + ], + "units": "m" }, "collision": {}, "id": "food_pusher", @@ -1666,25 +2050,28 @@ "source": { "object_name": "World", "part_name": "food_pusher" - } + }, + "source_prim_path": "/World/food_pusher", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.05249999649822712, - 0.04845740646123886, - 0.10517613217234612 + "min": [ + -0.06829999387264252, + -0.10790546983480453, + 0.0420309342443943 ], "max": [ -0.03669999912381172, - 0.05488387867808342, - 0.10790546983480453 + -0.1024467945098877, + 0.05488387867808342 ], - "min": [ - -0.06829999387264252, - 0.0420309342443943, - 0.1024467945098877 - ] + "size": [ + 0.031599994748830795, + 0.00545867532491684, + 0.012852944433689117 + ], + "units": "m" }, "collision": {}, "id": "chop_button", @@ -1694,25 +2081,28 @@ "source": { "object_name": "World", "part_name": "chop_button" - } + }, + "source_prim_path": "/World/chop_button", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.05249999649822712, - 0.04845740646123886, - 0.10517613217234612 + "min": [ + 0.03669999912381172, + -0.10790546983480453, + 0.0420309342443943 ], "max": [ 0.06829999387264252, - 0.05488387867808342, - 0.10790546983480453 + -0.1024467945098877, + 0.05488387867808342 ], - "min": [ - 0.03669999912381172, - 0.0420309342443943, - 0.1024467945098877 - ] + "size": [ + 0.031599994748830795, + 0.00545867532491684, + 0.012852944433689117 + ], + "units": "m" }, "collision": {}, "id": "puree_button", @@ -1722,25 +2112,28 @@ "source": { "object_name": "World", "part_name": "puree_button" - } + }, + "source_prim_path": "/World/puree_button", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.03200000151991844, - 0.08272769302129745, - 0.09964136406779289 + "min": [ + -0.04100000113248825, + -0.10320471972227097, + 0.07365407794713974 ], "max": [ -0.023000001907348633, - 0.09180130809545517, - 0.10320471972227097 + -0.09607800841331482, + 0.09180130809545517 ], - "min": [ - -0.04100000113248825, - 0.07365407794713974, - 0.09607800841331482 - ] + "size": [ + 0.017999999225139618, + 0.007126711308956146, + 0.01814723014831543 + ], + "units": "m" }, "collision": {}, "id": "scale_button", @@ -1750,25 +2143,28 @@ "source": { "object_name": "World", "part_name": "scale_button" - } + }, + "source_prim_path": "/World/scale_button", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.01749999914318323, - 0.04845740646123886, - 0.10517613217234612 + "min": [ + 0.001700000837445259, + -0.10790546983480453, + 0.0420309342443943 ], "max": [ 0.033299997448921204, - 0.05488387867808342, - 0.10790546983480453 + -0.1024467945098877, + 0.05488387867808342 ], - "min": [ - 0.001700000837445259, - 0.0420309342443943, - 0.1024467945098877 - ] + "size": [ + 0.031599996611475945, + 0.00545867532491684, + 0.012852944433689117 + ], + "units": "m" }, "collision": {}, "id": "shred_button", @@ -1778,25 +2174,28 @@ "source": { "object_name": "World", "part_name": "shred_button" - } + }, + "source_prim_path": "/World/shred_button", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.01749999914318323, - 0.04845740646123886, - 0.10517613217234612 + "min": [ + -0.033299997448921204, + -0.10790546983480453, + 0.0420309342443943 ], "max": [ -0.001700000837445259, - 0.05488387867808342, - 0.10790546983480453 + -0.1024467945098877, + 0.05488387867808342 ], - "min": [ - -0.033299997448921204, - 0.0420309342443943, - 0.1024467945098877 - ] + "size": [ + 0.031599996611475945, + 0.00545867532491684, + 0.012852944433689117 + ], + "units": "m" }, "collision": {}, "id": "slice_button", @@ -1806,25 +2205,28 @@ "source": { "object_name": "World", "part_name": "slice_button" - } + }, + "source_prim_path": "/World/slice_button", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.03799999877810478, - 0.08272769302129745, - 0.09964136406779289 + "min": [ + 0.028999999165534973, + -0.10320471972227097, + 0.07365407794713974 ], "max": [ 0.04699999839067459, - 0.09180130809545517, - 0.10320471972227097 + -0.09607800841331482, + 0.09180130809545517 ], - "min": [ - 0.028999999165534973, - 0.07365407794713974, - 0.09607800841331482 - ] + "size": [ + 0.017999999225139618, + 0.007126711308956146, + 0.01814723014831543 + ], + "units": "m" }, "collision": {}, "id": "tare_button", @@ -1834,25 +2236,28 @@ "source": { "object_name": "World", "part_name": "tare_button" - } + }, + "source_prim_path": "/World/tare_button", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.061500001698732376, - 0.08272769302129745, - 0.09964136406779289 + "min": [ + 0.05250000208616257, + -0.10320471972227097, + 0.07365407794713974 ], "max": [ 0.07050000131130219, - 0.09180130809545517, - 0.10320471972227097 + -0.09607800841331482, + 0.09180130809545517 ], - "min": [ - 0.05250000208616257, - 0.07365407794713974, - 0.09607800841331482 - ] + "size": [ + 0.017999999225139618, + 0.007126711308956146, + 0.01814723014831543 + ], + "units": "m" }, "collision": {}, "id": "unit_button", @@ -1862,10 +2267,27 @@ "source": { "object_name": "World", "part_name": "unit_button" - } + }, + "source_prim_path": "/World/unit_button", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d916b40bbcbcdfa4b1fc25e22d0f2efebf99a4d35c55f146e4445d7a62071ee9" + }, + "usd_path": "batch36/D00713_Scale_Food_Processor/D00713_Scale_Food_Processor/IsaacSim_assets_D00713/IsaacSim_asset_D00713.usd", + "usd_sha256": "8328f447bab1734b2261e01ab73a0c8fb6e2cbb0351dd5acbe0092c8f6709d93", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -1882,24 +2304,58 @@ "up_axis": "Z", "bounds_m": [ 0.2576608434319496, - 0.4772999882698059, - 0.2199999988079071 - ] + 0.2199999988079071, + 0.4772999882698059 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8328f447bab1734b2261e01ab73a0c8fb6e2cbb0351dd5acbe0092c8f6709d93", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.5100000500679016 + "value_kg": 3.5100000500679016, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8328f447bab1734b2261e01ab73a0c8fb6e2cbb0351dd5acbe0092c8f6709d93", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.5100000500679016, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 11 + "status": "verified", + "confidence": "high", + "shape_count": 240, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8328f447bab1734b2261e01ab73a0c8fb6e2cbb0351dd5acbe0092c8f6709d93", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 240, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 9 + "moving_joints": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8328f447bab1734b2261e01ab73a0c8fb6e2cbb0351dd5acbe0092c8f6709d93", + "scope": "authored_usd_joint_schema", + "joint_count": 9, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00715_Scissors/IsaacSim_assets_D00715/physics_D00715.json b/batch36/D00715_Scissors/IsaacSim_assets_D00715/physics_D00715.json index aba2bd2f1711ba42f8829b56b7e978e4cf939d75..eaf7a5505f51d85b4212bf70b7dddbb4329ce877 100644 --- a/batch36/D00715_Scissors/IsaacSim_assets_D00715/physics_D00715.json +++ b/batch36/D00715_Scissors/IsaacSim_assets_D00715/physics_D00715.json @@ -168,52 +168,99 @@ "/World/pivot_hinge" ], "proxyPrim": [] + }, + "id": "pivot_hinge", + "path": "/World/Joints/pivot_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "pivot_hinge", + "source_prim_path": "/World/Joints/pivot_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/scissors_root" + ], + "body1": [ + "/World/pivot_hinge" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -60.0, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.0, + 0.1247280016541481 + ], + "localPos1": [ + 0.0, + 0.0, + 0.1247280016541481 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04778120375936679, - 0.007686913882230551, - 0.11183526731175603 - ], "min": [ -0.04749931707996224, - -2.341426867317857e-07, - -0.09790002629815699 + -0.11183526731175604, + -2.3414268673221938e-07 + ], + "max": [ + 0.04778120375936679, + 0.09790002629815699, + 0.007686913882230551 ], "size": [ 0.09528052083932903, - 0.007687148024917283, - 0.209735293609913 - ] + 0.20973529360991303, + 0.007687148024917283 + ], + "units": "m" }, "description": "Scissors", "name": "scissors_root", "object_type": "rigid_bodies", - "total_mass": 0.10000000149011612 + "total_mass": 0.10000000149011612, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00715", "parts": [ { "bounds": { - "center": [ - -0.018064048165296165, - 0.0038433354416006534, - 0.006975910515040769 + "min": [ + -0.04749931707996224, + -0.11183524471415462, + -2.3414268673221938e-07 ], "max": [ 0.011371220749369904, - 0.007686905025888039, - 0.11183524471415462 + 0.09788342368407309, + 0.00768690502588804 ], - "min": [ - -0.04749931707996224, - -2.341426867317857e-07, - -0.09788342368407309 - ] + "size": [ + 0.058870537829332145, + 0.20971866839822773, + 0.007687139168574772 + ], + "units": "m" }, "collision": {}, "id": "scissors_root", @@ -223,25 +270,28 @@ "source": { "object_name": "World", "part_name": "scissors_root" - } + }, + "source_prim_path": "/World/scissors_root", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.018376286977822787, - 0.0038433847964362707, - 0.00696762050679952 + "min": [ + -0.011028629803721221, + -0.11183526731175604, + -1.4428935800987405e-07 ], "max": [ 0.04778120375936679, - 0.007686913882230551, - 0.11183526731175603 + 0.09790002629815699, + 0.007686913882230551 ], - "min": [ - -0.011028629803721221, - -1.4428935800944037e-07, - -0.09790002629815699 - ] + "size": [ + 0.05880983356308801, + 0.20973529360991303, + 0.007687058171588561 + ], + "units": "m" }, "collision": {}, "id": "pivot_hinge", @@ -251,10 +301,27 @@ "source": { "object_name": "World", "part_name": "pivot_hinge" - } + }, + "source_prim_path": "/World/pivot_hinge", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4fc4f944eaceefee7c417f92843bd6a9c8b389b1d578be47081aea1e0d7bb9c9" + }, + "usd_path": "batch36/D00715_Scissors/IsaacSim_assets_D00715/IsaacSim_asset_D00715.usd", + "usd_sha256": "d9f05144ec00b99fc44a2861447015a74319255c6389a3545600fae4643ab956", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -271,24 +338,58 @@ "up_axis": "Z", "bounds_m": [ 0.09528052083932903, - 0.007687148024917283, - 0.209735293609913 - ] + 0.20973529360991303, + 0.007687148024917283 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9f05144ec00b99fc44a2861447015a74319255c6389a3545600fae4643ab956", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.10000000149011612 + "value_kg": 0.10000000149011612, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9f05144ec00b99fc44a2861447015a74319255c6389a3545600fae4643ab956", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.10000000149011612, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9f05144ec00b99fc44a2861447015a74319255c6389a3545600fae4643ab956", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9f05144ec00b99fc44a2861447015a74319255c6389a3545600fae4643ab956", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00726_Shopping_Basket/D00726_Shopping_Basket/IsaacSim_assets_D00726/physics_D00726.json b/batch36/D00726_Shopping_Basket/D00726_Shopping_Basket/IsaacSim_assets_D00726/physics_D00726.json index 51f90d8f1e21185d4e1af15ef8b78caf0ddbf1ce..438ef9c7ae1ade6fc55e77f3d1a9e67b588653bb 100644 --- a/batch36/D00726_Shopping_Basket/D00726_Shopping_Basket/IsaacSim_assets_D00726/physics_D00726.json +++ b/batch36/D00726_Shopping_Basket/D00726_Shopping_Basket/IsaacSim_assets_D00726/physics_D00726.json @@ -168,6 +168,47 @@ "/World/handle_left" ], "proxyPrim": [] + }, + "id": "handle_left_swing", + "path": "/World/Joints/handle_left_swing", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "handle_left_swing", + "source_prim_path": "/World/Joints/handle_left_swing", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/basket_body" + ], + "body1": [ + "/World/handle_left" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -150.0, + "upperLimit": 2.0, + "localPos0": [ + 0.0, + 0.1468999981880188, + 0.2718999981880188 + ], + "localPos1": [ + 0.0, + 0.1468999981880188, + 0.2718999981880188 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,52 +377,99 @@ "/World/handle_right" ], "proxyPrim": [] + }, + "id": "handle_right_swing", + "path": "/World/Joints/handle_right_swing", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "handle_right_swing", + "source_prim_path": "/World/Joints/handle_right_swing", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/basket_body" + ], + "body1": [ + "/World/handle_right" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -2.0, + "upperLimit": 150.0, + "localPos0": [ + 0.0, + -0.1468999981880188, + 0.2718999981880188 + ], + "localPos1": [ + 0.0, + -0.1468999981880188, + 0.2718999981880188 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 2, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.23697584867477417, - 0.3719371259212494, - 0.1569758653640747 - ], "min": [ -0.23697584867477417, - 0.0, - -0.1569758653640747 + -0.1569758653640747, + 0.0 + ], + "max": [ + 0.23697584867477417, + 0.1569758653640747, + 0.3719371259212494 ], "size": [ 0.47395169734954834, - 0.3719371259212494, - 0.3139517307281494 - ] + 0.3139517307281494, + 0.3719371259212494 + ], + "units": "m" }, "description": "Shopping Basket", "name": "basket_body", "object_type": "rigid_bodies", - "total_mass": 0.6500000134110451 + "total_mass": 0.6500000134110451, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00726", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.1392499953508377, + "min": [ + -0.23697584867477417, + -0.1569758653640747, 0.0 ], "max": [ 0.23697584867477417, - 0.2784999907016754, - 0.1569758653640747 + 0.1569758653640747, + 0.2784999907016754 ], - "min": [ - -0.23697584867477417, - 0.0, - -0.1569758653640747 - ] + "size": [ + 0.47395169734954834, + 0.3139517307281494, + 0.2784999907016754 + ], + "units": "m" }, "collision": {}, "id": "basket_body", @@ -391,25 +479,28 @@ "source": { "object_name": "World", "part_name": "basket_body" - } + }, + "source_prim_path": "/World/basket_body", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.32034488022327423, - -0.07663336081895977 + "min": [ + -0.18299999833106995, + 0.002519377740100026, + 0.2687526345252991 ], "max": [ 0.18299999833106995, - 0.3719371259212494, - -0.002519377740100026 + 0.15074734389781952, + 0.3719371259212494 ], - "min": [ - -0.18299999833106995, - 0.2687526345252991, - -0.15074734389781952 - ] + "size": [ + 0.3659999966621399, + 0.1482279661577195, + 0.10318449139595032 + ], + "units": "m" }, "collision": {}, "id": "handle_left", @@ -419,25 +510,28 @@ "source": { "object_name": "World", "part_name": "handle_left" - } + }, + "source_prim_path": "/World/handle_left", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.32034488022327423, - 0.07663336081895977 + "min": [ + -0.18299999833106995, + -0.15074734389781952, + 0.2687526345252991 ], "max": [ 0.18299999833106995, - 0.3719371259212494, - 0.15074734389781952 + -0.002519377740100026, + 0.3719371259212494 ], - "min": [ - -0.18299999833106995, - 0.2687526345252991, - 0.002519377740100026 - ] + "size": [ + 0.3659999966621399, + 0.1482279661577195, + 0.10318449139595032 + ], + "units": "m" }, "collision": {}, "id": "handle_right", @@ -447,10 +541,27 @@ "source": { "object_name": "World", "part_name": "handle_right" - } + }, + "source_prim_path": "/World/handle_right", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "cc5fab5bb039024e13c77bde2eddd0055932c20e146b24c570bdf0c17c3186c5" + }, + "usd_path": "batch36/D00726_Shopping_Basket/D00726_Shopping_Basket/IsaacSim_assets_D00726/IsaacSim_asset_D00726.usd", + "usd_sha256": "ef8357edf18b96fdfaf6a57ad3484bf401e48a138250670a224acdd0e9b71c9b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -467,24 +578,58 @@ "up_axis": "Z", "bounds_m": [ 0.47395169734954834, - 0.3719371259212494, - 0.3139517307281494 - ] + 0.3139517307281494, + 0.3719371259212494 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef8357edf18b96fdfaf6a57ad3484bf401e48a138250670a224acdd0e9b71c9b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6500000134110451 + "value_kg": 0.6500000134110451, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef8357edf18b96fdfaf6a57ad3484bf401e48a138250670a224acdd0e9b71c9b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6500000134110451, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 386, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef8357edf18b96fdfaf6a57ad3484bf401e48a138250670a224acdd0e9b71c9b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 386, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ef8357edf18b96fdfaf6a57ad3484bf401e48a138250670a224acdd0e9b71c9b", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00729_Slow_Cooker/D00729_Slow_Cooker/IsaacSim_assets_D00729/physics_D00729.json b/batch36/D00729_Slow_Cooker/D00729_Slow_Cooker/IsaacSim_assets_D00729/physics_D00729.json index daeda1ff9a937a2fee937923d71cb268866f08fe..ac1508d45a02980d4c42421e0332867eeaa5945f 100644 --- a/batch36/D00729_Slow_Cooker/D00729_Slow_Cooker/IsaacSim_assets_D00729/physics_D00729.json +++ b/batch36/D00729_Slow_Cooker/D00729_Slow_Cooker/IsaacSim_assets_D00729/physics_D00729.json @@ -168,6 +168,47 @@ "/World/lid_latch_left" ], "proxyPrim": [] + }, + "id": "latch_left_flip", + "path": "/World/Joints/latch_left_flip", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "latch_left_flip", + "source_prim_path": "/World/Joints/latch_left_flip", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/base_unit" + ], + "body1": [ + "/World/lid_latch_left" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 90.0, + "localPos0": [ + -0.18950000405311584, + 0.0, + 0.1860000044107437 + ], + "localPos1": [ + -0.18950000405311584, + 0.0, + 0.1860000044107437 + ], + "localRot0": [ + -0.0, + 0.7071067690849304, + 0.0, + 0.7071067690849304 + ], + "localRot1": [ + -0.0, + 0.7071067690849304, + 0.0, + 0.7071067690849304 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/lid_latch_right" ], "proxyPrim": [] + }, + "id": "latch_right_flip", + "path": "/World/Joints/latch_right_flip", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "latch_right_flip", + "source_prim_path": "/World/Joints/latch_right_flip", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/base_unit" + ], + "body1": [ + "/World/lid_latch_right" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 90.0, + "localPos0": [ + 0.18950000405311584, + 0.0, + 0.1860000044107437 + ], + "localPos1": [ + 0.18950000405311584, + 0.0, + 0.1860000044107437 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -519,6 +601,47 @@ "/World/timer_button_upper" ], "proxyPrim": [] + }, + "id": "timer_button_upper_press", + "path": "/World/Joints/timer_button_upper_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "timer_button_upper_press", + "source_prim_path": "/World/Joints/timer_button_upper_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/base_unit" + ], + "body1": [ + "/World/timer_button_upper" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.003000000026077032, + "localPos0": [ + 0.004000000189989805, + -0.13600000739097595, + 0.05730000138282776 + ], + "localPos1": [ + 0.004000000189989805, + -0.13600000739097595, + 0.05730000138282776 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -687,6 +810,47 @@ "/World/timer_button_lower" ], "proxyPrim": [] + }, + "id": "timer_button_lower_press", + "path": "/World/Joints/timer_button_lower_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "timer_button_lower_press", + "source_prim_path": "/World/Joints/timer_button_lower_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/base_unit" + ], + "body1": [ + "/World/timer_button_lower" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.003000000026077032, + "localPos0": [ + 0.004000000189989805, + -0.13600000739097595, + 0.04820000007748604 + ], + "localPos1": [ + 0.004000000189989805, + -0.13600000739097595, + 0.04820000007748604 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -870,6 +1034,47 @@ "/World/select_button" ], "proxyPrim": [] + }, + "id": "select_button_press", + "path": "/World/Joints/select_button_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "select_button_press", + "source_prim_path": "/World/Joints/select_button_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/base_unit" + ], + "body1": [ + "/World/select_button" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.003000000026077032, + "localPos0": [ + -0.04100000113248825, + -0.13699999451637268, + 0.05249999836087227 + ], + "localPos1": [ + -0.04100000113248825, + -0.13699999451637268, + 0.05249999836087227 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1053,52 +1258,99 @@ "/World/off_button" ], "proxyPrim": [] + }, + "id": "off_button_press", + "path": "/World/Joints/off_button_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "off_button_press", + "source_prim_path": "/World/Joints/off_button_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/base_unit" + ], + "body1": [ + "/World/off_button" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.003000000026077032, + "localPos0": [ + 0.04100000113248825, + -0.13699999451637268, + 0.05249999836087227 + ], + "localPos1": [ + 0.04100000113248825, + -0.13699999451637268, + 0.05249999836087227 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 6, + "rigid_body_count": 8, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.22230319678783417, - 0.259954000473207, - 0.148499995470047 - ], "min": [ -0.22230319678783417, - 0.0, - -0.148499995470047 + -0.148499995470047, + 0.0 + ], + "max": [ + 0.22230319678783417, + 0.148499995470047, + 0.259954000473207 ], "size": [ 0.44460639357566833, - 0.259954000473207, - 0.296999990940094 - ] + 0.296999990940094, + 0.259954000473207 + ], + "units": "m" }, "description": "Slow Cooker", "name": "base_unit", "object_type": "rigid_bodies", - "total_mass": 4.38000001013279 + "total_mass": 4.38000001013279, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00729", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.09799999743700027, + "min": [ + -0.22230319678783417, + -0.148499995470047, 0.0 ], "max": [ 0.22230319678783417, - 0.19599999487400055, - 0.148499995470047 + 0.148499995470047, + 0.19599999487400055 ], - "min": [ - -0.22230319678783417, - 0.0, - -0.148499995470047 - ] + "size": [ + 0.44460639357566833, + 0.296999990940094, + 0.19599999487400055 + ], + "units": "m" }, "collision": {}, "id": "base_unit", @@ -1108,25 +1360,28 @@ "source": { "object_name": "World", "part_name": "base_unit" - } + }, + "source_prim_path": "/World/base_unit", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.22772901004571294, - 0.0 + "min": [ + -0.1762000024318695, + -0.14319999516010284, + 0.1955040196182189 ], "max": [ 0.1762000024318695, - 0.259954000473207, - 0.14319999516010284 + 0.14319999516010284, + 0.259954000473207 ], - "min": [ - -0.1762000024318695, - 0.1955040196182189, - -0.14319999516010284 - ] + "size": [ + 0.352400004863739, + 0.2863999903202057, + 0.0644499808549881 + ], + "units": "m" }, "collision": {}, "id": "lid", @@ -1136,25 +1391,28 @@ "source": { "object_name": "World", "part_name": "lid" - } + }, + "source_prim_path": "/World/lid", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.18500001728534698, - 0.1957399845123291, - -0.0001299707219004631 + "min": [ + -0.1980000138282776, + -0.014670029282569885, + 0.17758998274803162 ], "max": [ -0.17200002074241638, - 0.2138899862766266, - 0.014670029282569885 + 0.014929970726370811, + 0.2138899862766266 ], - "min": [ - -0.1980000138282776, - 0.17758998274803162, - -0.014929970726370811 - ] + "size": [ + 0.025999993085861206, + 0.029600000008940697, + 0.03630000352859497 + ], + "units": "m" }, "collision": {}, "id": "lid_latch_left", @@ -1164,25 +1422,28 @@ "source": { "object_name": "World", "part_name": "lid_latch_left" - } + }, + "source_prim_path": "/World/lid_latch_left", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.1850000023841858, - 0.19564999639987946, - -2.3862812668085098e-05 + "min": [ + 0.1720000058412552, + -0.014952274039387703, + 0.17749999463558197 ], "max": [ 0.1979999989271164, - 0.21379999816417694, - 0.014952274039387703 + 0.014999999664723873, + 0.21379999816417694 ], - "min": [ - 0.1720000058412552, - 0.17749999463558197, - -0.014999999664723873 - ] + "size": [ + 0.025999993085861206, + 0.029952273704111576, + 0.03630000352859497 + ], + "units": "m" }, "collision": {}, "id": "lid_latch_right", @@ -1192,25 +1453,28 @@ "source": { "object_name": "World", "part_name": "lid_latch_right" - } + }, + "source_prim_path": "/World/lid_latch_right", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.004000000189989805, - 0.05724002234637737, - 0.13625000417232513 + "min": [ + 0.0006714817136526108, + -0.1420000046491623, + 0.05490000173449516 ], "max": [ 0.007328518666327, - 0.05958004295825958, - 0.1420000046491623 + -0.13050000369548798, + 0.05958004295825958 ], - "min": [ - 0.0006714817136526108, - 0.05490000173449516, - 0.13050000369548798 - ] + "size": [ + 0.006657036952674389, + 0.011500000953674316, + 0.0046800412237644196 + ], + "units": "m" }, "collision": {}, "id": "timer_button_upper", @@ -1220,25 +1484,28 @@ "source": { "object_name": "World", "part_name": "timer_button_upper" - } + }, + "source_prim_path": "/World/timer_button_upper", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.004000000539235771, - 0.04815997928380966, - 0.13625000417232513 + "min": [ + 0.0006714814808219671, + -0.1420000046491623, + 0.0458199568092823 ], "max": [ 0.007328519597649574, - 0.05050000175833702, - 0.1420000046491623 + -0.13050000369548798, + 0.05050000175833702 ], - "min": [ - 0.0006714814808219671, - 0.0458199568092823, - 0.13050000369548798 - ] + "size": [ + 0.006657038116827607, + 0.011500000953674316, + 0.004680044949054718 + ], + "units": "m" }, "collision": {}, "id": "timer_button_lower", @@ -1248,25 +1515,28 @@ "source": { "object_name": "World", "part_name": "timer_button_lower" - } + }, + "source_prim_path": "/World/timer_button_lower", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0409999992698431, - 0.05250000022351742, - 0.1371717005968094 + "min": [ + -0.054499998688697815, + -0.14108942449092865, + 0.04574999958276749 ], "max": [ -0.027499999850988388, - 0.05925000086426735, - 0.14108942449092865 + -0.13325397670269012, + 0.05925000086426735 ], - "min": [ - -0.054499998688697815, - 0.04574999958276749, - 0.13325397670269012 - ] + "size": [ + 0.026999998837709427, + 0.007835447788238525, + 0.013500001281499863 + ], + "units": "m" }, "collision": {}, "id": "select_button", @@ -1276,25 +1546,28 @@ "source": { "object_name": "World", "part_name": "select_button" - } + }, + "source_prim_path": "/World/select_button", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0409999992698431, - 0.05250000022351742, - 0.1371717005968094 + "min": [ + 0.027499999850988388, + -0.14108942449092865, + 0.04574999958276749 ], "max": [ 0.054499998688697815, - 0.05925000086426735, - 0.14108942449092865 + -0.13325397670269012, + 0.05925000086426735 ], - "min": [ - 0.027499999850988388, - 0.04574999958276749, - 0.13325397670269012 - ] + "size": [ + 0.026999998837709427, + 0.007835447788238525, + 0.013500001281499863 + ], + "units": "m" }, "collision": {}, "id": "off_button", @@ -1304,10 +1577,27 @@ "source": { "object_name": "World", "part_name": "off_button" - } + }, + "source_prim_path": "/World/off_button", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3fc3b342df74718db151cdb62167bba1e99ea19219e61f95d0c9a363ab32911b" + }, + "usd_path": "batch36/D00729_Slow_Cooker/D00729_Slow_Cooker/IsaacSim_assets_D00729/IsaacSim_asset_D00729.usd", + "usd_sha256": "3f36d76a1be0d4139106e6da1cdecc0849794f7610b4187167e814d8b0c9c0cc", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -1324,24 +1614,58 @@ "up_axis": "Z", "bounds_m": [ 0.44460639357566833, - 0.259954000473207, - 0.296999990940094 - ] + 0.296999990940094, + 0.259954000473207 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3f36d76a1be0d4139106e6da1cdecc0849794f7610b4187167e814d8b0c9c0cc", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.38000001013279 + "value_kg": 4.38000001013279, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3f36d76a1be0d4139106e6da1cdecc0849794f7610b4187167e814d8b0c9c0cc", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.38000001013279, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 8 + "status": "verified", + "confidence": "high", + "shape_count": 198, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3f36d76a1be0d4139106e6da1cdecc0849794f7610b4187167e814d8b0c9c0cc", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 198, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 6 + "moving_joints": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3f36d76a1be0d4139106e6da1cdecc0849794f7610b4187167e814d8b0c9c0cc", + "scope": "authored_usd_joint_schema", + "joint_count": 6, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00740_Snack_Jar/D00740_Snack_Jar/IsaacSim_assets_D00740/physics_D00740.json b/batch36/D00740_Snack_Jar/D00740_Snack_Jar/IsaacSim_assets_D00740/physics_D00740.json index 90a8f2a2bb3e2c4b7c08742df022d1da8c618f88..61fda852f2cc3044e3ba7e4e4ccc1843feecf057 100644 --- a/batch36/D00740_Snack_Jar/D00740_Snack_Jar/IsaacSim_assets_D00740/physics_D00740.json +++ b/batch36/D00740_Snack_Jar/D00740_Snack_Jar/IsaacSim_assets_D00740/physics_D00740.json @@ -184,52 +184,99 @@ "/World/release_button" ], "proxyPrim": [] + }, + "id": "button_press", + "path": "/World/Joints/button_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "button_press", + "source_prim_path": "/World/Joints/button_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/lid" + ], + "body1": [ + "/World/release_button" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.004999999888241291, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.0, + 0.19300000369548798 + ], + "localPos1": [ + 0.0, + 0.0, + 0.19300000369548798 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09549999982118607, - 0.20999999344348907, - 0.06350000202655792 - ], "min": [ -0.09549999982118607, - 0.0, - -0.06361161917448044 + -0.06350000202655792, + 0.0 + ], + "max": [ + 0.09549999982118607, + 0.06361161917448044, + 0.20999999344348907 ], "size": [ 0.19099999964237213, - 0.20999999344348907, - 0.12711162120103836 - ] + 0.12711162120103836, + 0.20999999344348907 + ], + "units": "m" }, "description": "Snack Jar", "name": "body", "object_type": "rigid_bodies", - "total_mass": 0.760000029578805 + "total_mass": 0.760000029578805, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00740", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.0949999988079071, - -5.5808573961257935e-05 + "min": [ + -0.09549999982118607, + -0.06350000202655792, + 0.0 ], "max": [ 0.09549999982118607, - 0.1899999976158142, - 0.06350000202655792 + 0.06361161917448044, + 0.1899999976158142 ], - "min": [ - -0.09549999982118607, - 0.0, - -0.06361161917448044 - ] + "size": [ + 0.19099999964237213, + 0.12711162120103836, + 0.1899999976158142 + ], + "units": "m" }, "collision": {}, "id": "body", @@ -239,25 +286,28 @@ "source": { "object_name": "World", "part_name": "body" - } + }, + "source_prim_path": "/World/body", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.19179999828338623, - 0.0 + "min": [ + -0.057500001043081284, + -0.057500001043081284, + 0.17960000038146973 ], "max": [ 0.057500001043081284, - 0.20399999618530273, - 0.057500001043081284 + 0.057500001043081284, + 0.20399999618530273 ], - "min": [ - -0.057500001043081284, - 0.17960000038146973, - -0.057500001043081284 - ] + "size": [ + 0.11500000208616257, + 0.11500000208616257, + 0.024399995803833008 + ], + "units": "m" }, "collision": {}, "id": "lid", @@ -267,25 +317,28 @@ "source": { "object_name": "World", "part_name": "lid" - } + }, + "source_prim_path": "/World/lid", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 9.313225746154785e-10, - 0.2042500004172325, - -9.313225746154785e-10 + "min": [ + -0.030299998819828033, + -0.025299999862909317, + 0.19850000739097595 ], "max": [ 0.030300000682473183, - 0.20999999344348907, - 0.025299999862909317 + 0.025300001725554466, + 0.20999999344348907 ], - "min": [ - -0.030299998819828033, - 0.19850000739097595, - -0.025300001725554466 - ] + "size": [ + 0.060599999502301216, + 0.05060000158846378, + 0.011499986052513123 + ], + "units": "m" }, "collision": {}, "id": "release_button", @@ -295,10 +348,27 @@ "source": { "object_name": "World", "part_name": "release_button" - } + }, + "source_prim_path": "/World/release_button", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0e331aad7f1fa514017ce0be0e2ba664d22c1b7e1d063466959df820347eec3b" + }, + "usd_path": "batch36/D00740_Snack_Jar/D00740_Snack_Jar/IsaacSim_assets_D00740/IsaacSim_asset_D00740.usd", + "usd_sha256": "3a34d81526500224d244e176363f71552a87651009dc82937a9c801e0158d83d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -315,24 +385,58 @@ "up_axis": "Z", "bounds_m": [ 0.19099999964237213, - 0.20999999344348907, - 0.12711162120103836 - ] + 0.12711162120103836, + 0.20999999344348907 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a34d81526500224d244e176363f71552a87651009dc82937a9c801e0158d83d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.760000029578805 + "value_kg": 0.760000029578805, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a34d81526500224d244e176363f71552a87651009dc82937a9c801e0158d83d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.760000029578805, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 257, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a34d81526500224d244e176363f71552a87651009dc82937a9c801e0158d83d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 257, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a34d81526500224d244e176363f71552a87651009dc82937a9c801e0158d83d", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00798_Stackable_Glass_Jars/D00798_Stackable_Glass_Jars/IsaacSim_assets_D00798/physics_D00798.json b/batch36/D00798_Stackable_Glass_Jars/D00798_Stackable_Glass_Jars/IsaacSim_assets_D00798/physics_D00798.json index 2a4f475dbeabcff12306fa25859c16a94c2fe668..7c7fe261717dab55abf0f44509af24bd0bc3b0cc 100644 --- a/batch36/D00798_Stackable_Glass_Jars/D00798_Stackable_Glass_Jars/IsaacSim_assets_D00798/physics_D00798.json +++ b/batch36/D00798_Stackable_Glass_Jars/D00798_Stackable_Glass_Jars/IsaacSim_assets_D00798/physics_D00798.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05000000074505806, - 0.37540000677108765, - 0.05000000074505806 - ], "min": [ -0.05000000074505806, - 0.0, - -0.05000000074505806 + -0.05000000074505806, + 0.0 + ], + "max": [ + 0.05000000074505806, + 0.05000000074505806, + 0.37540000677108765 ], "size": [ 0.10000000149011612, - 0.37540000677108765, - 0.10000000149011612 - ] + 0.10000000149011612, + 0.37540000677108765 + ], + "units": "m" }, "description": "Stackable Glass Jars", "name": "jar_1", "object_type": "rigid_bodies", - "total_mass": 1.2000000178813934 + "total_mass": 1.2000000178813934, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00798", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.0625, + "min": [ + -0.05000000074505806, + -0.05000000074505806, 0.0 ], "max": [ 0.05000000074505806, - 0.125, - 0.05000000074505806 + 0.05000000074505806, + 0.125 ], - "min": [ - -0.05000000074505806, - 0.0, - -0.05000000074505806 - ] + "size": [ + 0.10000000149011612, + 0.10000000149011612, + 0.125 + ], + "units": "m" }, "collision": {}, "id": "jar_1", @@ -54,25 +60,28 @@ "source": { "object_name": "World", "part_name": "jar_1" - } + }, + "source_prim_path": "/World/jar_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.18770000338554382, - 0.0 + "min": [ + -0.05000000074505806, + -0.05000000074505806, + 0.12520000338554382 ], "max": [ 0.05000000074505806, - 0.2502000033855438, - 0.05000000074505806 + 0.05000000074505806, + 0.2502000033855438 ], - "min": [ - -0.05000000074505806, - 0.12520000338554382, - -0.05000000074505806 - ] + "size": [ + 0.10000000149011612, + 0.10000000149011612, + 0.125 + ], + "units": "m" }, "collision": {}, "id": "jar_2", @@ -82,25 +91,28 @@ "source": { "object_name": "World", "part_name": "jar_2" - } + }, + "source_prim_path": "/World/jar_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.31290000677108765, - 0.0 + "min": [ + -0.05000000074505806, + -0.05000000074505806, + 0.25040000677108765 ], "max": [ 0.05000000074505806, - 0.37540000677108765, - 0.05000000074505806 + 0.05000000074505806, + 0.37540000677108765 ], - "min": [ - -0.05000000074505806, - 0.25040000677108765, - -0.05000000074505806 - ] + "size": [ + 0.10000000149011612, + 0.10000000149011612, + 0.125 + ], + "units": "m" }, "collision": {}, "id": "jar_3", @@ -110,10 +122,27 @@ "source": { "object_name": "World", "part_name": "jar_3" - } + }, + "source_prim_path": "/World/jar_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "db97dca11d62e6d5424819d3de61d6eaedc60ef144841f3da1f5425c0aa59883" + }, + "usd_path": "batch36/D00798_Stackable_Glass_Jars/D00798_Stackable_Glass_Jars/IsaacSim_assets_D00798/IsaacSim_asset_D00798.usd", + "usd_sha256": "1a9ae2fe3f1737c825faa45a07c10013371a5a947abdcb4ade9e99c3999fe3f7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -130,24 +159,58 @@ "up_axis": "Z", "bounds_m": [ 0.10000000149011612, - 0.37540000677108765, - 0.10000000149011612 - ] + 0.10000000149011612, + 0.37540000677108765 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1a9ae2fe3f1737c825faa45a07c10013371a5a947abdcb4ade9e99c3999fe3f7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2000000178813934 + "value_kg": 1.2000000178813934, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1a9ae2fe3f1737c825faa45a07c10013371a5a947abdcb4ade9e99c3999fe3f7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000178813934, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1a9ae2fe3f1737c825faa45a07c10013371a5a947abdcb4ade9e99c3999fe3f7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1a9ae2fe3f1737c825faa45a07c10013371a5a947abdcb4ade9e99c3999fe3f7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00806_Coffee_Urn/D00806_Coffee_Urn/IsaacSim_assets_D00806/physics_D00806.json b/batch36/D00806_Coffee_Urn/D00806_Coffee_Urn/IsaacSim_assets_D00806/physics_D00806.json index 31f8d4a58a1e20d1c8909187bce3f586561adb78..795931683fbee79695e53b3cc7ccb1f9a92fc622 100644 --- a/batch36/D00806_Coffee_Urn/D00806_Coffee_Urn/IsaacSim_assets_D00806/physics_D00806.json +++ b/batch36/D00806_Coffee_Urn/D00806_Coffee_Urn/IsaacSim_assets_D00806/physics_D00806.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "lid_hinge", + "path": "/World/Joints/lid_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "lid_hinge", + "source_prim_path": "/World/Joints/lid_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -250.0, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.17000000178813934, + 0.5080000162124634 + ], + "localPos1": [ + 0.0, + 0.17000000178813934, + 0.5080000162124634 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,52 +377,99 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "spigot_trigger", + "path": "/World/Joints/spigot_trigger", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "spigot_trigger", + "source_prim_path": "/World/Joints/spigot_trigger", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 45.0, + "localPos0": [ + 0.0, + -0.20800000429153442, + 0.17800000309944153 + ], + "localPos1": [ + 0.0, + -0.20800000429153442, + 0.17800000309944153 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 2, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2343146800994873, - 0.5540000200271606, - 0.22622428834438324 - ], "min": [ -0.2343146800994873, - 0.0, - -0.18000000715255737 + -0.22622428834438324, + 0.0 + ], + "max": [ + 0.2343146800994873, + 0.18000000715255737, + 0.5540000200271606 ], "size": [ 0.4686293601989746, - 0.5540000200271606, - 0.4062242954969406 - ] + 0.4062242954969406, + 0.5540000200271606 + ], + "units": "m" }, "description": "Coffee Urn", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 2.1899999752640724 + "total_mass": 2.1899999752640724, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00806", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.25999999046325684, - 0.023112140595912933 + "min": [ + -0.2343146800994873, + -0.22622428834438324, + 0.0 ], "max": [ 0.2343146800994873, - 0.5199999809265137, - 0.22622428834438324 + 0.18000000715255737, + 0.5199999809265137 ], - "min": [ - -0.2343146800994873, - 0.0, - -0.18000000715255737 - ] + "size": [ + 0.4686293601989746, + 0.4062242954969406, + 0.5199999809265137 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -391,25 +479,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.5197500139474869, - -0.01410260796546936 + "min": [ + -0.15029475092887878, + -0.15029476583003998, + 0.4855000078678131 ], "max": [ 0.15029475092887878, - 0.5540000200271606, - 0.15029476583003998 + 0.1784999817609787, + 0.5540000200271606 ], - "min": [ - -0.15029475092887878, - 0.4855000078678131, - -0.1784999817609787 - ] + "size": [ + 0.30058950185775757, + 0.3287947475910187, + 0.06850001215934753 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -419,25 +510,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0034394734539091587, - 0.19974999874830246, - 0.20799999684095383 + "min": [ + -0.013378947041928768, + -0.2134999930858612, + 0.164000004529953 ], "max": [ 0.006500000134110451, - 0.23549999296665192, - 0.2134999930858612 + -0.20250000059604645, + 0.23549999296665192 ], - "min": [ - -0.013378947041928768, - 0.164000004529953, - 0.20250000059604645 - ] + "size": [ + 0.01987894717603922, + 0.010999992489814758, + 0.07149998843669891 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -447,10 +541,27 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1348c5d659d991c6e896891438a2a844730771322087e7e55b4e105def1db5fd" + }, + "usd_path": "batch36/D00806_Coffee_Urn/D00806_Coffee_Urn/IsaacSim_assets_D00806/IsaacSim_asset_D00806.usd", + "usd_sha256": "ac0d2dc8925435aa8640ce03c96f97cb518af25ce0bae226b34c9508c415a404", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -467,24 +578,58 @@ "up_axis": "Z", "bounds_m": [ 0.4686293601989746, - 0.5540000200271606, - 0.4062242954969406 - ] + 0.4062242954969406, + 0.5540000200271606 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ac0d2dc8925435aa8640ce03c96f97cb518af25ce0bae226b34c9508c415a404", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.1899999752640724 + "value_kg": 2.1899999752640724, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ac0d2dc8925435aa8640ce03c96f97cb518af25ce0bae226b34c9508c415a404", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.1899999752640724, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 187, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ac0d2dc8925435aa8640ce03c96f97cb518af25ce0bae226b34c9508c415a404", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 187, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ac0d2dc8925435aa8640ce03c96f97cb518af25ce0bae226b34c9508c415a404", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00807_Steamer/D00807_Steamer/IsaacSim_assets_D00807/physics_D00807.json b/batch36/D00807_Steamer/D00807_Steamer/IsaacSim_assets_D00807/physics_D00807.json index b179ff259c728177eefc3e33396289c390ef17d9..7d88513f499ee53718621abef93d9b8be1e1ab87 100644 --- a/batch36/D00807_Steamer/D00807_Steamer/IsaacSim_assets_D00807/physics_D00807.json +++ b/batch36/D00807_Steamer/D00807_Steamer/IsaacSim_assets_D00807/physics_D00807.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16750000417232513, - 0.2854659855365753, - 0.11999987810850143 - ], "min": [ -0.16750000417232513, - 0.0, - -0.1199999675154686 + -0.11999987810850143, + 0.0 + ], + "max": [ + 0.16750000417232513, + 0.1199999675154686, + 0.2854659855365753 ], "size": [ 0.33500000834465027, - 0.2854659855365753, - 0.23999984562397003 - ] + 0.23999984562397003, + 0.2854659855365753 + ], + "units": "m" }, "description": "Steamer", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 1.550000011920929 + "total_mass": 1.550000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00807", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.05249999836087227, - -4.470348358154297e-08 + "min": [ + -0.16750000417232513, + -0.11999987810850143, + 0.0 ], "max": [ 0.16750000417232513, - 0.10499999672174454, - 0.11999987810850143 + 0.1199999675154686, + 0.10499999672174454 ], - "min": [ - -0.16750000417232513, - 0.0, - -0.1199999675154686 - ] + "size": [ + 0.33500000834465027, + 0.23999984562397003, + 0.10499999672174454 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -54,25 +60,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.12825000286102295, - -4.470348358154297e-08 + "min": [ + -0.16750000417232513, + -0.11999987810850143, + 0.09350000321865082 ], "max": [ 0.16750000417232513, - 0.16300000250339508, - 0.11999987810850143 + 0.1199999675154686, + 0.16300000250339508 ], - "min": [ - -0.16750000417232513, - 0.09350000321865082, - -0.1199999675154686 - ] + "size": [ + 0.33500000834465027, + 0.23999984562397003, + 0.06949999928474426 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -82,25 +91,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.1862500011920929, - -4.470348358154297e-08 + "min": [ + -0.16750000417232513, + -0.11999987810850143, + 0.15150000154972076 ], "max": [ 0.16750000417232513, - 0.22100000083446503, - 0.11999987810850143 + 0.1199999675154686, + 0.22100000083446503 ], - "min": [ - -0.16750000417232513, - 0.15150000154972076, - -0.1199999675154686 - ] + "size": [ + 0.33500000834465027, + 0.23999984562397003, + 0.06949999928474426 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -110,25 +122,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 2.2351741790771484e-08, - 0.24748299270868301, - -2.60770320892334e-08 + "min": [ + -0.11799995601177216, + -0.11799992620944977, + 0.2094999998807907 ], "max": [ 0.11800000071525574, - 0.2854659855365753, - 0.11799992620944977 + 0.11799997836351395, + 0.2854659855365753 ], - "min": [ - -0.11799995601177216, - 0.2094999998807907, - -0.11799997836351395 - ] + "size": [ + 0.2359999567270279, + 0.23599990457296371, + 0.0759659856557846 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -138,10 +153,27 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "514f15b51419dec36feacc5f9d819c40946fd706c5e042520e96e0ed83281972" + }, + "usd_path": "batch36/D00807_Steamer/D00807_Steamer/IsaacSim_assets_D00807/IsaacSim_asset_D00807.usd", + "usd_sha256": "2fa879bb302f29c8e62ad450ea09021efc5a0f9819dc062ad27cea2d4688ea43", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -158,24 +190,58 @@ "up_axis": "Z", "bounds_m": [ 0.33500000834465027, - 0.2854659855365753, - 0.23999984562397003 - ] + 0.23999984562397003, + 0.2854659855365753 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2fa879bb302f29c8e62ad450ea09021efc5a0f9819dc062ad27cea2d4688ea43", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.550000011920929 + "value_kg": 1.550000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2fa879bb302f29c8e62ad450ea09021efc5a0f9819dc062ad27cea2d4688ea43", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.550000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 442, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2fa879bb302f29c8e62ad450ea09021efc5a0f9819dc062ad27cea2d4688ea43", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 442, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2fa879bb302f29c8e62ad450ea09021efc5a0f9819dc062ad27cea2d4688ea43", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00808_Steamer_Basket/D00808_Steamer_Basket/IsaacSim_assets_D00808/physics_D00808.json b/batch36/D00808_Steamer_Basket/D00808_Steamer_Basket/IsaacSim_assets_D00808/physics_D00808.json index 9fda50e2c8447cd194c2015905feb6b5fe603afc..31b30f5e04e2b6d5807d03c8391585e92c457f8d 100644 --- a/batch36/D00808_Steamer_Basket/D00808_Steamer_Basket/IsaacSim_assets_D00808/physics_D00808.json +++ b/batch36/D00808_Steamer_Basket/D00808_Steamer_Basket/IsaacSim_assets_D00808/physics_D00808.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "handle_fixed_pivot", + "path": "/World/Joints/handle_fixed_pivot", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "handle_fixed_pivot", + "source_prim_path": "/World/Joints/handle_fixed_pivot", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_15" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -360.0, + "upperLimit": 360.0, + "localPos0": [ + 0.0, + 0.0, + 0.15049999952316284 + ], + "localPos1": [ + 0.0, + 0.0, + 0.15049999952316284 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "leg_1_hinge", + "path": "/World/Joints/leg_1_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "leg_1_hinge", + "source_prim_path": "/World/Joints/leg_1_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 60.0, + "localPos0": [ + 0.05591199919581413, + 0.020349999889731407, + 0.029500000178813934 + ], + "localPos1": [ + 0.05591199919581413, + 0.020349999889731407, + 0.029500000178813934 + ], + "localRot0": [ + 0.5792279243469238, + 0.5792279243469238, + -0.40557998418807983, + -0.40557998418807983 + ], + "localRot1": [ + 0.5792279243469238, + 0.5792279243469238, + -0.40557998418807983, + -0.40557998418807983 + ], + "static_frames": [] } }, { @@ -504,6 +586,47 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "leg_2_hinge", + "path": "/World/Joints/leg_2_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "leg_2_hinge", + "source_prim_path": "/World/Joints/leg_2_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 60.0, + "localPos0": [ + -0.045579999685287476, + 0.038245998322963715, + 0.029500000178813934 + ], + "localPos1": [ + -0.045579999685287476, + 0.038245998322963715, + 0.029500000178813934 + ], + "localRot0": [ + 0.6408564448356628, + 0.6408564448356628, + 0.29883602261543274, + 0.29883602261543274 + ], + "localRot1": [ + 0.6408564448356628, + 0.6408564448356628, + 0.29883602261543274, + 0.29883602261543274 + ], + "static_frames": [] } }, { @@ -672,6 +795,47 @@ "/World/part_04" ], "proxyPrim": [] + }, + "id": "leg_3_hinge", + "path": "/World/Joints/leg_3_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "leg_3_hinge", + "source_prim_path": "/World/Joints/leg_3_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_04" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 60.0, + "localPos0": [ + -0.010332000441849232, + -0.05859600007534027, + 0.029500000178813934 + ], + "localPos1": [ + -0.010332000441849232, + -0.05859600007534027, + 0.029500000178813934 + ], + "localRot0": [ + 0.061628349125385284, + 0.061628349125385284, + 0.7044160962104797, + 0.7044160962104797 + ], + "localRot1": [ + 0.061628349125385284, + 0.061628349125385284, + 0.7044160962104797, + 0.7044160962104797 + ], + "static_frames": [] } }, { @@ -840,6 +1004,47 @@ "/World/part_05" ], "proxyPrim": [] + }, + "id": "petal_1_hinge", + "path": "/World/Joints/petal_1_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "petal_1_hinge", + "source_prim_path": "/World/Joints/petal_1_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_05" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -100.0, + "upperLimit": 0.0, + "localPos0": [ + 0.05950000137090683, + 0.0, + 0.03750000149011612 + ], + "localPos1": [ + 0.05950000137090683, + 0.0, + 0.03750000149011612 + ], + "localRot0": [ + 0.5792279243469238, + 0.40557998418807983, + 0.40557998418807983, + 0.5792279243469238 + ], + "localRot1": [ + 0.5792279243469238, + 0.40557998418807983, + 0.40557998418807983, + 0.5792279243469238 + ], + "static_frames": [] } }, { @@ -1008,6 +1213,47 @@ "/World/part_06" ], "proxyPrim": [] + }, + "id": "petal_2_hinge", + "path": "/World/Joints/petal_2_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "petal_2_hinge", + "source_prim_path": "/World/Joints/petal_2_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_06" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -100.0, + "upperLimit": 0.0, + "localPos0": [ + 0.045579999685287476, + 0.038245998322963715, + 0.03750000149011612 + ], + "localPos1": [ + 0.045579999685287476, + 0.038245998322963715, + 0.03750000149011612 + ], + "localRot0": [ + 0.34618860483169556, + 0.2424037754535675, + 0.5198370218276978, + 0.7424038648605347 + ], + "localRot1": [ + 0.34618860483169556, + 0.2424037754535675, + 0.5198370218276978, + 0.7424038648605347 + ], + "static_frames": [] } }, { @@ -1176,6 +1422,47 @@ "/World/part_07" ], "proxyPrim": [] + }, + "id": "petal_3_hinge", + "path": "/World/Joints/petal_3_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "petal_3_hinge", + "source_prim_path": "/World/Joints/petal_3_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_07" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -100.0, + "upperLimit": 0.0, + "localPos0": [ + 0.010332000441849232, + 0.05859600007534027, + 0.03750000149011612 + ], + "localPos1": [ + 0.010332000441849232, + 0.05859600007534027, + 0.03750000149011612 + ], + "localRot0": [ + 0.0713936984539032, + 0.04999050870537758, + 0.5713940262794495, + 0.8160349130630493 + ], + "localRot1": [ + 0.0713936984539032, + 0.04999050870537758, + 0.5713940262794495, + 0.8160349130630493 + ], + "static_frames": [] } }, { @@ -1344,6 +1631,47 @@ "/World/part_08" ], "proxyPrim": [] + }, + "id": "petal_4_hinge", + "path": "/World/Joints/petal_4_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "petal_4_hinge", + "source_prim_path": "/World/Joints/petal_4_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_08" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -100.0, + "upperLimit": 0.0, + "localPos0": [ + -0.029750000685453415, + 0.05152900144457817, + 0.03750000149011612 + ], + "localPos1": [ + -0.029750000685453415, + 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"static_frames": [] } }, { @@ -2016,6 +2467,47 @@ "/World/part_12" ], "proxyPrim": [] + }, + "id": "petal_8_hinge", + "path": "/World/Joints/petal_8_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "petal_8_hinge", + "source_prim_path": "/World/Joints/petal_8_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_12" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -100.0, + "upperLimit": 0.0, + "localPos0": [ + 0.010332000441849232, + -0.05859600007534027, + 0.03750000149011612 + ], + "localPos1": [ + 0.010332000441849232, + -0.05859600007534027, + 0.03750000149011612 + ], + "localRot0": [ + 0.8160349130630493, + 0.5713940262794495, + 0.04999050870537758, + 0.0713936984539032 + ], + "localRot1": [ + 0.8160349130630493, + 0.5713940262794495, + 0.04999050870537758, + 0.0713936984539032 + ], + "static_frames": [] } }, { @@ -2184,6 +2676,47 @@ "/World/part_13" ], "proxyPrim": [] + }, + "id": "petal_9_hinge", + "path": "/World/Joints/petal_9_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "petal_9_hinge", + "source_prim_path": "/World/Joints/petal_9_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_13" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -100.0, + "upperLimit": 0.0, + "localPos0": [ + 0.045579999685287476, + -0.038245998322963715, + 0.03750000149011612 + ], + "localPos1": [ + 0.045579999685287476, + -0.038245998322963715, + 0.03750000149011612 + ], + "localRot0": [ + 0.7424038648605347, + 0.5198370218276978, + 0.2424037754535675, + 0.34618860483169556 + ], + "localRot1": [ + 0.7424038648605347, + 0.5198370218276978, + 0.2424037754535675, + 0.34618860483169556 + ], + "static_frames": [] } }, { @@ -2352,6 +2885,47 @@ "/World/part_14" ], "proxyPrim": [] + }, + "id": "stem_telescope", + "path": "/World/Joints/stem_telescope", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "stem_telescope", + "source_prim_path": "/World/Joints/stem_telescope", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_14" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 0.05000000074505806, + "localPos0": [ + 0.0, + 0.0, + 0.04349999874830246 + ], + "localPos1": [ + 0.0, + 0.0, + 0.04349999874830246 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -2520,52 +3094,99 @@ "/World/part_15" ], "proxyPrim": [] + }, + "id": "stem_extend", + "path": "/World/Joints/stem_extend", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "stem_extend", + "source_prim_path": "/World/Joints/stem_extend", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_14" + ], + "body1": [ + "/World/part_15" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + 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0.6899999994784594 + "total_mass": 0.6899999994784594, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00808", "parts": [ { "bounds": { - "center": [ - 0.0008448529988527298, - 0.03457863163203001, - 0.0010015740990638733 + "min": [ + -0.061500001698732376, + -0.0635499358177185, + 0.02565726451575756 ], "max": [ 0.06318970769643784, - 0.04349999874830246, - 0.0635499358177185 + 0.06154678761959076, + 0.04349999874830246 ], - "min": [ - -0.061500001698732376, - 0.02565726451575756, - -0.06154678761959076 - ] + "size": [ + 0.12468970939517021, + 0.12509672343730927, + 0.0178427342325449 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -2575,25 +3196,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0059889089316129684, - 0.150445818901062, - 1.5472527593374252e-05 + "min": [ + -0.028999999165534973, + -0.012000000104308128, + 0.14650000631809235 ], "max": [ 0.04097781702876091, - 0.15439163148403168, - 0.012000000104308128 + 0.01196905504912138, + 0.15439163148403168 ], - "min": [ - -0.028999999165534973, - 0.14650000631809235, - -0.01196905504912138 - ] + "size": [ + 0.06997781619429588, + 0.023969055153429508, + 0.007891625165939331 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -2603,25 +3227,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0592881478369236, - 0.015394539625891546, - -0.02134917676448822 + "min": [ + 0.05104978382587433, + 0.009210813790559769, + -1.7554591114077311e-09 ], "max": [ 0.06752651184797287, - 0.030789081007242203, - -0.009210813790559769 + 0.03348753973841667, + 0.030789081007242203 ], - "min": [ - 0.05104978382587433, - 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"part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.010838901507668197, - 0.015394542366084063, - 0.06262015923857689 + "min": [ + -0.02296646498143673, + -0.06973706185817719, + 1.862280774034275e-09 ], "max": [ 0.0012886619661003351, - 0.030789082869887352, - 0.06973706185817719 + -0.05550325661897659, + 0.030789082869887352 ], - "min": [ - -0.02296646498143673, - 1.862280774034275e-09, - 0.05550325661897659 - ] + "size": [ + 0.024255126947537065, + 0.014233805239200592, + 0.030789081007606578 + ], + "units": "m" }, "collision": {}, "id": "part_04", @@ -2687,25 +3320,28 @@ "source": { "object_name": "World", "part_name": "part_04" - } + }, + "source_prim_path": "/World/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.09397016651928425, - 0.053321925923228264, - 0.00016145594418048859 + 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"source_prim_path": "/World/part_07", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.05370448948815465, - 0.05332191102206707, - -0.08376763202250004 + "min": [ + -0.09821060299873352, + 0.03927299752831459, + 0.03596929833292961 ], "max": [ -0.009198375977575779, - 0.07067452371120453, - -0.03927299752831459 + 0.12826226651668549, + 0.07067452371120453 ], - "min": [ - -0.09821060299873352, - 0.03596929833292961, - -0.12826226651668549 - ] + "size": [ + 0.08901222702115774, + 0.0889892689883709, + 0.03470522537827492 + ], + "units": "m" }, "collision": {}, "id": "part_08", @@ -2799,25 +3444,28 @@ "source": { "object_name": "World", "part_name": "part_08" - } + }, + "source_prim_path": "/World/part_08", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.08878400921821594, - 0.05332191661000252, - -0.039716924307867885 + "min": [ + -0.12926581501960754, + 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"size": [ + 0.08352186903357506, + 0.08685137052088976, + 0.03470522537827492 + ], + "units": "m" }, "collision": {}, "id": "part_10", @@ -2855,25 +3506,28 @@ "source": { "object_name": "World", "part_name": "part_10" - } + }, + "source_prim_path": "/World/part_10", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.05412649177014828, - 0.05332193896174431, - 0.08335109613835812 + "min": [ + -0.09942766278982162, + -0.1266232281923294, + 0.035969316959381104 ], "max": [ -0.00882532075047493, - 0.07067456096410751, - 0.1266232281923294 + -0.040078964084386826, + 0.07067456096410751 ], - "min": [ - -0.09942766278982162, - 0.035969316959381104, - 0.040078964084386826 - ] + "size": [ + 0.0906023420393467, + 0.08654426410794258, + 0.03470524400472641 + ], + "units": "m" }, "collision": {}, "id": "part_11", @@ -2883,25 +3537,28 @@ "source": { "object_name": "World", "part_name": "part_11" - } + }, + "source_prim_path": "/World/part_11", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.019911603070795536, - 0.05332190357148647, - 0.09239519387483597 + "min": [ + -0.02539261244237423, + -0.13070976734161377, + 0.03596930578351021 ], "max": [ 0.0652158185839653, - 0.07067450135946274, - 0.13070976734161377 + -0.054080620408058167, + 0.07067450135946274 ], - "min": [ - -0.02539261244237423, - 0.03596930578351021, - 0.054080620408058167 - ] + "size": [ + 0.09060843102633953, + 0.0766291469335556, + 0.03470519557595253 + ], + "units": "m" }, "collision": {}, "id": "part_12", @@ -2911,25 +3568,28 @@ "source": { "object_name": "World", "part_name": "part_12" - } + }, + "source_prim_path": "/World/part_12", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0755276083946228, - 0.05332191474735737, - 0.06598595809191465 + "min": [ + 0.030626527965068817, + -0.11228520423173904, + 0.03596930578351021 ], "max": [ 0.12042868882417679, - 0.07067452371120453, - 0.11228520423173904 + -0.019686711952090263, + 0.07067452371120453 ], - "min": [ - 0.030626527965068817, - 0.03596930578351021, - 0.019686711952090263 - ] + "size": [ + 0.08980216085910797, + 0.09259849227964878, + 0.03470521792769432 + ], + "units": "m" }, "collision": {}, "id": "part_13", @@ -2939,25 +3599,28 @@ "source": { "object_name": "World", "part_name": "part_13" - } + }, + "source_prim_path": "/World/part_13", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.060750000178813934, - 0.0 + "min": [ + -0.0066999997943639755, + -0.0066999997943639755, + 0.02250000089406967 ], "max": [ 0.0066999997943639755, - 0.0989999994635582, - 0.0066999997943639755 + 0.0066999997943639755, + 0.0989999994635582 ], - "min": [ - -0.0066999997943639755, - 0.02250000089406967, - -0.0066999997943639755 - ] + "size": [ + 0.013399999588727951, + 0.013399999588727951, + 0.07649999856948853 + ], + "units": "m" }, "collision": {}, "id": "part_14", @@ -2967,25 +3630,28 @@ "source": { "object_name": "World", "part_name": "part_14" - } + }, + "source_prim_path": "/World/part_14", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.11475000157952309, - 0.0 + "min": [ + -0.0035000001080334187, + -0.0035000001080334187, + 0.07900000363588333 ], "max": [ 0.0035000001080334187, - 0.15049999952316284, - 0.0035000001080334187 + 0.0035000001080334187, + 0.15049999952316284 ], - "min": [ - -0.0035000001080334187, - 0.07900000363588333, - -0.0035000001080334187 - ] + "size": [ + 0.007000000216066837, + 0.007000000216066837, + 0.07149999588727951 + ], + "units": "m" }, "collision": {}, "id": "part_15", @@ -2995,10 +3661,27 @@ "source": { "object_name": "World", "part_name": "part_15" - } + }, + "source_prim_path": "/World/part_15", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f818fe735a0a6f4209346063e52e7a27bcc45924f703d5085f9a7104e0742e16" + }, + "usd_path": "batch36/D00808_Steamer_Basket/D00808_Steamer_Basket/IsaacSim_assets_D00808/IsaacSim_asset_D00808.usd", + "usd_sha256": "81f3f46c1e038f9911735bf788bd4ea2cb8b7ecccf925f1bf07c51e440e63e13", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -3015,24 +3698,77 @@ "up_axis": "Z", "bounds_m": [ 0.26116086542606354, - 0.1543916332394908, - 0.26046840846538544 - ] + 0.26046840846538544, + 0.1543916332394908 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "81f3f46c1e038f9911735bf788bd4ea2cb8b7ecccf925f1bf07c51e440e63e13", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6899999994784594 + "value_kg": 0.6899999994784594, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "81f3f46c1e038f9911735bf788bd4ea2cb8b7ecccf925f1bf07c51e440e63e13", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6899999994784594, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 16 + "status": "verified", + "confidence": "high", + "shape_count": 30, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "81f3f46c1e038f9911735bf788bd4ea2cb8b7ecccf925f1bf07c51e440e63e13", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 30, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 15 + "moving_joints": 15, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "81f3f46c1e038f9911735bf788bd4ea2cb8b7ecccf925f1bf07c51e440e63e13", + "scope": "authored_usd_joint_schema", + "joint_count": 15, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "81f3f46c1e038f9911735bf788bd4ea2cb8b7ecccf925f1bf07c51e440e63e13", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 13, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [ + "official_relative_translation_requires_independent_anchor_check" + ], + "completed_at": "2026-10-13T20:07:15.447818+00:00", + "joint_status": "passed", + "joints_total": 15, + "joints_passed": 15, + "joints_failed": 0, + "thumbnail_sha256": "aa3197cad6d8ac8b80035cdfe356f913cfc73800776867ae937866ca38e9e7bd", + "qualification": "steamer-native-qualification.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00810_Steamer_Cooker/D00810_Steamer_Cooker/IsaacSim_assets_D00810/physics_D00810.json b/batch36/D00810_Steamer_Cooker/D00810_Steamer_Cooker/IsaacSim_assets_D00810/physics_D00810.json index 6ce1c1593661c1792e8f7606761c1e44f9f49306..e37fb6798b05bf4f7b0ef7684242f6d1302a06ae 100644 --- a/batch36/D00810_Steamer_Cooker/D00810_Steamer_Cooker/IsaacSim_assets_D00810/physics_D00810.json +++ b/batch36/D00810_Steamer_Cooker/D00810_Steamer_Cooker/IsaacSim_assets_D00810/physics_D00810.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1455078423023224, - 0.19780556857585907, - 0.1826029121875763 - ], "min": [ -0.1455078423023224, - 8.149072527885437e-10, - -0.1826029121875763 + -0.1826029121875763, + 8.149072527885437e-10 + ], + "max": [ + 0.1455078423023224, + 0.1826029121875763, + 0.19780556857585907 ], "size": [ 0.2910156846046448, - 0.19780556776095182, - 0.3652058243751526 - ] + 0.3652058243751526, + 0.19780556776095182 + ], + "units": "m" }, "description": "Steamer Cooker", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 2.050000011920929 + "total_mass": 2.050000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00810", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.0557522889575921, - 0.0 + "min": [ + -0.1455078423023224, + -0.1826029121875763, + 8.149072527885437e-10 ], "max": [ 0.1455078423023224, - 0.11150457710027695, - 0.1826029121875763 + 0.1826029121875763, + 0.11150457710027695 ], - "min": [ - -0.1455078423023224, - 8.149072527885437e-10, - -0.1826029121875763 - ] + "size": [ + 0.2910156846046448, + 0.3652058243751526, + 0.1115045762853697 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -54,25 +60,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.09971233829855919, - 0.0 + "min": [ + -0.14127123355865479, + -0.17822276055812836, + 0.061328209936618805 ], "max": [ 0.14127123355865479, - 0.13809646666049957, - 0.17822276055812836 + 0.17822276055812836, + 0.13809646666049957 ], - "min": [ - -0.14127123355865479, - 0.061328209936618805, - -0.17822276055812836 - ] + "size": [ + 0.28254246711730957, + 0.3564455211162567, + 0.07676825672388077 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -82,25 +91,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.1686670109629631, - 0.0 + "min": [ + -0.1369442492723465, + -0.1369442492723465, + 0.13952845335006714 ], "max": [ 0.1369442492723465, - 0.19780556857585907, - 0.1369442492723465 + 0.1369442492723465, + 0.19780556857585907 ], - "min": [ - -0.1369442492723465, - 0.13952845335006714, - -0.1369442492723465 - ] + "size": [ + 0.273888498544693, + 0.273888498544693, + 0.05827711522579193 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -110,10 +122,27 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a23026934efdb022b800ae51123c9c6f9f0cc901b2d20248f0a25eeec03ee571" + }, + "usd_path": "batch36/D00810_Steamer_Cooker/D00810_Steamer_Cooker/IsaacSim_assets_D00810/IsaacSim_asset_D00810.usd", + "usd_sha256": "be56f438e74a9fbbf30f1dbed44895b8a238cb905cfd4aee99b7839871b367b5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -130,24 +159,58 @@ "up_axis": "Z", "bounds_m": [ 0.2910156846046448, - 0.19780556776095182, - 0.3652058243751526 - ] + 0.3652058243751526, + 0.19780556776095182 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "be56f438e74a9fbbf30f1dbed44895b8a238cb905cfd4aee99b7839871b367b5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.050000011920929 + "value_kg": 2.050000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "be56f438e74a9fbbf30f1dbed44895b8a238cb905cfd4aee99b7839871b367b5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.050000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 384, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "be56f438e74a9fbbf30f1dbed44895b8a238cb905cfd4aee99b7839871b367b5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 384, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "be56f438e74a9fbbf30f1dbed44895b8a238cb905cfd4aee99b7839871b367b5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00812_Stopwatch/D00812_Stopwatch/IsaacSim_assets_D00812/physics_D00812.json b/batch36/D00812_Stopwatch/D00812_Stopwatch/IsaacSim_assets_D00812/physics_D00812.json index edf93c843eacd387aeb772016d56f53e56aa120b..1714928f1a831d811a996fcc247ef95782f8dfde 100644 --- a/batch36/D00812_Stopwatch/D00812_Stopwatch/IsaacSim_assets_D00812/physics_D00812.json +++ b/batch36/D00812_Stopwatch/D00812_Stopwatch/IsaacSim_assets_D00812/physics_D00812.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "pivot_plunger_press", + "path": "/World/Joints/pivot_plunger_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "pivot_plunger_press", + "source_prim_path": "/World/Joints/pivot_plunger_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.30000001192092896, + "upperLimit": 0.0, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "pivot_reset_press", + "path": "/World/Joints/pivot_reset_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "pivot_reset_press", + "source_prim_path": "/World/Joints/pivot_reset_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 0.004999999888241291, + "localPos0": [ + 0.0020000000949949026, + 0.0, + 0.027893079444766045 + ], + "localPos1": [ + 0.0020000000949949026, + 0.0, + 0.027893079444766045 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -504,52 +586,99 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "pivot_seconds_spin", + "path": "/World/Joints/pivot_seconds_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "pivot_seconds_spin", + "source_prim_path": "/World/Joints/pivot_seconds_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -360.0, + "upperLimit": 360.0, + "localPos0": [ + 0.0, + -0.006300000008195639, + 0.027893079444766045 + ], + "localPos1": [ + 0.0, + -0.006300000008195639, + 0.027893079444766045 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 3, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03449999913573265, - 0.07449308037757874, - 0.008999999612569809 - ], "min": [ -0.027499999850988388, - 0.00039307959377765656, - -0.008999999612569809 + -0.008999999612569809, + 0.00039307959377765656 + ], + "max": [ + 0.03449999913573265, + 0.008999999612569809, + 0.07449308037757874 ], "size": [ 0.06199999898672104, - 0.07410000078380108, - 0.017999999225139618 - ] + 0.017999999225139618, + 0.07410000078380108 + ], + "units": "m" }, "description": "Stopwatch", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.08749999845167622 + "total_mass": 0.08749999845167622, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00812", "parts": [ { "bounds": { - "center": [ - 0.0012500006705522537, - 0.037443079985678196, - 0.0 + "min": [ + -0.027499999850988388, + -0.008999999612569809, + 0.00039307959377765656 ], "max": [ 0.030000001192092896, - 0.07449308037757874, - 0.008999999612569809 + 0.008999999612569809, + 0.07449308037757874 ], - "min": [ - -0.027499999850988388, - 0.00039307959377765656, - -0.008999999612569809 - ] + "size": [ + 0.057500001043081284, + 0.017999999225139618, + 0.07410000078380108 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -559,25 +688,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.06014307960867882, - 0.0 + "min": [ + -0.0036100000143051147, + -0.0036100000143051147, + 0.053893081843853 ], "max": [ 0.0036100000143051147, - 0.06639307737350464, - 0.0036100000143051147 + 0.0036100000143051147, + 0.06639307737350464 ], - "min": [ - -0.0036100000143051147, - 0.053893081843853, - -0.0036100000143051147 - ] + "size": [ + 0.0072200000286102295, + 0.0072200000286102295, + 0.012499995529651642 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -587,25 +719,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.02974999975413084, - 0.027893079444766045, - 0.0 + "min": [ + 0.02500000037252903, + -0.0028261078987270594, + 0.025033079087734222 ], "max": [ 0.03449999913573265, - 0.030753079801797867, - 0.0028261078987270594 + 0.0028261078987270594, + 0.030753079801797867 ], - "min": [ - 0.02500000037252903, - 0.025033079087734222, - -0.0028261078987270594 - ] + "size": [ + 0.009499998763203621, + 0.005652215797454119, + 0.005720000714063644 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -615,25 +750,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00406351825222373, - 0.033140119165182114, - 0.006299999076873064 + "min": [ + -0.0039670150727033615, + -0.00662999926134944, + 0.02295168861746788 ], "max": [ 0.012094051577150822, - 0.04332854971289635, - 0.00662999926134944 + -0.0059699988923966885, + 0.04332854971289635 ], - "min": [ - -0.0039670150727033615, - 0.02295168861746788, - 0.0059699988923966885 - ] + "size": [ + 0.016061066649854183, + 0.0006600003689527512, + 0.020376861095428467 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -643,10 +781,27 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "092cc8befa2bd3dcb05b25214e5b0ead66f212fe61844408d1e4633bbf334c0e" + }, + "usd_path": "batch36/D00812_Stopwatch/D00812_Stopwatch/IsaacSim_assets_D00812/IsaacSim_asset_D00812.usd", + "usd_sha256": "b16a576b63b1858011fe0a6a5e1ecc8a8c3a28eb38aad303a0f74d42c30cb6f1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -663,24 +818,58 @@ "up_axis": "Z", "bounds_m": [ 0.06199999898672104, - 0.07410000078380108, - 0.017999999225139618 - ] + 0.017999999225139618, + 0.07410000078380108 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b16a576b63b1858011fe0a6a5e1ecc8a8c3a28eb38aad303a0f74d42c30cb6f1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.08749999845167622 + "value_kg": 0.08749999845167622, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b16a576b63b1858011fe0a6a5e1ecc8a8c3a28eb38aad303a0f74d42c30cb6f1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.08749999845167622, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 17, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b16a576b63b1858011fe0a6a5e1ecc8a8c3a28eb38aad303a0f74d42c30cb6f1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 17, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b16a576b63b1858011fe0a6a5e1ecc8a8c3a28eb38aad303a0f74d42c30cb6f1", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00853_Tea_Kettle/D00853_Tea_Kettle/IsaacSim_assets_D00853/physics_D00853.json b/batch36/D00853_Tea_Kettle/D00853_Tea_Kettle/IsaacSim_assets_D00853/physics_D00853.json index 00d5a2b71ddd2ca3fa9bdb39379c1939c7c9e7a3..837c8ee5e8a013598bb2e6c6be7f571f5092a52c 100644 --- a/batch36/D00853_Tea_Kettle/D00853_Tea_Kettle/IsaacSim_assets_D00853/physics_D00853.json +++ b/batch36/D00853_Tea_Kettle/D00853_Tea_Kettle/IsaacSim_assets_D00853/physics_D00853.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "handle_pivot", + "path": "/World/Joints/handle_pivot", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "handle_pivot", + "source_prim_path": "/World/Joints/handle_pivot", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -130.0, + "upperLimit": 69.0, + "localPos0": [ + 0.0, + 0.0, + 0.07800000160932541 + ], + "localPos1": [ + 0.0, + 0.0, + 0.07800000160932541 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,52 +377,99 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "lid_hinge", + "path": "/World/Joints/lid_hinge", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "lid_hinge", + "source_prim_path": "/World/Joints/lid_hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 200.0, + "localPos0": [ + 0.0, + 0.04650000110268593, + 0.11100000143051147 + ], + "localPos1": [ + 0.0, + 0.04650000110268593, + 0.11100000143051147 + ], + "localRot0": [ + -0.0, + 0.0, + 0.7071067690849304, + 0.7071067690849304 + ], + "localRot1": [ + -0.0, + 0.0, + 0.7071067690849304, + 0.7071067690849304 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 2, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09149999916553497, - 0.2057499885559082, - 0.14829610288143158 - ], "min": [ -0.09149999916553497, - 1.6921997030294733e-06, - -0.07500000298023224 + -0.14829610288143158, + 1.6921997030294733e-06 + ], + "max": [ + 0.09149999916553497, + 0.07500000298023224, + 0.2057499885559082 ], "size": [ 0.18299999833106995, - 0.20574829635620517, - 0.22329610586166382 - ] + 0.22329610586166382, + 0.20574829635620517 + ], + "units": "m" }, "description": "Tea Kettle", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 1.0999999716877937 + "total_mass": 1.0999999716877937, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00853", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.06396472872495451, - 0.03664804995059967 + "min": [ + -0.09149999916553497, + -0.14829610288143158, + 1.6921997030294733e-06 ], "max": [ 0.09149999916553497, - 0.127927765250206, - 0.14829610288143158 + 0.07500000298023224, + 0.127927765250206 ], - "min": [ - -0.09149999916553497, - 1.6921997030294733e-06, - -0.07500000298023224 - ] + "size": [ + 0.18299999833106995, + 0.22329610586166382, + 0.12792607305050296 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -391,25 +479,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.13512499630451202, - 0.0 + "min": [ + -0.08649999648332596, + -0.013500000350177288, + 0.06450000405311584 ], "max": [ 0.08649999648332596, - 0.2057499885559082, - 0.013500000350177288 + 0.013500000350177288, + 0.2057499885559082 ], - "min": [ - -0.08649999648332596, - 0.06450000405311584, - -0.013500000350177288 - ] + "size": [ + 0.17299999296665192, + 0.027000000700354576, + 0.14124998450279236 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -419,25 +510,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.12225000187754631, - -0.004749992862343788 + "min": [ + -0.04100000113248825, + -0.04100000858306885, + 0.10700000077486038 ], "max": [ 0.04100000113248825, - 0.13750000298023224, - 0.04100000858306885 + 0.050499994307756424, + 0.13750000298023224 ], - "min": [ - -0.04100000113248825, - 0.10700000077486038, - -0.050499994307756424 - ] + "size": [ + 0.0820000022649765, + 0.09150000289082527, + 0.030500002205371857 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -447,10 +541,27 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8d371dc2081b230c907cb4b28341a8008cde11962439040990d7de76c7ad9f63" + }, + "usd_path": "batch36/D00853_Tea_Kettle/D00853_Tea_Kettle/IsaacSim_assets_D00853/IsaacSim_asset_D00853.usd", + "usd_sha256": "0801cb546c4748dbf54100918886d8d67fa33f1234aa9c0e9fbf3af54d2fd6e1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -467,24 +578,58 @@ "up_axis": "Z", "bounds_m": [ 0.18299999833106995, - 0.20574829635620517, - 0.22329610586166382 - ] + 0.22329610586166382, + 0.20574829635620517 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0801cb546c4748dbf54100918886d8d67fa33f1234aa9c0e9fbf3af54d2fd6e1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0999999716877937 + "value_kg": 1.0999999716877937, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0801cb546c4748dbf54100918886d8d67fa33f1234aa9c0e9fbf3af54d2fd6e1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0999999716877937, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 264, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0801cb546c4748dbf54100918886d8d67fa33f1234aa9c0e9fbf3af54d2fd6e1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 264, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0801cb546c4748dbf54100918886d8d67fa33f1234aa9c0e9fbf3af54d2fd6e1", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00863_Timer/D00863_Timer/IsaacSim_assets_D00863/physics_D00863.json b/batch36/D00863_Timer/D00863_Timer/IsaacSim_assets_D00863/physics_D00863.json index 3ca9e1f51fa364d6a666223c5767dac9616322b7..7309bdb8b9552eb375028d96a756853933ed9a4f 100644 --- a/batch36/D00863_Timer/D00863_Timer/IsaacSim_assets_D00863/physics_D00863.json +++ b/batch36/D00863_Timer/D00863_Timer/IsaacSim_assets_D00863/physics_D00863.json @@ -168,52 +168,99 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "dial_twist_joint", + "path": "/World/Joints/dial_twist_joint", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "dial_twist_joint", + "source_prim_path": "/World/Joints/dial_twist_joint", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": 0.0, + "upperLimit": 360.0, + "localPos0": [ + 0.0, + 0.0, + 0.03020000085234642 + ], + "localPos1": [ + 0.0, + 0.0, + 0.03020000085234642 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03720000013709068, - 0.04899999871850014, - 0.03731999918818474 - ], "min": [ -0.03720000013709068, - 0.0, - -0.03720000013709068 + -0.03731999918818474, + 0.0 + ], + "max": [ + 0.03720000013709068, + 0.03720000013709068, + 0.04899999871850014 ], "size": [ 0.07440000027418137, - 0.04899999871850014, - 0.07451999932527542 - ] + 0.07451999932527542, + 0.04899999871850014 + ], + "units": "m" }, "description": "Timer", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.24000000581145287 + "total_mass": 0.24000000581145287, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00863", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.0215000007301569, + "min": [ + -0.03680000081658363, + -0.03680000081658363, 0.0 ], "max": [ 0.03680000081658363, - 0.0430000014603138, - 0.03680000081658363 + 0.03680000081658363, + 0.0430000014603138 ], - "min": [ - -0.03680000081658363, - 0.0, - -0.03680000081658363 - ] + "size": [ + 0.07360000163316727, + 0.07360000163316727, + 0.0430000014603138 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -223,25 +270,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.03959999978542328, - 5.999952554702759e-05 + "min": [ + -0.03720000013709068, + -0.03731999918818474, + 0.03020000085234642 ], "max": [ 0.03720000013709068, - 0.04899999871850014, - 0.03731999918818474 + 0.03720000013709068, + 0.04899999871850014 ], - "min": [ - -0.03720000013709068, - 0.03020000085234642, - -0.03720000013709068 - ] + "size": [ + 0.07440000027418137, + 0.07451999932527542, + 0.018799997866153717 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -251,10 +301,27 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "53d0d350ce6ecbf6e88845bc9cdceb337920f3dfc3d1370e67c7b29be9e2e65f" + }, + "usd_path": "batch36/D00863_Timer/D00863_Timer/IsaacSim_assets_D00863/IsaacSim_asset_D00863.usd", + "usd_sha256": "2ee302d661443d8bcfe174f2ce7f9a62b825ba965fe6b642f012a9d7ea2c1a75", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -271,24 +338,58 @@ "up_axis": "Z", "bounds_m": [ 0.07440000027418137, - 0.04899999871850014, - 0.07451999932527542 - ] + 0.07451999932527542, + 0.04899999871850014 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2ee302d661443d8bcfe174f2ce7f9a62b825ba965fe6b642f012a9d7ea2c1a75", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.24000000581145287 + "value_kg": 0.24000000581145287, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2ee302d661443d8bcfe174f2ce7f9a62b825ba965fe6b642f012a9d7ea2c1a75", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.24000000581145287, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 50, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2ee302d661443d8bcfe174f2ce7f9a62b825ba965fe6b642f012a9d7ea2c1a75", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 50, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2ee302d661443d8bcfe174f2ce7f9a62b825ba965fe6b642f012a9d7ea2c1a75", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00867_Toaster_Food_Processor/D00867_Toaster_Food_Processor/IsaacSim_assets_D00867/physics_D00867.json b/batch36/D00867_Toaster_Food_Processor/D00867_Toaster_Food_Processor/IsaacSim_assets_D00867/physics_D00867.json index 29d7ac7423e31aec6280930780fc97d6d8a96b95..d1dd8ad5a712b96017feec170d0e1cfa42a77b0e 100644 --- a/batch36/D00867_Toaster_Food_Processor/D00867_Toaster_Food_Processor/IsaacSim_assets_D00867/physics_D00867.json +++ b/batch36/D00867_Toaster_Food_Processor/D00867_Toaster_Food_Processor/IsaacSim_assets_D00867/physics_D00867.json @@ -168,6 +168,47 @@ "/World/blade_spin" ], "proxyPrim": [] + }, + "id": "blade_spin", + "path": "/World/Joints/blade_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "blade_spin", + "source_prim_path": "/World/Joints/blade_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/blade_spin" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": "-Infinity", + "upperLimit": "Infinity", + "localPos0": [ + 0.0, + 0.05999999865889549, + 0.12800000607967377 + ], + "localPos1": [ + 0.0, + 0.05999999865889549, + 0.12800000607967377 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,52 +377,99 @@ "/World/dial_turn" ], "proxyPrim": [] + }, + "id": "dial_turn", + "path": "/World/Joints/dial_turn", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "dial_turn", + "source_prim_path": "/World/Joints/dial_turn", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/body" + ], + "body1": [ + "/World/dial_turn" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -75.0, + "upperLimit": 75.0, + "localPos0": [ + 0.0, + -0.054499998688697815, + 0.04399999976158142 + ], + "localPos1": [ + 0.0, + -0.054499998688697815, + 0.04399999976158142 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 2, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10999999940395355, - 0.25690001249313354, - 0.06439998745918274 - ], "min": [ -0.10999999940395355, - 0.0, - -0.18899591267108917 + -0.06439998745918274, + 0.0 + ], + "max": [ + 0.10999999940395355, + 0.18899591267108917, + 0.25690001249313354 ], "size": [ 0.2199999988079071, - 0.25690001249313354, - 0.2533959001302719 - ] + 0.2533959001302719, + 0.25690001249313354 + ], + "units": "m" }, "description": "Toaster Food Processor", "name": "body", "object_type": "rigid_bodies", - "total_mass": 2.430000042542815 + "total_mass": 2.430000042542815, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00867", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.12325000017881393, - -0.0669979564845562 + "min": [ + -0.10999999940395355, + -0.054999999701976776, + 0.0 ], "max": [ 0.10999999940395355, - 0.24650000035762787, - 0.054999999701976776 + 0.18899591267108917, + 0.24650000035762787 ], - "min": [ - -0.10999999940395355, - 0.0, - -0.18899591267108917 - ] + "size": [ + 0.2199999988079071, + 0.24399591237306595, + 0.24650000035762787 + ], + "units": "m" }, "collision": {}, "id": "body", @@ -391,25 +479,28 @@ "source": { "object_name": "World", "part_name": "body" - } + }, + "source_prim_path": "/World/body", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -2.3692846298217773e-06, - 0.1639999970793724, - -0.06000295653939247 + "min": [ + -0.07280395925045013, + 0.022349990904331207, + 0.12399999797344208 ], "max": [ 0.07279922068119049, - 0.20399999618530273, - -0.022349990904331207 + 0.09765592217445374, + 0.20399999618530273 ], - "min": [ - -0.07280395925045013, - 0.12399999797344208, - -0.09765592217445374 - ] + "size": [ + 0.14560317993164062, + 0.07530593127012253, + 0.07999999821186066 + ], + "units": "m" }, "collision": {}, "id": "blade_spin", @@ -419,25 +510,28 @@ "source": { "object_name": "World", "part_name": "blade_spin" - } + }, + "source_prim_path": "/World/blade_spin", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.0485000004991889, - 0.055199991911649704 + "min": [ + -0.02500000037252903, + -0.06439998745918274, + 0.01899999938905239 ], "max": [ 0.02500000037252903, - 0.07800000160932541, - 0.06439998745918274 + -0.04599999636411667, + 0.07800000160932541 ], - "min": [ - -0.02500000037252903, - 0.01899999938905239, - 0.04599999636411667 - ] + "size": [ + 0.05000000074505806, + 0.01839999109506607, + 0.05900000222027302 + ], + "units": "m" }, "collision": {}, "id": "dial_turn", @@ -447,25 +541,28 @@ "source": { "object_name": "World", "part_name": "dial_turn" - } + }, + "source_prim_path": "/World/dial_turn", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.2334500029683113, - -0.06000000052154064 + "min": [ + -0.035999998450279236, + 0.024000000208616257, + 0.20999999344348907 ], "max": [ 0.035999998450279236, - 0.25690001249313354, - -0.024000000208616257 + 0.09600000083446503, + 0.25690001249313354 ], - "min": [ - -0.035999998450279236, - 0.20999999344348907, - -0.09600000083446503 - ] + "size": [ + 0.07199999690055847, + 0.07200000062584877, + 0.04690001904964447 + ], + "units": "m" }, "collision": {}, "id": "pusher", @@ -475,10 +572,27 @@ "source": { "object_name": "World", "part_name": "pusher" - } + }, + "source_prim_path": "/World/pusher", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "73531537f1fcb014c12eb504ee50bf86c4faebbd7f6c4f2f0bc039bc8aa21175" + }, + "usd_path": "batch36/D00867_Toaster_Food_Processor/D00867_Toaster_Food_Processor/IsaacSim_assets_D00867/IsaacSim_asset_D00867.usd", + "usd_sha256": "66cbebc55ee25135f3d958c3386810c47875f75303b955bcfab786dee4cc0f8d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -495,24 +609,58 @@ "up_axis": "Z", "bounds_m": [ 0.2199999988079071, - 0.25690001249313354, - 0.2533959001302719 - ] + 0.2533959001302719, + 0.25690001249313354 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "66cbebc55ee25135f3d958c3386810c47875f75303b955bcfab786dee4cc0f8d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.430000042542815 + "value_kg": 2.430000042542815, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "66cbebc55ee25135f3d958c3386810c47875f75303b955bcfab786dee4cc0f8d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.430000042542815, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 232, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "66cbebc55ee25135f3d958c3386810c47875f75303b955bcfab786dee4cc0f8d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 232, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "66cbebc55ee25135f3d958c3386810c47875f75303b955bcfab786dee4cc0f8d", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch36/D00868_Rotary_Grater/D00868_Rotary_Grater/IsaacSim_assets_D00868/physics_D00868.json b/batch36/D00868_Rotary_Grater/D00868_Rotary_Grater/IsaacSim_assets_D00868/physics_D00868.json index 02eb7b72356a235833766253bb5cdb36e1724659..7afcac25236cc664fb18cdb69c2c5eccb99f88da 100644 --- a/batch36/D00868_Rotary_Grater/D00868_Rotary_Grater/IsaacSim_assets_D00868/physics_D00868.json +++ b/batch36/D00868_Rotary_Grater/D00868_Rotary_Grater/IsaacSim_assets_D00868/physics_D00868.json @@ -168,52 +168,99 @@ "/World/drum_assembly" ], "proxyPrim": [] + }, + "id": "drum_crank_axle", + "path": "/World/Joints/drum_crank_axle", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "drum_crank_axle", + "source_prim_path": "/World/Joints/drum_crank_axle", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/hopper_body" + ], + "body1": [ + "/World/drum_assembly" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": "-Infinity", + "upperLimit": "Infinity", + "localPos0": [ + 0.001500000013038516, + 0.0, + 0.048500001430511475 + ], + "localPos1": [ + 0.001500000013038516, + 0.0, + 0.048500001430511475 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09749999642372131, - 0.09514793753623962, - 0.03400000184774399 - ], "min": [ -0.14499999582767487, - 0.0, - -0.043083131313323975 + -0.03400000184774399, + 0.0 + ], + "max": [ + 0.09749999642372131, + 0.043083131313323975, + 0.09514793753623962 ], "size": [ 0.24249999225139618, - 0.09514793753623962, - 0.07708313316106796 - ] + 0.07708313316106796, + 0.09514793753623962 + ], + "units": "m" }, "description": "Rotary Grater", "name": "hopper_body", "object_type": "rigid_bodies", - "total_mass": 0.48999999463558197 + "total_mass": 0.48999999463558197, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00868", "parts": [ { "bounds": { - "center": [ - -0.04899999871850014, - 0.054823968559503555, - -0.004541564732789993 + "min": [ + -0.14499999582767487, + -0.03400000184774399, + 0.014499999582767487 ], "max": [ 0.04699999839067459, - 0.09514793753623962, - 0.03400000184774399 + 0.043083131313323975, + 0.09514793753623962 ], - "min": [ - -0.14499999582767487, - 0.014499999582767487, - -0.043083131313323975 - ] + "size": [ + 0.19199999421834946, + 0.07708313316106796, + 0.08064793795347214 + ], + "units": "m" }, "collision": {}, "id": "hopper_body", @@ -223,25 +270,28 @@ "source": { "object_name": "World", "part_name": "hopper_body" - } + }, + "source_prim_path": "/World/hopper_body", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.03182812221348286, - 0.039302363991737366, + "min": [ + -0.0338437519967556, + -0.030104730278253555, 0.0 ], "max": [ 0.09749999642372131, - 0.07860472798347473, - 0.030104730278253555 + 0.030104730278253555, + 0.07860472798347473 ], - "min": [ - -0.0338437519967556, - 0.0, - -0.030104730278253555 - ] + "size": [ + 0.1313437484204769, + 0.06020946055650711, + 0.07860472798347473 + ], + "units": "m" }, "collision": {}, "id": "drum_assembly", @@ -251,10 +301,27 @@ "source": { "object_name": "World", "part_name": "drum_assembly" - } + }, + "source_prim_path": "/World/drum_assembly", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8621bdf1ba7011d37156e9245b902ccfbb120a852e842d73e349ea3fdae1164b" + }, + "usd_path": "batch36/D00868_Rotary_Grater/D00868_Rotary_Grater/IsaacSim_assets_D00868/IsaacSim_asset_D00868.usd", + "usd_sha256": "18593cedc2a12d9f063163b10604ee663a14609c206e0655ff4ba224e87f6265", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -271,24 +338,58 @@ "up_axis": "Z", "bounds_m": [ 0.24249999225139618, - 0.09514793753623962, - 0.07708313316106796 - ] + 0.07708313316106796, + 0.09514793753623962 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18593cedc2a12d9f063163b10604ee663a14609c206e0655ff4ba224e87f6265", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.48999999463558197 + "value_kg": 0.48999999463558197, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18593cedc2a12d9f063163b10604ee663a14609c206e0655ff4ba224e87f6265", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.48999999463558197, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 256, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18593cedc2a12d9f063163b10604ee663a14609c206e0655ff4ba224e87f6265", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 256, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18593cedc2a12d9f063163b10604ee663a14609c206e0655ff4ba224e87f6265", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00086_Brown_Sugar_Jar/IsaacSim_assets_6a87f8521597a2d66f5c6e3d/physics_6a87f8521597a2d66f5c6e3d.json b/batch37/D00086_Brown_Sugar_Jar/IsaacSim_assets_6a87f8521597a2d66f5c6e3d/physics_6a87f8521597a2d66f5c6e3d.json index adeadbbedd4f259a4d26744a95d40b350458c433..a1bb39b09976c03dc7dcd634bfd84a78c09b4896 100644 --- a/batch37/D00086_Brown_Sugar_Jar/IsaacSim_assets_6a87f8521597a2d66f5c6e3d/physics_6a87f8521597a2d66f5c6e3d.json +++ b/batch37/D00086_Brown_Sugar_Jar/IsaacSim_assets_6a87f8521597a2d66f5c6e3d/physics_6a87f8521597a2d66f5c6e3d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.056920355680631474, - 0.1291077807545662, - 0.057062625186517835 - ], "min": [ -0.056580645468784496, - 9.342693374492228e-08, - -0.0572563752066344 + -0.057062625186517835, + 9.342693374492228e-08 + ], + "max": [ + 0.056920355680631474, + 0.0572563752066344, + 0.1291077807545662 ], "size": [ 0.11350100114941597, - 0.12910768732763245, - 0.11431900039315224 - ] + 0.11431900039315224, + 0.12910768732763245 + ], + "units": "m" }, "description": "D00086 Brown_Sugar_Jar", "name": "D00086 Brown_Sugar_Jar", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.4999999925494194, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00086", "parts": [ { "bounds": { - "center": [ - 0.00016985510592348874, - 0.051233092470283736, - -9.68750100582838e-05 + "min": [ + -0.056580645468784496, + -0.057062625186517835, + 9.342693374492228e-08 ], "max": [ 0.056920355680631474, - 0.10246609151363373, - 0.057062625186517835 + 0.0572563752066344, + 0.10246609151363373 ], - "min": [ - -0.056580645468784496, - 9.342693374492228e-08, - -0.0572563752066344 - ] + "size": [ + 0.11350100114941597, + 0.11431900039315224, + 0.10246599808669998 + ], + "units": "m" }, "center_of_mass": [ 0.00026550510665401816, @@ -59,7 +65,7 @@ 0.0006684008403681219, 0.000675621849950403 ], - "mass": 0.38, + "mass": 0.3799999952316284, "material": "ceramic_or_glass", "name": "D00086 Brown_Sugar_Jar", "physics_type": "rigid", @@ -67,25 +73,28 @@ "object_name": "D00086 Brown_Sugar_Jar", "part_name": "D00086 Brown_Sugar_Jar" }, - "volume": 0.0001899999976158142 + "volume": 0.0001899999976158142, + "source_prim_path": "/World/textured_mesh_6a87f8521597a2d66f5c6e3d/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00046050414675846696, - 0.11609628424048424, - -0.00024722593661863357 + "min": [ + -0.054290004598442465, + -0.05414727439347189, + 0.10308478772640228 ], "max": [ 0.05336899630492553, - 0.1291077807545662, - 0.05414727439347189 + 0.054641726266709156, + 0.1291077807545662 ], - "min": [ - -0.054290004598442465, - 0.10308478772640228, - -0.054641726266709156 - ] + "size": [ + 0.107659000903368, + 0.10878900066018105, + 0.02602299302816391 + ], + "units": "m" }, "center_of_mass": [ -5.337847687769681e-05, @@ -100,7 +109,7 @@ 7.119053771020845e-05, 0.0001349094818579033 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "ceramic_or_glass", "name": "D00086 Brown_Sugar_Jar", "physics_type": "rigid", @@ -108,10 +117,27 @@ "object_name": "D00086 Brown_Sugar_Jar", "part_name": "D00086 Brown_Sugar_Jar" }, - "volume": 5.9999998658895494e-05 + "volume": 5.9999998658895494e-05, + "source_prim_path": "/World/textured_mesh_6a87f8521597a2d66f5c6e3d/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "142c53edbdf085a42bc04a1ac8acdca22a05f4874590240e2ba4c174cc3a83a2" + }, + "usd_path": "batch37/D00086_Brown_Sugar_Jar/IsaacSim_assets_6a87f8521597a2d66f5c6e3d/IsaacSim_asset_6a87f8521597a2d66f5c6e3d.usd", + "usd_sha256": "8b06b14dbecb4f49a3a764165c21b280c6ee574220011fb0e420f9092066dd3d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -130,24 +156,75 @@ "up_axis": "Z", "bounds_m": [ 0.11350100114941597, - 0.12910768732763245, - 0.11431900039315224 - ] + 0.11431900039315224, + 0.12910768732763245 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8b06b14dbecb4f49a3a764165c21b280c6ee574220011fb0e420f9092066dd3d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.4999999925494194, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8b06b14dbecb4f49a3a764165c21b280c6ee574220011fb0e420f9092066dd3d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4999999925494194, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8b06b14dbecb4f49a3a764165c21b280c6ee574220011fb0e420f9092066dd3d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexDecomposition" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8b06b14dbecb4f49a3a764165c21b280c6ee574220011fb0e420f9092066dd3d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "8b06b14dbecb4f49a3a764165c21b280c6ee574220011fb0e420f9092066dd3d", + "supplemental_accepted": true, + "planned_test_count": 13, + "result_count": 13, + "passed": 11, + "skipped": 2, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:44.270140+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "cf0f3a1cc948e1bbe8751ae4bb660564e7755e4591c3ee1cf24e8e8d1f50702e", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00153 Coffee Kettle/IsaacSim_assets_6a856ff1a08484187f790bef/physics_6a856ff1a08484187f790bef.json b/batch37/D00153 Coffee Kettle/IsaacSim_assets_6a856ff1a08484187f790bef/physics_6a856ff1a08484187f790bef.json index 0403a3ee02fbd6da654336f17d0146fae167785e..c7422ece666acee7ac5e671092a2ab3f44ddf863 100644 --- a/batch37/D00153 Coffee Kettle/IsaacSim_assets_6a856ff1a08484187f790bef/physics_6a856ff1a08484187f790bef.json +++ b/batch37/D00153 Coffee Kettle/IsaacSim_assets_6a856ff1a08484187f790bef/physics_6a856ff1a08484187f790bef.json @@ -6,64 +6,205 @@ "body0": "/World/textured_mesh_6a856ff1a08484187f790bef/part_0", "body1": "/World/textured_mesh_6a856ff1a08484187f790bef/part_1", "joint_path": "/World/textured_mesh_6a856ff1a08484187f790bef/Joints/joint_part_0__part_1", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a856ff1a08484187f790bef/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a856ff1a08484187f790bef/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a856ff1a08484187f790bef/part_1" + ], + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a856ff1a08484187f790bef/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a856ff1a08484187f790bef/part_0" + ], + "body1": [ + "/World/textured_mesh_6a856ff1a08484187f790bef/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a856ff1a08484187f790bef/part_0", "body1": "/World/textured_mesh_6a856ff1a08484187f790bef/part_3", "joint_path": "/World/textured_mesh_6a856ff1a08484187f790bef/Joints/joint_part_0__part_3", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_3", + "path": "/World/textured_mesh_6a856ff1a08484187f790bef/Joints/joint_part_0__part_3", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a856ff1a08484187f790bef/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a856ff1a08484187f790bef/part_3" + ], + "authored_usd": { + "id": "joint_part_0__part_3", + "source_prim_path": "/World/textured_mesh_6a856ff1a08484187f790bef/Joints/joint_part_0__part_3", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a856ff1a08484187f790bef/part_0" + ], + "body1": [ + "/World/textured_mesh_6a856ff1a08484187f790bef/part_3" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a856ff1a08484187f790bef/part_2", "body1": "/World/textured_mesh_6a856ff1a08484187f790bef/part_4", "joint_path": "/World/textured_mesh_6a856ff1a08484187f790bef/Joints/joint_part_2__part_4", - "type": "fixed" + "type": "fixed", + "id": "joint_part_2__part_4", + "path": "/World/textured_mesh_6a856ff1a08484187f790bef/Joints/joint_part_2__part_4", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a856ff1a08484187f790bef/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_6a856ff1a08484187f790bef/part_4" + ], + "authored_usd": { + "id": "joint_part_2__part_4", + "source_prim_path": "/World/textured_mesh_6a856ff1a08484187f790bef/Joints/joint_part_2__part_4", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a856ff1a08484187f790bef/part_2" + ], + "body1": [ + "/World/textured_mesh_6a856ff1a08484187f790bef/part_4" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1290376697870487, - 0.1841529546892689, - 0.06111245902790099 - ], "min": [ - -0.15324187841059383, - 0.0005863729252505261, - -0.06120886527640959 + -0.15322817659825683, + -0.061085262464810434, + 0.0006189062413310684 + ], + "max": [ + 0.12902955153504062, + 0.06120084924654604, + 0.18402692716938432 ], "size": [ - 0.28227954819764256, - 0.18356658176401838, - 0.12232132430431059 - ] + 0.2822577281332974, + 0.12228611171135648, + 0.18340802092805325 + ], + "units": "m" }, "description": "D00153 Coffee Kettle", "name": "D00153 Coffee Kettle", "object_type": "rigid_bodies", - "total_mass": 0.55 + "total_mass": 0.5499999932944775, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00153", "parts": [ { "bounds": { - "center": [ - -0.0030977658313223154, - 0.07381451435269609, - -4.820312425430143e-05 + "min": [ + -0.06418604082054157, + -0.061085262464810434, + 0.0006189062413310684 ], "max": [ - 0.05816874292855479, - 0.14704265578014167, - 0.06111245902790099 + 0.058140375657597214, + 0.06120084924654604, + 0.14701835453953738 ], - "min": [ - -0.06436427459119942, - 0.0005863729252505261, - -0.06120886527640959 - ] + "size": [ + 0.12232641647813877, + 0.12228611171135648, + 0.1463994482982063 + ], + "units": "m" }, "center_of_mass": [ -0.003323291428387165, @@ -78,7 +219,7 @@ 0.00123805261682719, 0.0012539767194539309 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "metal", "name": "D00153 Coffee Kettle", "physics_type": "rigid", @@ -86,25 +227,28 @@ "object_name": "D00153 Coffee Kettle", "part_name": "D00153 Coffee Kettle" }, - "volume": 4.487179410763276e-05 + "volume": 4.487179410763276e-05, + "source_prim_path": "/World/textured_mesh_6a856ff1a08484187f790bef/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.08725068480074379, - 0.0859756176035584, - -5.00377079937853e-05 + "min": [ + 0.04546808608386811, + -0.011234147283783039, + 0.03075314075660025 ], "max": [ - 0.1290376697870487, - 0.14130306207915916, - 0.011235438887265558 + 0.12902955153504062, + 0.011313855885434385, + 0.14123126169570535 ], - "min": [ - 0.045463699814438874, - 0.03064817312795766, - -0.011335514303253129 - ] + "size": [ + 0.0835614654511725, + 0.022548003169217422, + 0.1104781209391051 + ], + "units": "m" }, "center_of_mass": [ 0.09031586349010468, @@ -119,7 +263,7 @@ 7.200274558272213e-05, 7.81162380008027e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "wood", "name": "D00153 Coffee Kettle", "physics_type": "rigid", @@ -127,25 +271,28 @@ "object_name": "D00153 Coffee Kettle", "part_name": "D00153 Coffee Kettle" }, - "volume": 7.692307806932009e-05 + "volume": 7.692307806932009e-05, + "source_prim_path": "/World/textured_mesh_6a856ff1a08484187f790bef/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.002583195754797627, - 0.15391975864287824, - 7.922107807982123e-05 + "min": [ + -0.0549055087170334, + -0.0519717008588008, + 0.14712187482020928 ], "max": [ - 0.049870755205043055, - 0.1609128388453799, - 0.052151265956099736 + 0.04974073540569946, + 0.051844064080255194, + 0.1605835332006041 ], - "min": [ - -0.05503714671463831, - 0.14692667844037657, - -0.051992823799940094 - ] + "size": [ + 0.10464624412273285, + 0.10381576493905599, + 0.013461658380394814 + ], + "units": "m" }, "center_of_mass": [ -0.0024200878106057644, @@ -160,7 +307,7 @@ 6.776131340302527e-05, 0.0001316490233875811 ], - "mass": 0.08, + "mass": 0.07999999821186066, "material": "metal", "name": "D00153 Coffee Kettle", "physics_type": "rigid", @@ -168,25 +315,28 @@ "object_name": "D00153 Coffee Kettle", "part_name": "D00153 Coffee Kettle" }, - "volume": 1.0256410027161622e-05 + "volume": 1.0256410027161622e-05, + "source_prim_path": "/World/textured_mesh_6a856ff1a08484187f790bef/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.10708577826643961, - 0.08727931379463308, - -0.00012083065925617975 + "min": [ + -0.15322817659825683, + -0.00733117260179633, + 0.025539885258331653 ], "max": [ - -0.0609296781222854, - 0.14914355886808942, - 0.0073591232607030654 + -0.06094385101241984, + 0.007599471913967878, + 0.14903177179196817 ], - "min": [ - -0.15324187841059383, - 0.025415068721176742, - -0.007600784579215425 - ] + "size": [ + 0.09228432558583699, + 0.014930644515764209, + 0.12349188653363652 + ], + "units": "m" }, "center_of_mass": [ -0.10363934189081192, @@ -201,7 +351,7 @@ 9.465435141464695e-05, 9.640857751946896e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "metal", "name": "D00153 Coffee Kettle", "physics_type": "rigid", @@ -209,25 +359,28 @@ "object_name": "D00153 Coffee Kettle", "part_name": "D00153 Coffee Kettle" }, - "volume": 6.4102565057766745e-06 + "volume": 6.4102565057766745e-06, + "source_prim_path": "/World/textured_mesh_6a856ff1a08484187f790bef/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.001815004849278998, - 0.17200600091812818, - 0.00014794008271705808 + "min": [ + -0.02010605559275013, + -0.018515922729881513, + 0.15996164215146952 ], "max": [ - 0.016526557062476507, - 0.1841529546892689, - 0.018589215303244293 + 0.01646273586394413, + 0.018142350024192958, + 0.18402692716938432 ], - "min": [ - -0.020156566761034504, - 0.15985904714698743, - -0.018293335137810177 - ] + "size": [ + 0.03656879145669426, + 0.036658272754074475, + 0.0240652850179148 + ], + "units": "m" }, "center_of_mass": [ -0.001919881789945066, @@ -242,7 +395,7 @@ 1.9308095033920836e-06, 2.425016646157019e-06 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "wood", "name": "D00153 Coffee Kettle", "physics_type": "rigid", @@ -250,10 +403,27 @@ "object_name": "D00153 Coffee Kettle", "part_name": "D00153 Coffee Kettle" }, - "volume": 3.0769230081484866e-05 + "volume": 3.0769230081484866e-05, + "source_prim_path": "/World/textured_mesh_6a856ff1a08484187f790bef/part_4", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6b1f3063f6ce78d8295bc143f8b4ed4c35f0b4718f59052b5024f790cff5b7de" + }, + "usd_path": "batch37/D00153 Coffee Kettle/IsaacSim_assets_6a856ff1a08484187f790bef/IsaacSim_asset_6a856ff1a08484187f790bef.usd", + "usd_sha256": "b8174142fbc6231b3826e9e9dfe040164d06b323615a96d3089ccba6b8b249a0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -271,25 +441,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.28227954819764256, - 0.18356658176401838, - 0.12232132430431059 - ] + 0.2822577281332974, + 0.12228611171135648, + 0.18340802092805325 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b8174142fbc6231b3826e9e9dfe040164d06b323615a96d3089ccba6b8b249a0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.55 + "value_kg": 0.5499999932944775, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b8174142fbc6231b3826e9e9dfe040164d06b323615a96d3089ccba6b8b249a0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5499999932944775, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 46, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b8174142fbc6231b3826e9e9dfe040164d06b323615a96d3089ccba6b8b249a0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 46, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b8174142fbc6231b3826e9e9dfe040164d06b323615a96d3089ccba6b8b249a0", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "b8174142fbc6231b3826e9e9dfe040164d06b323615a96d3089ccba6b8b249a0", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:03.757710+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "56c0012c50a862b8ac4312002f7b5a20ad8b82e4730a28a67d2d6dace41c1f6a", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00164 Box Grater/IsaacSim_assets_6a86a029ad93f8edde6a9c44/physics_6a86a029ad93f8edde6a9c44.json b/batch37/D00164 Box Grater/IsaacSim_assets_6a86a029ad93f8edde6a9c44/physics_6a86a029ad93f8edde6a9c44.json index 6422d9aa5ad842d5cf06fa9167a9641d34deb9ca..933d5810aa56bc4ea6db127c02fe7353bcd2a2b8 100644 --- a/batch37/D00164 Box Grater/IsaacSim_assets_6a86a029ad93f8edde6a9c44/physics_6a86a029ad93f8edde6a9c44.json +++ b/batch37/D00164 Box Grater/IsaacSim_assets_6a86a029ad93f8edde6a9c44/physics_6a86a029ad93f8edde6a9c44.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06612599641084671, - 0.2883859872817993, - 0.05281300097703934 - ], "min": [ -0.0664609968662262, - 6.000000212225132e-06, - -0.052616000175476074 + -0.05281300097703934, + 6.000000212225132e-06 + ], + "max": [ + 0.06612599641084671, + 0.052616000175476074, + 0.2883859872817993 ], "size": [ 0.1325869932770729, - 0.2883799872815871, - 0.10542900115251541 - ] + 0.10542900115251541, + 0.2883799872815871 + ], + "units": "m" }, "description": "D00164 Box Grater", "name": "D00164 Box Grater", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00164", "parts": [ { "bounds": { - "center": [ - -0.00016750022768974304, - 0.14419599364100577, - 9.850040078163147e-05 + "min": [ + -0.0664609968662262, + -0.05281300097703934, + 6.000000212225132e-06 ], "max": [ 0.06612599641084671, - 0.2883859872817993, - 0.05281300097703934 + 0.052616000175476074, + 0.2883859872817993 ], - "min": [ - -0.0664609968662262, - 6.000000212225132e-06, - -0.052616000175476074 - ] + "size": [ + 0.1325869932770729, + 0.10542900115251541, + 0.2883799872815871 + ], + "units": "m" }, "center_of_mass": [ -0.00013774096441920847, @@ -67,10 +73,27 @@ "object_name": "D00164 Box Grater", "part_name": "D00164 Box Grater" }, - "volume": 0.00038819875776397513 + "volume": 0.00038819875776397513, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bf29e6edfb1b914e42b868d9c759926dd0909c69bd253eb9b1ab74d2034ba027" + }, + "usd_path": "batch37/D00164 Box Grater/IsaacSim_assets_6a86a029ad93f8edde6a9c44/IsaacSim_asset_6a86a029ad93f8edde6a9c44.usd", + "usd_sha256": "7f06ea01f80d7e55401f067cd727fc84d9e1128375bbb10d5189158078108815", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,75 @@ "up_axis": "Z", "bounds_m": [ 0.1325869932770729, - 0.2883799872815871, - 0.10542900115251541 - ] + 0.10542900115251541, + 0.2883799872815871 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7f06ea01f80d7e55401f067cd727fc84d9e1128375bbb10d5189158078108815", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7f06ea01f80d7e55401f067cd727fc84d9e1128375bbb10d5189158078108815", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7f06ea01f80d7e55401f067cd727fc84d9e1128375bbb10d5189158078108815", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7f06ea01f80d7e55401f067cd727fc84d9e1128375bbb10d5189158078108815", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "7f06ea01f80d7e55401f067cd727fc84d9e1128375bbb10d5189158078108815", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:16:01.664365+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "3572d7d67b3e050f55da12c747805bcc20d89c716939d59a3abbe4700f840ed4", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00222_Chocolate_Mold/IsaacSim_assets_6a87bd4b1597a2d66f51ee08/physics_6a87bd4b1597a2d66f51ee08.json b/batch37/D00222_Chocolate_Mold/IsaacSim_assets_6a87bd4b1597a2d66f51ee08/physics_6a87bd4b1597a2d66f51ee08.json index 47524f20ef12749bbffa9ba26915cd97460f9f97..5581379e05132105f178da3bbc458d9d776f61f0 100644 --- a/batch37/D00222_Chocolate_Mold/IsaacSim_assets_6a87bd4b1597a2d66f51ee08/physics_6a87bd4b1597a2d66f51ee08.json +++ b/batch37/D00222_Chocolate_Mold/IsaacSim_assets_6a87bd4b1597a2d66f51ee08/physics_6a87bd4b1597a2d66f51ee08.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10690200328826904, - 0.026508380193263292, - 0.06476400047540665 - ], "min": [ -0.10700099915266037, - 0.001066379714757204, - -0.06487400084733963 + -0.06476400047540665, + 0.001066379714757204 + ], + "max": [ + 0.10690200328826904, + 0.06487400084733963, + 0.026508380193263292 ], "size": [ 0.2139030024409294, - 0.025442000478506088, - 0.12963800132274628 - ] + 0.12963800132274628, + 0.025442000478506088 + ], + "units": "m" }, "description": "D00222 Chocolate_Mold", "name": "D00222 Chocolate_Mold", "object_type": "rigid_bodies", - "total_mass": 0.216 + "total_mass": 0.2160000056028366, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00222", "parts": [ { "bounds": { - "center": [ - -4.949793219566345e-05, - 0.013787379954010248, - -5.50001859664917e-05 + "min": [ + -0.10700099915266037, + -0.06476400047540665, + 0.001066379714757204 ], "max": [ 0.10690200328826904, - 0.026508380193263292, - 0.06476400047540665 + 0.06487400084733963, + 0.026508380193263292 ], - "min": [ - -0.10700099915266037, - 0.001066379714757204, - -0.06487400084733963 - ] + "size": [ + 0.2139030024409294, + 0.12963800132274628, + 0.025442000478506088 + ], + "units": "m" }, "center_of_mass": [ -7.669717160752043e-05, @@ -59,7 +65,7 @@ 0.0007450879202224314, 0.000997829483821988 ], - "mass": 0.216, + "mass": 0.2160000056028366, "material": "plastic", "name": "D00222 Chocolate_Mold", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00222 Chocolate_Mold", "part_name": "D00222 Chocolate_Mold" }, - "volume": 0.0001800000046690305 + "volume": 0.0001800000046690305, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ba3f1a7c65ac3f68d7c487c3117a538daf0c045640bae4d285a86b4fdf907b1c" + }, + "usd_path": "batch37/D00222_Chocolate_Mold/IsaacSim_assets_6a87bd4b1597a2d66f51ee08/IsaacSim_asset_6a87bd4b1597a2d66f51ee08.usd", + "usd_sha256": "59666343155919d1a74beb64ab307a7b6b520a3d4a6d4f2da568490f183031fa", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.2139030024409294, - 0.025442000478506088, - 0.12963800132274628 - ] + 0.12963800132274628, + 0.025442000478506088 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "59666343155919d1a74beb64ab307a7b6b520a3d4a6d4f2da568490f183031fa", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.216 + "value_kg": 0.2160000056028366, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "59666343155919d1a74beb64ab307a7b6b520a3d4a6d4f2da568490f183031fa", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2160000056028366, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 124, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "59666343155919d1a74beb64ab307a7b6b520a3d4a6d4f2da568490f183031fa", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 124, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "59666343155919d1a74beb64ab307a7b6b520a3d4a6d4f2da568490f183031fa", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00294_Utensils_Holder/IsaacSim_assets_6a87e8a51597a2d66f57c2df/physics_6a87e8a51597a2d66f57c2df.json b/batch37/D00294_Utensils_Holder/IsaacSim_assets_6a87e8a51597a2d66f57c2df/physics_6a87e8a51597a2d66f57c2df.json index ea3c45d40eeb6b0f4f2fc4ec47c9b0063f8cb5fc..55dc7f3f59a0df138ce6c3f5fe6be0ee83c36515 100644 --- a/batch37/D00294_Utensils_Holder/IsaacSim_assets_6a87e8a51597a2d66f57c2df/physics_6a87e8a51597a2d66f57c2df.json +++ b/batch37/D00294_Utensils_Holder/IsaacSim_assets_6a87e8a51597a2d66f57c2df/physics_6a87e8a51597a2d66f57c2df.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06660699844360352, - 0.15478325262665749, - 0.06692399829626083 - ], "min": [ -0.06716900318861008, - 0.0007542599505541148, - -0.06654299795627594 + -0.06692399829626083, + 0.0007542599505541148 + ], + "max": [ + 0.06660699844360352, + 0.06654299795627594, + 0.15478325262665749 ], "size": [ 0.1337760016322136, - 0.15402899267610337, - 0.13346699625253677 - ] + 0.13346699625253677, + 0.15402899267610337 + ], + "units": "m" }, "description": "D00294 Utensils_Holder", "name": "D00294 Utensils_Holder", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00294", "parts": [ { "bounds": { - "center": [ - -0.00028100237250328064, - 0.0777687562886058, - 0.0001905001699924469 + "min": [ + -0.06716900318861008, + -0.06692399829626083, + 0.0007542599505541148 ], "max": [ 0.06660699844360352, - 0.15478325262665749, - 0.06692399829626083 + 0.06654299795627594, + 0.15478325262665749 ], - "min": [ - -0.06716900318861008, - 0.0007542599505541148, - -0.06654299795627594 - ] + "size": [ + 0.1337760016322136, + 0.13346699625253677, + 0.15402899267610337 + ], + "units": "m" }, "center_of_mass": [ -0.0005710123805329204, @@ -59,7 +65,7 @@ 0.0032076872885227203, 0.0032342812046408653 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "ceramic_or_glass", "name": "D00294 Utensils_Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00294 Utensils_Holder", "part_name": "D00294 Utensils_Holder" }, - "volume": 0.00033333333830038705 + "volume": 0.00033333333830038705, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "30d7bc38744c85b2b6255a0de12a5ca11449eca4221021ddd91337573d91e5f9" + }, + "usd_path": "batch37/D00294_Utensils_Holder/IsaacSim_assets_6a87e8a51597a2d66f57c2df/IsaacSim_asset_6a87e8a51597a2d66f57c2df.usd", + "usd_sha256": "9f280e1c64312eba3cb3e21b4db7ba3c996f5ccbc5d5ee905c710ec03a65748e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.1337760016322136, - 0.15402899267610337, - 0.13346699625253677 - ] + 0.13346699625253677, + 0.15402899267610337 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f280e1c64312eba3cb3e21b4db7ba3c996f5ccbc5d5ee905c710ec03a65748e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f280e1c64312eba3cb3e21b4db7ba3c996f5ccbc5d5ee905c710ec03a65748e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 27, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f280e1c64312eba3cb3e21b4db7ba3c996f5ccbc5d5ee905c710ec03a65748e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 27, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f280e1c64312eba3cb3e21b4db7ba3c996f5ccbc5d5ee905c710ec03a65748e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00303_Flour_Container/IsaacSim_assets_6a87e7301597a2d66f57832a/physics_6a87e7301597a2d66f57832a.json b/batch37/D00303_Flour_Container/IsaacSim_assets_6a87e7301597a2d66f57832a/physics_6a87e7301597a2d66f57832a.json index 109f920a7b4dbe43f62ad8b7cac06e0c8e51fc26..e4aa1fee8abacc5449cfde693f7f1db00672f62d 100644 --- a/batch37/D00303_Flour_Container/IsaacSim_assets_6a87e7301597a2d66f57832a/physics_6a87e7301597a2d66f57832a.json +++ b/batch37/D00303_Flour_Container/IsaacSim_assets_6a87e7301597a2d66f57832a/physics_6a87e7301597a2d66f57832a.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a87e7301597a2d66f57832a/part_1", "body1": "/World/textured_mesh_6a87e7301597a2d66f57832a/part_2", "joint_path": "/World/textured_mesh_6a87e7301597a2d66f57832a/Joints/joint_part_1__part_2", - "type": "fixed" + "type": "fixed", + "id": "joint_part_1__part_2", + "path": "/World/textured_mesh_6a87e7301597a2d66f57832a/Joints/joint_part_1__part_2", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a87e7301597a2d66f57832a/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_6a87e7301597a2d66f57832a/part_2" + ], + "authored_usd": { + "id": "joint_part_1__part_2", + "source_prim_path": "/World/textured_mesh_6a87e7301597a2d66f57832a/Joints/joint_part_1__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a87e7301597a2d66f57832a/part_1" + ], + "body1": [ + "/World/textured_mesh_6a87e7301597a2d66f57832a/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11464073420211207, - 0.2820210879304624, - 0.11771535367006436 - ], "min": [ -0.11589326053217519, - 0.0012537374859675765, - -0.11679764598375186 + -0.11771535367006436, + 0.0012537374859675765 + ], + "max": [ + 0.11464073420211207, + 0.11679764598375186, + 0.28174590515498577 ], "size": [ 0.23053399473428726, - 0.2807673504444948, - 0.23451299965381622 - ] + 0.23451299965381622, + 0.2804921676690182 + ], + "units": "m" }, "description": "D00303 Flour_Container", "name": "D00303 Flour_Container", "object_type": "rigid_bodies", - "total_mass": 3.05 + "total_mass": 3.050000000745058, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00303", "parts": [ { "bounds": { - "center": [ - -0.0006262631650315598, - 0.11233973799971864, - 0.00045885384315624833 + "min": [ + -0.11589326053217519, + -0.11771535367006436, + 0.0012537374859675765 ], "max": [ 0.11464073420211207, - 0.2234257385134697, - 0.11771535367006436 + 0.11679764598375186, + 0.2234257385134697 ], - "min": [ - -0.11589326053217519, - 0.0012537374859675765, - -0.11679764598375186 - ] + "size": [ + 0.23053399473428726, + 0.23451299965381622, + 0.22217200102750212 + ], + "units": "m" }, "center_of_mass": [ 0.00012869985948782414, @@ -74,25 +125,28 @@ "object_name": "D00303 Flour_Container", "part_name": "D00303 Flour_Container" }, - "volume": 0.0010416666666666667 + "volume": 0.0010416666666666667, + "source_prim_path": "/World/textured_mesh_6a87e7301597a2d66f57832a/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0005361038535273907, - 0.23818868437296134, - 0.00033860795906306973 + "min": [ + -0.11232393673031295, + -0.11330280859598581, + 0.22122017809864836 ], "max": [ - 0.11128676641665622, - 0.25597646923163053, - 0.11337414008888443 + 0.11122656010780581, + 0.11242942332676382, + 0.25489174163937833 ], - "min": [ - -0.112358974123711, - 0.22040089951429215, - -0.11269692417075829 - ] + "size": [ + 0.22355049683811876, + 0.22573223192274963, + 0.033671563540729976 + ], + "units": "m" }, "center_of_mass": [ 0.0007743295282125473, @@ -115,25 +169,28 @@ "object_name": "D00303 Flour_Container", "part_name": "D00303 Flour_Container" }, - "volume": 0.00020833333333333335 + "volume": 0.00020833333333333335, + "source_prim_path": "/World/textured_mesh_6a87e7301597a2d66f57832a/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0003116061194393463, - 0.26493090503576633, - -0.0001290708762259011 + "min": [ + -0.029725813469849982, + -0.029113377566805265, + 0.24810099594842913 ], "max": [ - 0.02913627684057773, - 0.2820210879304624, - 0.029307557722727504 + 0.029114643261176826, + 0.029458189810965922, + 0.28174590515498577 ], - "min": [ - -0.029759489079456424, - 0.24784072214107028, - -0.029565699475179306 - ] + "size": [ + 0.05884045673102681, + 0.05857156737777119, + 0.033644909206556634 + ], + "units": "m" }, "center_of_mass": [ -0.00036157117574475706, @@ -148,7 +205,7 @@ 1.1988431651843712e-05, 1.702798363112379e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "ceramic_or_glass", "name": "D00303 Flour_Container", "physics_type": "rigid", @@ -156,10 +213,27 @@ "object_name": "D00303 Flour_Container", "part_name": "D00303 Flour_Container" }, - "volume": 2.083333364377419e-05 + "volume": 2.083333364377419e-05, + "source_prim_path": "/World/textured_mesh_6a87e7301597a2d66f57832a/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "df398e6fb71d994699cfd5d2779db5c7035f87a77223b3247fc8555260d46936" + }, + "usd_path": "batch37/D00303_Flour_Container/IsaacSim_assets_6a87e7301597a2d66f57832a/IsaacSim_asset_6a87e7301597a2d66f57832a.usd", + "usd_sha256": "5f585b6299c1c1c57a8512b28657e325892da5e9ce582e7d51cb31798c017654", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -178,24 +252,58 @@ "up_axis": "Z", "bounds_m": [ 0.23053399473428726, - 0.2807673504444948, - 0.23451299965381622 - ] + 0.23451299965381622, + 0.2804921676690182 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f585b6299c1c1c57a8512b28657e325892da5e9ce582e7d51cb31798c017654", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.05 + "value_kg": 3.050000000745058, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f585b6299c1c1c57a8512b28657e325892da5e9ce582e7d51cb31798c017654", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.050000000745058, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 20, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f585b6299c1c1c57a8512b28657e325892da5e9ce582e7d51cb31798c017654", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 20, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f585b6299c1c1c57a8512b28657e325892da5e9ce582e7d51cb31798c017654", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00306 Flower Arrangement/IsaacSim_assets_6a86e6ebad93f8edde7baba8/physics_6a86e6ebad93f8edde7baba8.json b/batch37/D00306 Flower Arrangement/IsaacSim_assets_6a86e6ebad93f8edde7baba8/physics_6a86e6ebad93f8edde7baba8.json index 8c2eed4023e0cafc6fa40067f66111a2c8c1c906..35073d8924215eb4efe096aa8ee5187be78e5947 100644 --- a/batch37/D00306 Flower Arrangement/IsaacSim_assets_6a86e6ebad93f8edde7baba8/physics_6a86e6ebad93f8edde7baba8.json +++ b/batch37/D00306 Flower Arrangement/IsaacSim_assets_6a86e6ebad93f8edde7baba8/physics_6a86e6ebad93f8edde7baba8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16732800006866455, - 0.6958019733428955, - 0.14659400284290314 - ], "min": [ -0.18794000148773193, - 2.8000000384054147e-05, - -0.16007299721240997 + -0.14659400284290314, + 2.8000000384054147e-05 + ], + "max": [ + 0.16732800006866455, + 0.16007299721240997, + 0.6958019733428955 ], "size": [ 0.3552680015563965, - 0.6957739733425115, - 0.3066670000553131 - ] + 0.3066670000553131, + 0.6957739733425115 + ], + "units": "m" }, "description": "D00306 Flower Arrangement", "name": "D00306 Flower Arrangement", "object_type": "rigid_bodies", - "total_mass": 3.5 + "total_mass": 3.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00306", "parts": [ { "bounds": { - "center": [ - -0.010306000709533691, - 0.3479149866716398, - -0.006739497184753418 + "min": [ + -0.18794000148773193, + -0.14659400284290314, + 2.8000000384054147e-05 ], "max": [ 0.16732800006866455, - 0.6958019733428955, - 0.14659400284290314 + 0.16007299721240997, + 0.6958019733428955 ], - "min": [ - -0.18794000148773193, - 2.8000000384054147e-05, - -0.16007299721240997 - ] + "size": [ + 0.3552680015563965, + 0.3066670000553131, + 0.6957739733425115 + ], + "units": "m" }, "center_of_mass": [ -0.0024456644896417856, @@ -67,10 +73,27 @@ "object_name": "D00306 Flower Arrangement", "part_name": "D00306 Flower Arrangement" }, - "volume": 0.0019444444444444444 + "volume": 0.0019444444444444444, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e70a14b0fa053869a8c46b729fbb7b7b99e451cb68cf781973aa09087fb6a56f" + }, + "usd_path": "batch37/D00306 Flower Arrangement/IsaacSim_assets_6a86e6ebad93f8edde7baba8/IsaacSim_asset_6a86e6ebad93f8edde7baba8.usd", + "usd_sha256": "ea54a11d0c96f8ae5c4e4193fba541238ef55afe3148dcdcb5872b100deb373f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.3552680015563965, - 0.6957739733425115, - 0.3066670000553131 - ] + 0.3066670000553131, + 0.6957739733425115 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ea54a11d0c96f8ae5c4e4193fba541238ef55afe3148dcdcb5872b100deb373f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.5 + "value_kg": 3.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ea54a11d0c96f8ae5c4e4193fba541238ef55afe3148dcdcb5872b100deb373f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 39, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ea54a11d0c96f8ae5c4e4193fba541238ef55afe3148dcdcb5872b100deb373f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 39, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ea54a11d0c96f8ae5c4e4193fba541238ef55afe3148dcdcb5872b100deb373f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00311_Food_Jar/IsaacSim_assets_6a882a74e156890f3ebb021c/physics_6a882a74e156890f3ebb021c.json b/batch37/D00311_Food_Jar/IsaacSim_assets_6a882a74e156890f3ebb021c/physics_6a882a74e156890f3ebb021c.json index 22175f676b613b3fad08082e46c0331098a94527..6f19b5ccce51ee0fd694bc4a86a1a1e404e2ca3d 100644 --- a/batch37/D00311_Food_Jar/IsaacSim_assets_6a882a74e156890f3ebb021c/physics_6a882a74e156890f3ebb021c.json +++ b/batch37/D00311_Food_Jar/IsaacSim_assets_6a882a74e156890f3ebb021c/physics_6a882a74e156890f3ebb021c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07123675758039835, - 0.16604316007318382, - 0.07165970849599049 - ], "min": [ - -0.07078735994914685, - 0.0007440665053105328, - -0.0705257608035689 + -0.07072315262487, + -0.07134531095527911, + 0.0008257883968592204 + ], + "max": [ + 0.0709765443519939, + 0.07046582222661649, + 0.16477420919630667 ], "size": [ - 0.1420241175295452, - 0.16529909356787328, - 0.14218546929955939 - ] + 0.1416996969768639, + 0.1418111331818956, + 0.16394842079944744 + ], + "units": "m" }, "description": "D00311 Food_Jar", "name": "D00311 Food_Jar", "object_type": "rigid_bodies", - "total_mass": 1.1 + "total_mass": 1.100000023841858, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00311", "parts": [ { "bounds": { - "center": [ - 8.147894809245465e-05, - 0.06817071964609817, - 0.00041755644941929293 + "min": [ + -0.07031981853005034, + -0.0708834230463306, + 0.0008257883968592204 ], "max": [ - 0.07062638951821991, - 0.1355973727868858, - 0.07099614140310316 + 0.07059227946024975, + 0.0701400938993437, + 0.1354855249733885 ], - "min": [ - -0.070463431622035, - 0.0007440665053105328, - -0.07016102850426457 - ] + "size": [ + 0.14091209799030008, + 0.14102351694567428, + 0.13465973657652927 + ], + "units": "m" }, "center_of_mass": [ 0.000700221280567348, @@ -59,7 +65,7 @@ 0.003009836422279477, 0.003052826737985015 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "ceramic_or_glass", "name": "D00311 Food_Jar", "physics_type": "rigid", @@ -67,25 +73,28 @@ "object_name": "D00311 Food_Jar", "part_name": "D00311 Food_Jar" }, - "volume": 0.00033333333830038705 + "volume": 0.00033333333830038705, + "source_prim_path": "/World/textured_mesh_6a882a74e156890f3ebb021c/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00022469881562574984, - 0.14905625057226007, - 0.0005669738462107943 + "min": [ + -0.07072315262487, + -0.07134531095527911, + 0.13312824253230562 ], "max": [ - 0.07123675758039835, - 0.16604316007318382, - 0.07165970849599049 + 0.0709765443519939, + 0.07046582222661649, + 0.16477420919630667 ], - "min": [ - -0.07078735994914685, - 0.13206934107133636, - -0.0705257608035689 - ] + "size": [ + 0.1416996969768639, + 0.1418111331818956, + 0.031645966664001046 + ], + "units": "m" }, "center_of_mass": [ 0.00010692023352021351, @@ -100,7 +109,7 @@ 0.0003318015660624951, 0.0006402384606190026 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "ceramic_or_glass", "name": "D00311 Food_Jar", "physics_type": "rigid", @@ -108,10 +117,27 @@ "object_name": "D00311 Food_Jar", "part_name": "D00311 Food_Jar" }, - "volume": 0.00012500000496705373 + "volume": 0.00012500000496705373, + "source_prim_path": "/World/textured_mesh_6a882a74e156890f3ebb021c/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "10286b586c888dc626468de8fa6d95a76c6dd2a89effe487c54ddc36ab7e51a7" + }, + "usd_path": "batch37/D00311_Food_Jar/IsaacSim_assets_6a882a74e156890f3ebb021c/IsaacSim_asset_6a882a74e156890f3ebb021c.usd", + "usd_sha256": "f0d105d0b0a3b70942c25e623c610a340cc48dc62bc5c0beaa9153673f9ac1b3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -129,25 +155,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1420241175295452, - 0.16529909356787328, - 0.14218546929955939 - ] + 0.1416996969768639, + 0.1418111331818956, + 0.16394842079944744 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f0d105d0b0a3b70942c25e623c610a340cc48dc62bc5c0beaa9153673f9ac1b3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.1 + "value_kg": 1.100000023841858, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f0d105d0b0a3b70942c25e623c610a340cc48dc62bc5c0beaa9153673f9ac1b3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.100000023841858, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 22, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f0d105d0b0a3b70942c25e623c610a340cc48dc62bc5c0beaa9153673f9ac1b3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 22, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f0d105d0b0a3b70942c25e623c610a340cc48dc62bc5c0beaa9153673f9ac1b3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00351 Jigger/IsaacSim_assets_6a86f529ad93f8edde815000/physics_6a86f529ad93f8edde815000.json b/batch37/D00351 Jigger/IsaacSim_assets_6a86f529ad93f8edde815000/physics_6a86f529ad93f8edde815000.json index e7fa86467f43c142446c5a1c24a9d403e9ad2ce1..d1be92e0f956c9395c465e70db13950b1ee0b637 100644 --- a/batch37/D00351 Jigger/IsaacSim_assets_6a86f529ad93f8edde815000/physics_6a86f529ad93f8edde815000.json +++ b/batch37/D00351 Jigger/IsaacSim_assets_6a86f529ad93f8edde815000/physics_6a86f529ad93f8edde815000.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a86f529ad93f8edde815000/part_0", "body1": "/World/textured_mesh_6a86f529ad93f8edde815000/part_1", "joint_path": "/World/textured_mesh_6a86f529ad93f8edde815000/Joints/joint_part_0__part_1", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a86f529ad93f8edde815000/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a86f529ad93f8edde815000/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a86f529ad93f8edde815000/part_1" + ], + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a86f529ad93f8edde815000/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a86f529ad93f8edde815000/part_0" + ], + "body1": [ + "/World/textured_mesh_6a86f529ad93f8edde815000/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.00018694065511226654 + ], + "localPos1": [ + 0.0, + 0.0, + 0.00018694065511226654 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.022499000653624535, - 0.08018394559621811, - 0.022485999390482903 - ], "min": [ -0.02244899980723858, - 0.0001899406488519162, - -0.022485999390482903 + -0.022485999390482903, + 0.0001899406488519162 + ], + "max": [ + 0.022499000653624535, + 0.022485999390482903, + 0.08018394559621811 ], "size": [ 0.04494800046086311, - 0.07999400494736619, - 0.044971998780965805 - ] + 0.044971998780965805, + 0.07999400494736619 + ], + "units": "m" }, "description": "D00351 Jigger", "name": "D00351 Jigger", "object_type": "rigid_bodies", - "total_mass": 0.07 + "total_mass": 0.06999999843537807, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00351", "parts": [ { "bounds": { - "center": [ - 2.5000423192977905e-05, - 0.0569804422557354, - 2.1500512957572937e-05 + "min": [ + -0.02244899980723858, + -0.022458000108599663, + 0.033776938915252686 ], "max": [ 0.022499000653624535, - 0.08018394559621811, - 0.022458000108599663 + 0.022414999082684517, + 0.08018394559621811 ], - "min": [ - -0.02244899980723858, - 0.033776938915252686, - -0.022414999082684517 - ] + "size": [ + 0.04494800046086311, + 0.04487299919128418, + 0.046407006680965424 + ], + "units": "m" }, "center_of_mass": [ 4.163093035458587e-05, @@ -66,7 +117,7 @@ 9.546734872856177e-06, 9.555439646646846e-06 ], - "mass": 0.04, + "mass": 0.03999999910593033, "material": "metal", "name": "D00351 Jigger", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00351 Jigger", "part_name": "D00351 Jigger" }, - "volume": 5.09554128737966e-06 + "volume": 5.09554128737966e-06, + "source_prim_path": "/World/textured_mesh_6a86f529ad93f8edde815000/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 6.200000643730164e-05, - 0.017566440263180993, - 0.0 + "min": [ + -0.02235499955713749, + -0.022485999390482903, + 0.0001899406488519162 ], "max": [ 0.022478999570012093, - 0.03494293987751007, - 0.022485999390482903 + 0.022485999390482903, + 0.03494293987751007 ], - "min": [ - -0.02235499955713749, - 0.0001899406488519162, - -0.022485999390482903 - ] + "size": [ + 0.04483399912714958, + 0.044971998780965805, + 0.034752999228658155 + ], + "units": "m" }, "center_of_mass": [ 4.844481736654416e-05, @@ -107,7 +161,7 @@ 5.095754204376135e-06, 5.103704552311683e-06 ], - "mass": 0.03, + "mass": 0.029999999329447746, "material": "metal", "name": "D00351 Jigger", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00351 Jigger", "part_name": "D00351 Jigger" }, - "volume": 3.821655965534745e-06 + "volume": 3.821655965534745e-06, + "source_prim_path": "/World/textured_mesh_6a86f529ad93f8edde815000/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "df838bbb636b35648d43cd52f82ba510bf64406b7eb2e4103472f9041a3863f5" + }, + "usd_path": "batch37/D00351 Jigger/IsaacSim_assets_6a86f529ad93f8edde815000/IsaacSim_asset_6a86f529ad93f8edde815000.usd", + "usd_sha256": "a7081818d9397b36edd9fea54a406e529e91e2bcfdeaadfbf9cd82a91f65550c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.04494800046086311, - 0.07999400494736619, - 0.044971998780965805 - ] + 0.044971998780965805, + 0.07999400494736619 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a7081818d9397b36edd9fea54a406e529e91e2bcfdeaadfbf9cd82a91f65550c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.07 + "value_kg": 0.06999999843537807, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a7081818d9397b36edd9fea54a406e529e91e2bcfdeaadfbf9cd82a91f65550c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.06999999843537807, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 52, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a7081818d9397b36edd9fea54a406e529e91e2bcfdeaadfbf9cd82a91f65550c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 52, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a7081818d9397b36edd9fea54a406e529e91e2bcfdeaadfbf9cd82a91f65550c", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00352 Muddler/IsaacSim_assets_6a86cc58ad93f8edde74f25a/physics_6a86cc58ad93f8edde74f25a.json b/batch37/D00352 Muddler/IsaacSim_assets_6a86cc58ad93f8edde74f25a/physics_6a86cc58ad93f8edde74f25a.json index 49d362fe441343960502c56ddddb294c5d3747c7..990c62014ffc529cf70cbb42929cd3f91a99fbb2 100644 --- a/batch37/D00352 Muddler/IsaacSim_assets_6a86cc58ad93f8edde74f25a/physics_6a86cc58ad93f8edde74f25a.json +++ b/batch37/D00352 Muddler/IsaacSim_assets_6a86cc58ad93f8edde74f25a/physics_6a86cc58ad93f8edde74f25a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0176790002733469, - 0.2202756255865097, - 0.01744299940764904 - ], "min": [ -0.017611000686883926, - 0.0007896292954683304, - -0.017632000148296356 + -0.01744299940764904, + 0.0007896292954683304 + ], + "max": [ + 0.0176790002733469, + 0.017632000148296356, + 0.2202756255865097 ], "size": [ 0.03529000096023083, - 0.21948599629104137, - 0.035074999555945396 - ] + 0.035074999555945396, + 0.21948599629104137 + ], + "units": "m" }, "description": "D00352 Muddler", "name": "D00352 Muddler", "object_type": "rigid_bodies", - "total_mass": 0.095 + "total_mass": 0.0949999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00352", "parts": [ { "bounds": { - "center": [ - 3.3999793231487274e-05, - 0.11053262744098902, - -9.450037032365799e-05 + "min": [ + -0.017611000686883926, + -0.01744299940764904, + 0.0007896292954683304 ], "max": [ 0.0176790002733469, - 0.2202756255865097, - 0.01744299940764904 + 0.017632000148296356, + 0.2202756255865097 ], - "min": [ - -0.017611000686883926, - 0.0007896292954683304, - -0.017632000148296356 - ] + "size": [ + 0.03529000096023083, + 0.035074999555945396, + 0.21948599629104137 + ], + "units": "m" }, "center_of_mass": [ 4.74610787932761e-05, @@ -59,7 +65,7 @@ 0.00045887898886576295, 0.0004589372256305069 ], - "mass": 0.095, + "mass": 0.0949999988079071, "material": "wood", "name": "D00352 Muddler", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00352 Muddler", "part_name": "D00352 Muddler" }, - "volume": 0.00013571428401129587 + "volume": 0.00013571428401129587, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f059777e20da3bbf102c90b2a04851addd99ae1d893224e3263dd8bc71d13167" + }, + "usd_path": "batch37/D00352 Muddler/IsaacSim_assets_6a86cc58ad93f8edde74f25a/IsaacSim_asset_6a86cc58ad93f8edde74f25a.usd", + "usd_sha256": "acf3d875b8f37e36c1dd5870e04532a9f8bab15167b57137ef0fb0abd98c7b4a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.03529000096023083, - 0.21948599629104137, - 0.035074999555945396 - ] + 0.035074999555945396, + 0.21948599629104137 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "acf3d875b8f37e36c1dd5870e04532a9f8bab15167b57137ef0fb0abd98c7b4a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.095 + "value_kg": 0.0949999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "acf3d875b8f37e36c1dd5870e04532a9f8bab15167b57137ef0fb0abd98c7b4a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0949999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "acf3d875b8f37e36c1dd5870e04532a9f8bab15167b57137ef0fb0abd98c7b4a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "acf3d875b8f37e36c1dd5870e04532a9f8bab15167b57137ef0fb0abd98c7b4a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00356 Glass Oil Bottle/IsaacSim_assets_6a86cc64ad93f8edde74fc11/physics_6a86cc64ad93f8edde74fc11.json b/batch37/D00356 Glass Oil Bottle/IsaacSim_assets_6a86cc64ad93f8edde74fc11/physics_6a86cc64ad93f8edde74fc11.json index f8ad4952dc1e374540769d1c7e5247036a2c3348..145b16e249e6bd54ac4f26d9ba1f1a90821a98d2 100644 --- a/batch37/D00356 Glass Oil Bottle/IsaacSim_assets_6a86cc64ad93f8edde74fc11/physics_6a86cc64ad93f8edde74fc11.json +++ b/batch37/D00356 Glass Oil Bottle/IsaacSim_assets_6a86cc64ad93f8edde74fc11/physics_6a86cc64ad93f8edde74fc11.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_0", "body1": "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_1", "joint_path": "/World/textured_mesh_6a86cc64ad93f8edde74fc11/Joints/joint_part_0__part_1", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a86cc64ad93f8edde74fc11/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_1" + ], + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a86cc64ad93f8edde74fc11/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_0" + ], + "body1": [ + "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_0", "body1": "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_2", "joint_path": "/World/textured_mesh_6a86cc64ad93f8edde74fc11/Joints/joint_part_0__part_2", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_2", + "path": "/World/textured_mesh_6a86cc64ad93f8edde74fc11/Joints/joint_part_0__part_2", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_2" + ], + "authored_usd": { + "id": "joint_part_0__part_2", + "source_prim_path": "/World/textured_mesh_6a86cc64ad93f8edde74fc11/Joints/joint_part_0__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_0" + ], + "body1": [ + "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.035944998264312744, - 0.3604370057582855, - 0.035613998770713806 - ], "min": [ -0.035342998802661896, - 4.600000102072954e-05, - -0.03607099875807762 + -0.035613998770713806, + 4.600000102072954e-05 + ], + "max": [ + 0.035944998264312744, + 0.03607099875807762, + 0.3604370057582855 ], "size": [ 0.07128799706697464, - 0.3603910057572648, - 0.07168499752879143 - ] + 0.07168499752879143, + 0.3603910057572648 + ], + "units": "m" }, "description": "D00356 Glass Oil Bottle", "name": "D00356 Glass Oil Bottle", "object_type": "rigid_bodies", - "total_mass": 0.53 + "total_mass": 0.5299999993294477, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00356", "parts": [ { "bounds": { - "center": [ - 0.0003009997308254242, - 0.1446130052790977, - -0.00022849999368190765 + "min": [ + -0.035342998802661896, + -0.035613998770713806, + 4.600000102072954e-05 ], "max": [ 0.035944998264312744, - 0.2891800105571747, - 0.035613998770713806 + 0.03607099875807762, + 0.2891800105571747 ], - "min": [ - -0.035342998802661896, - 4.600000102072954e-05, - -0.03607099875807762 - ] + "size": [ + 0.07128799706697464, + 0.07168499752879143, + 0.28913401055615395 + ], + "units": "m" }, "center_of_mass": [ 0.0002556757244747132, @@ -80,25 +176,28 @@ "object_name": "D00356 Glass Oil Bottle", "part_name": "D00356 Glass Oil Bottle" }, - "volume": 0.0002 + "volume": 0.0002, + "source_prim_path": "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00011849962174892426, - 0.3309070020914078, - -0.00016199983656406403 + "min": [ + -0.018042000010609627, + -0.01816600002348423, + 0.30137699842453003 ], "max": [ 0.018278999254107475, - 0.3604370057582855, - 0.01816600002348423 + 0.018489999696612358, + 0.3604370057582855 ], - "min": [ - -0.018042000010609627, - 0.30137699842453003, - -0.018489999696612358 - ] + "size": [ + 0.0363209992647171, + 0.03665599972009659, + 0.05906000733375549 + ], + "units": "m" }, "center_of_mass": [ -0.0009680828079581261, @@ -113,7 +212,7 @@ 7.937658665468916e-06, 7.96059612184763e-06 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "metal", "name": "D00356 Glass Oil Bottle", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00356 Glass Oil Bottle", "part_name": "D00356 Glass Oil Bottle" }, - "volume": 2.5641025067904055e-06 + "volume": 2.5641025067904055e-06, + "source_prim_path": "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0001605004072189331, - 0.2938089966773987, - -0.00017249956727027893 + "min": [ + -0.017697999253869057, + -0.017819000408053398, + 0.28383100032806396 ], "max": [ 0.018019000068306923, - 0.3037869930267334, - 0.017819000408053398 + 0.018163999542593956, + 0.3037869930267334 ], - "min": [ - -0.017697999253869057, - 0.28383100032806396, - -0.018163999542593956 - ] + "size": [ + 0.03571699932217598, + 0.035982999950647354, + 0.019955992698669434 + ], + "units": "m" }, "center_of_mass": [ 0.00014579365961253643, @@ -154,7 +256,7 @@ 1.5493944829358952e-06, 2.47995330937556e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "plastic", "name": "D00356 Glass Oil Bottle", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00356 Glass Oil Bottle", "part_name": "D00356 Glass Oil Bottle" }, - "volume": 8.333333147068818e-06 + "volume": 8.333333147068818e-06, + "source_prim_path": "/World/textured_mesh_6a86cc64ad93f8edde74fc11/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b645d54999b457f3b70039e0f21597bd2adaecfb5c4d0280dc5efd30f8bb7971" + }, + "usd_path": "batch37/D00356 Glass Oil Bottle/IsaacSim_assets_6a86cc64ad93f8edde74fc11/IsaacSim_asset_6a86cc64ad93f8edde74fc11.usd", + "usd_sha256": "878b850aef10809f1c61994f8e0384e91bedc406ae2f5c3e623a3f7c0fd77db9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,58 @@ "up_axis": "Z", "bounds_m": [ 0.07128799706697464, - 0.3603910057572648, - 0.07168499752879143 - ] + 0.07168499752879143, + 0.3603910057572648 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "878b850aef10809f1c61994f8e0384e91bedc406ae2f5c3e623a3f7c0fd77db9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.53 + "value_kg": 0.5299999993294477, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "878b850aef10809f1c61994f8e0384e91bedc406ae2f5c3e623a3f7c0fd77db9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5299999993294477, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 85, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "878b850aef10809f1c61994f8e0384e91bedc406ae2f5c3e623a3f7c0fd77db9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 85, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "878b850aef10809f1c61994f8e0384e91bedc406ae2f5c3e623a3f7c0fd77db9", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00361 Glasses/IsaacSim_assets_6a86ef91ad93f8edde7e9117/physics_6a86ef91ad93f8edde7e9117.json b/batch37/D00361 Glasses/IsaacSim_assets_6a86ef91ad93f8edde7e9117/physics_6a86ef91ad93f8edde7e9117.json index 9c28b81d87bdfcbd46d6bd73e05f95bc5bb79afd..419e35beb616be665398ef053458c21d3deca2d8 100644 --- a/batch37/D00361 Glasses/IsaacSim_assets_6a86ef91ad93f8edde7e9117/physics_6a86ef91ad93f8edde7e9117.json +++ b/batch37/D00361 Glasses/IsaacSim_assets_6a86ef91ad93f8edde7e9117/physics_6a86ef91ad93f8edde7e9117.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03857500106096268, - 0.13096800446510315, - 0.03809399902820587 - ], "min": [ -0.03916599974036217, - 1.9999999949504854e-06, - -0.038026999682188034 + -0.03809399902820587, + 1.9999999949504854e-06 + ], + "max": [ + 0.03857500106096268, + 0.038026999682188034, + 0.13096800446510315 ], "size": [ 0.07774100080132484, - 0.1309660044651082, - 0.0761209987103939 - ] + 0.0761209987103939, + 0.1309660044651082 + ], + "units": "m" }, "description": "D00361 Glasses", "name": "D00361 Glasses", "object_type": "rigid_bodies", - "total_mass": 0.145 + "total_mass": 0.14499999582767487, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00361", "parts": [ { "bounds": { - "center": [ - -0.0002954993396997452, - 0.06548500223254905, - 3.349967300891876e-05 + "min": [ + -0.03916599974036217, + -0.03809399902820587, + 1.9999999949504854e-06 ], "max": [ 0.03857500106096268, - 0.13096800446510315, - 0.03809399902820587 + 0.038026999682188034, + 0.13096800446510315 ], - "min": [ - -0.03916599974036217, - 1.9999999949504854e-06, - -0.038026999682188034 - ] + "size": [ + 0.07774100080132484, + 0.0761209987103939, + 0.1309660044651082 + ], + "units": "m" }, "center_of_mass": [ -0.0001140628955909051, @@ -59,7 +65,7 @@ 0.0002417494251858443, 0.00024310780281666666 ], - "mass": 0.145, + "mass": 0.14499999582767487, "material": "ceramic_or_glass", "name": "D00361 Glasses", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00361 Glasses", "part_name": "D00361 Glasses" }, - "volume": 5.7999998331069944e-05 + "volume": 5.7999998331069944e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6851fcbd12b36879665620904dafc1d7da38567b9e911c00e1db00f2786f366c" + }, + "usd_path": "batch37/D00361 Glasses/IsaacSim_assets_6a86ef91ad93f8edde7e9117/IsaacSim_asset_6a86ef91ad93f8edde7e9117.usd", + "usd_sha256": "bf7acc656444620781d1d56df81d4028b3ba447b03f1d8ef73a9f1588f36eada", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.07774100080132484, - 0.1309660044651082, - 0.0761209987103939 - ] + 0.0761209987103939, + 0.1309660044651082 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf7acc656444620781d1d56df81d4028b3ba447b03f1d8ef73a9f1588f36eada", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.145 + "value_kg": 0.14499999582767487, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf7acc656444620781d1d56df81d4028b3ba447b03f1d8ef73a9f1588f36eada", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.14499999582767487, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf7acc656444620781d1d56df81d4028b3ba447b03f1d8ef73a9f1588f36eada", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bf7acc656444620781d1d56df81d4028b3ba447b03f1d8ef73a9f1588f36eada", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00362_Grains/IsaacSim_assets_6a882638e156890f3eb8dbc9/physics_6a882638e156890f3eb8dbc9.json b/batch37/D00362_Grains/IsaacSim_assets_6a882638e156890f3eb8dbc9/physics_6a882638e156890f3eb8dbc9.json index 9baae9791033a3d7ea360cc456b606e36d0ee422..cc6a6c0ab14ea4103960a16e5c50c4b1634c6e0d 100644 --- a/batch37/D00362_Grains/IsaacSim_assets_6a882638e156890f3eb8dbc9/physics_6a882638e156890f3eb8dbc9.json +++ b/batch37/D00362_Grains/IsaacSim_assets_6a882638e156890f3eb8dbc9/physics_6a882638e156890f3eb8dbc9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07919099926948547, - 0.10523699969053268, - 0.07883299887180328 - ], "min": [ -0.07844799757003784, - 1.4999999621068127e-05, - -0.07879000157117844 + -0.07883299887180328, + 1.4999999621068127e-05 + ], + "max": [ + 0.07919099926948547, + 0.07879000157117844, + 0.10523699969053268 ], "size": [ 0.15763899683952332, - 0.10522199969091162, - 0.15762300044298172 - ] + 0.15762300044298172, + 0.10522199969091162 + ], + "units": "m" }, "description": "D00362 Grains", "name": "D00362 Grains", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00362", "parts": [ { "bounds": { - "center": [ - 0.0003715008497238159, - 0.052625999845076876, - 2.1498650312423706e-05 + "min": [ + -0.07844799757003784, + -0.07883299887180328, + 1.4999999621068127e-05 ], "max": [ 0.07919099926948547, - 0.10523699969053268, - 0.07883299887180328 + 0.07879000157117844, + 0.10523699969053268 ], - "min": [ - -0.07844799757003784, - 1.4999999621068127e-05, - -0.07879000157117844 - ] + "size": [ + 0.15763899683952332, + 0.15762300044298172, + 0.10522199969091162 + ], + "units": "m" }, "center_of_mass": [ 0.0003333147324156016, @@ -59,7 +65,7 @@ 0.0022823719773441553, 0.0029808871913701296 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "plastic", "name": "D00362 Grains", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00362 Grains", "part_name": "D00362 Grains" }, - "volume": 0.0012000000476837158 + "volume": 0.0012000000476837158, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "96c4ea5832166ccb526f0a1cce2fe021c789b48818aa9bcc31cef7c55404f123" + }, + "usd_path": "batch37/D00362_Grains/IsaacSim_assets_6a882638e156890f3eb8dbc9/IsaacSim_asset_6a882638e156890f3eb8dbc9.usd", + "usd_sha256": "3a6c0cc03aa27282de4dcedc1cb0804e294b34077a8029d97456ec4c5f19e1c5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.15763899683952332, - 0.10522199969091162, - 0.15762300044298172 - ] + 0.15762300044298172, + 0.10522199969091162 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a6c0cc03aa27282de4dcedc1cb0804e294b34077a8029d97456ec4c5f19e1c5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a6c0cc03aa27282de4dcedc1cb0804e294b34077a8029d97456ec4c5f19e1c5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a6c0cc03aa27282de4dcedc1cb0804e294b34077a8029d97456ec4c5f19e1c5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a6c0cc03aa27282de4dcedc1cb0804e294b34077a8029d97456ec4c5f19e1c5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00372_Grinder/IsaacSim_assets_6a87c92c1597a2d66f5345ea/physics_6a87c92c1597a2d66f5345ea.json b/batch37/D00372_Grinder/IsaacSim_assets_6a87c92c1597a2d66f5345ea/physics_6a87c92c1597a2d66f5345ea.json index fac8029072d0d47bf6c40566a699624cdc0996a4..208421262419834280c419f1b851ac752c061515 100644 --- a/batch37/D00372_Grinder/IsaacSim_assets_6a87c92c1597a2d66f5345ea/physics_6a87c92c1597a2d66f5345ea.json +++ b/batch37/D00372_Grinder/IsaacSim_assets_6a87c92c1597a2d66f5345ea/physics_6a87c92c1597a2d66f5345ea.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03681400045752525, - 0.39277902618050575, - 0.03635900095105171 - ], "min": [ -0.03663799911737442, - 0.0014360215382112074, - -0.03654100000858307 + -0.03635900095105171, + 0.0014360215382112074 + ], + "max": [ + 0.03681400045752525, + 0.03654100000858307, + 0.39277902618050575 ], "size": [ 0.07345199957489967, - 0.39134300464229455, - 0.07290000095963478 - ] + 0.07290000095963478, + 0.39134300464229455 + ], + "units": "m" }, "description": "D00372 Grinder", "name": "D00372 Grinder", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00372", "parts": [ { "bounds": { - "center": [ - 8.800067007541656e-05, - 0.19710752385935848, - -9.09995287656784e-05 + "min": [ + -0.03663799911737442, + -0.03635900095105171, + 0.0014360215382112074 ], "max": [ 0.03681400045752525, - 0.39277902618050575, - 0.03635900095105171 + 0.03654100000858307, + 0.39277902618050575 ], - "min": [ - -0.03663799911737442, - 0.0014360215382112074, - -0.03654100000858307 - ] + "size": [ + 0.07345199957489967, + 0.07290000095963478, + 0.39134300464229455 + ], + "units": "m" }, "center_of_mass": [ 0.00010164098057430238, @@ -59,7 +65,7 @@ 0.004673851653933525, 0.004676108248531818 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "wood", "name": "D00372 Grinder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00372 Grinder", "part_name": "D00372 Grinder" }, - "volume": 0.00044444445106718274 + "volume": 0.00044444445106718274, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "793cdee22177c9049379b259bba9d8c679754a4ffc6e40310f8f6384ee7500c1" + }, + "usd_path": "batch37/D00372_Grinder/IsaacSim_assets_6a87c92c1597a2d66f5345ea/IsaacSim_asset_6a87c92c1597a2d66f5345ea.usd", + "usd_sha256": "68dee921acd6e5fe20fb42f0c4e823c07f30bd2032b59b43874586cceaa99d4e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.07345199957489967, - 0.39134300464229455, - 0.07290000095963478 - ] + 0.07290000095963478, + 0.39134300464229455 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "68dee921acd6e5fe20fb42f0c4e823c07f30bd2032b59b43874586cceaa99d4e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "68dee921acd6e5fe20fb42f0c4e823c07f30bd2032b59b43874586cceaa99d4e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "68dee921acd6e5fe20fb42f0c4e823c07f30bd2032b59b43874586cceaa99d4e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "68dee921acd6e5fe20fb42f0c4e823c07f30bd2032b59b43874586cceaa99d4e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00384 Honey Jar Bottle/IsaacSim_assets_6a86a6a5ad93f8edde6bb0c4/physics_6a86a6a5ad93f8edde6bb0c4.json b/batch37/D00384 Honey Jar Bottle/IsaacSim_assets_6a86a6a5ad93f8edde6bb0c4/physics_6a86a6a5ad93f8edde6bb0c4.json index 901320b99a8ee449dd8d6cc94eef66a1ef20708b..880b3bca7889622b98932ac2c87be992dee07296 100644 --- a/batch37/D00384 Honey Jar Bottle/IsaacSim_assets_6a86a6a5ad93f8edde6bb0c4/physics_6a86a6a5ad93f8edde6bb0c4.json +++ b/batch37/D00384 Honey Jar Bottle/IsaacSim_assets_6a86a6a5ad93f8edde6bb0c4/physics_6a86a6a5ad93f8edde6bb0c4.json @@ -6,64 +6,205 @@ "body0": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_0", "body1": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_1", "joint_path": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/Joints/joint_part_0__part_1", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_1" + ], + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_0" + ], + "body1": [ + "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 4.970002919435501e-06 + ], + "localPos1": [ + 0.0, + 0.0, + 4.970002919435501e-06 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_0", "body1": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_2", "joint_path": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/Joints/joint_part_0__part_2", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_2", + "path": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/Joints/joint_part_0__part_2", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_2" + ], + "authored_usd": { + "id": "joint_part_0__part_2", + "source_prim_path": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/Joints/joint_part_0__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_0" + ], + "body1": [ + "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 4.970002919435501e-06 + ], + "localPos1": [ + 0.0, + 0.0, + 4.970002919435501e-06 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_1", "body1": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_3", "joint_path": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/Joints/joint_part_1__part_3", - "type": "fixed" + "type": "fixed", + "id": "joint_part_1__part_3", + "path": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/Joints/joint_part_1__part_3", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_3" + ], + "authored_usd": { + "id": "joint_part_1__part_3", + "source_prim_path": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/Joints/joint_part_1__part_3", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_1" + ], + "body1": [ + "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_3" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 4.970002919435501e-06 + ], + "localPos1": [ + 0.0, + 0.0, + 4.970002919435501e-06 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0375249981880188, - 0.12496697157621384, - 0.03735699877142906 - ], "min": [ -0.0375090017914772, - 2.9700029244850157e-06, - -0.03745599836111069 + -0.03735699877142906, + 2.9700029244850157e-06 + ], + "max": [ + 0.0375249981880188, + 0.03745599836111069, + 0.12496697157621384 ], "size": [ 0.075033999979496, - 0.12496400157328935, - 0.07481299713253975 - ] + 0.07481299713253975, + 0.12496400157328935 + ], + "units": "m" }, "description": "D00384 Honey Jar Bottle", "name": "D00384 Honey Jar Bottle", "object_type": "rigid_bodies", - "total_mass": 0.93 + "total_mass": 0.9300000127404928, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00384", "parts": [ { "bounds": { - "center": [ - 7.99819827079773e-06, - 0.057933468953706324, - -4.949979484081268e-05 + "min": [ + -0.0375090017914772, + -0.03735699877142906, + 0.003789969952777028 ], "max": [ 0.0375249981880188, - 0.11207696795463562, - 0.03735699877142906 + 0.03745599836111069, + 0.11207696795463562 ], - "min": [ - -0.0375090017914772, - 0.003789969952777028, - -0.03745599836111069 - ] + "size": [ + 0.075033999979496, + 0.07481299713253975, + 0.10828699800185859 + ], + "units": "m" }, "center_of_mass": [ -0.00033537670969963074, @@ -78,7 +219,7 @@ 0.0009309721062891185, 0.0009355277288705111 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "composite_or_rubber", "name": "D00384 Honey Jar Bottle", "physics_type": "rigid", @@ -86,25 +227,28 @@ "object_name": "D00384 Honey Jar Bottle", "part_name": "D00384 Honey Jar Bottle" }, - "volume": 0.0005333333412806193 + "volume": 0.0005333333412806193, + "source_prim_path": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00017450004816055298, - 0.06461797072552145, - -4.00003045797348e-05 + "min": [ + -0.03428100049495697, + -0.03391899913549423, + 0.004268969874829054 ], "max": [ 0.033932000398635864, - 0.12496697157621384, - 0.03391899913549423 + 0.0339989997446537, + 0.12496697157621384 ], - "min": [ - -0.03428100049495697, - 0.004268969874829054, - -0.0339989997446537 - ] + "size": [ + 0.06821300089359283, + 0.06791799888014793, + 0.12069800170138478 + ], + "units": "m" }, "center_of_mass": [ -0.006698071490973234, @@ -119,7 +263,7 @@ 1.2533360859379172e-05, 1.2935876839037519e-05 ], - "mass": 0.015, + "mass": 0.014999999664723873, "material": "metal", "name": "D00384 Honey Jar Bottle", "physics_type": "rigid", @@ -127,25 +271,28 @@ "object_name": "D00384 Honey Jar Bottle", "part_name": "D00384 Honey Jar Bottle" }, - "volume": 1.923076880092804e-06 + "volume": 1.923076880092804e-06, + "source_prim_path": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -4.04994934797287e-05, - 0.05403746898116424, - 1.2500211596488953e-05 + "min": [ + -0.03428100049495697, + -0.034313999116420746, + 2.9700029244850157e-06 ], "max": [ 0.03420000150799751, - 0.10807196795940399, - 0.034313999116420746 + 0.03428899869322777, + 0.10807196795940399 ], - "min": [ - -0.03428100049495697, - 2.9700029244850157e-06, - -0.03428899869322777 - ] + "size": [ + 0.06848100200295448, + 0.06860299780964851, + 0.1080689979564795 + ], + "units": "m" }, "center_of_mass": [ -0.007812409661710262, @@ -160,7 +307,7 @@ 7.279512647073716e-05, 7.634509529452771e-05 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "ceramic_or_glass", "name": "D00384 Honey Jar Bottle", "physics_type": "rigid", @@ -168,25 +315,28 @@ "object_name": "D00384 Honey Jar Bottle", "part_name": "D00384 Honey Jar Bottle" }, - "volume": 4.000000059604645e-05 + "volume": 4.000000059604645e-05, + "source_prim_path": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -2.4499371647834778e-05, - 0.10652396827936172, - -6.099976599216461e-05 + "min": [ + -0.033399999141693115, + -0.03332500159740448, + 0.10145296901464462 ], "max": [ 0.033351000398397446, - 0.11159496754407883, - 0.03332500159740448 + 0.03344700112938881, + 0.11159496754407883 ], - "min": [ - -0.033399999141693115, - 0.10145296901464462, - -0.03344700112938881 - ] + "size": [ + 0.06675099954009056, + 0.06677200272679329, + 0.010141998529434204 + ], + "units": "m" }, "center_of_mass": [ -5.0520866352599114e-05, @@ -201,7 +351,7 @@ 4.122882728552213e-06, 7.973218089318834e-06 ], - "mass": 0.015, + "mass": 0.014999999664723873, "material": "metal", "name": "D00384 Honey Jar Bottle", "physics_type": "rigid", @@ -209,10 +359,27 @@ "object_name": "D00384 Honey Jar Bottle", "part_name": "D00384 Honey Jar Bottle" }, - "volume": 1.923076880092804e-06 + "volume": 1.923076880092804e-06, + "source_prim_path": "/World/textured_mesh_6a86a6a5ad93f8edde6bb0c4/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5edc423d304142d7c8aed7a553852a8a5386ff1551ba40085fceed531a836e92" + }, + "usd_path": "batch37/D00384 Honey Jar Bottle/IsaacSim_assets_6a86a6a5ad93f8edde6bb0c4/IsaacSim_asset_6a86a6a5ad93f8edde6bb0c4.usd", + "usd_sha256": "e0d3e75c0be7b2df1fca2dd74d389e10b80d97c8dad51dfa36a311dcaee6b917", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -231,24 +398,58 @@ "up_axis": "Z", "bounds_m": [ 0.075033999979496, - 0.12496400157328935, - 0.07481299713253975 - ] + 0.07481299713253975, + 0.12496400157328935 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0d3e75c0be7b2df1fca2dd74d389e10b80d97c8dad51dfa36a311dcaee6b917", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.93 + "value_kg": 0.9300000127404928, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0d3e75c0be7b2df1fca2dd74d389e10b80d97c8dad51dfa36a311dcaee6b917", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.9300000127404928, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 82, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0d3e75c0be7b2df1fca2dd74d389e10b80d97c8dad51dfa36a311dcaee6b917", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 82, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0d3e75c0be7b2df1fca2dd74d389e10b80d97c8dad51dfa36a311dcaee6b917", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00386 Lunch Box/IsaacSim_assets_6a86a688ad93f8edde6b99e1/physics_6a86a688ad93f8edde6b99e1.json b/batch37/D00386 Lunch Box/IsaacSim_assets_6a86a688ad93f8edde6b99e1/physics_6a86a688ad93f8edde6b99e1.json index 05f1bb6aa340d926e13e109adc78ee169fdedb63..411149d4459457551432839b5ed6fb4f27a383bd 100644 --- a/batch37/D00386 Lunch Box/IsaacSim_assets_6a86a688ad93f8edde6b99e1/physics_6a86a688ad93f8edde6b99e1.json +++ b/batch37/D00386 Lunch Box/IsaacSim_assets_6a86a688ad93f8edde6b99e1/physics_6a86a688ad93f8edde6b99e1.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a86a688ad93f8edde6b99e1/part_1", "body1": "/World/textured_mesh_6a86a688ad93f8edde6b99e1/part_0", "joint_path": "/World/textured_mesh_6a86a688ad93f8edde6b99e1/Joints/joint_part_1__part_0", - "type": "fixed" + "type": "fixed", + "id": "joint_part_1__part_0", + "path": "/World/textured_mesh_6a86a688ad93f8edde6b99e1/Joints/joint_part_1__part_0", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a86a688ad93f8edde6b99e1/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_6a86a688ad93f8edde6b99e1/part_0" + ], + "authored_usd": { + "id": "joint_part_1__part_0", + "source_prim_path": "/World/textured_mesh_6a86a688ad93f8edde6b99e1/Joints/joint_part_1__part_0", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a86a688ad93f8edde6b99e1/part_1" + ], + "body1": [ + "/World/textured_mesh_6a86a688ad93f8edde6b99e1/part_0" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0012175198644399643 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0012175198644399643 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10542099922895432, - 0.06706152111291885, - 0.061246998608112335 - ], "min": [ -0.10540799796581268, - 0.0011185199255123734, - -0.06111399829387665 + -0.061246998608112335, + 0.0011185199255123734 + ], + "max": [ + 0.10542099922895432, + 0.06111399829387665, + 0.06706152111291885 ], "size": [ 0.210828997194767, - 0.06594300118740648, - 0.12236099690198898 - ] + 0.12236099690198898, + 0.06594300118740648 + ], + "units": "m" }, "description": "D00386 Lunch Box", "name": "D00386 Lunch Box", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.2500000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00386", "parts": [ { "bounds": { - "center": [ - 6.50063157081604e-06, - 0.03654952044598758, - 6.650015711784363e-05 + "min": [ + -0.10540799796581268, + -0.061246998608112335, + 0.006037519779056311 ], "max": [ 0.10542099922895432, - 0.06706152111291885, - 0.061246998608112335 + 0.06111399829387665, + 0.06706152111291885 ], - "min": [ - -0.10540799796581268, - 0.006037519779056311, - -0.06111399829387665 - ] + "size": [ + 0.210828997194767, + 0.12236099690198898, + 0.06102400133386254 + ], + "units": "m" }, "center_of_mass": [ -0.013024008832871914, @@ -66,7 +117,7 @@ 0.0003258444485254586, 0.0004057869373355061 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "wood", "name": "D00386 Lunch Box", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00386 Lunch Box", "part_name": "D00386 Lunch Box" }, - "volume": 0.00010869565379360448 + "volume": 0.00010869565379360448, + "source_prim_path": "/World/textured_mesh_6a86a688ad93f8edde6b99e1/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 2.1502375602722168e-05, - 0.02744652034016326, - -0.0002590008080005646 + "min": [ + -0.10177899897098541, + -0.0563570000231266, + 0.0011185199255123734 ], "max": [ 0.10182200372219086, - 0.05377452075481415, - 0.0563570000231266 + 0.05687500163912773, + 0.05377452075481415 ], - "min": [ - -0.10177899897098541, - 0.0011185199255123734, - -0.05687500163912773 - ] + "size": [ + 0.20360100269317627, + 0.11323200166225433, + 0.052656000829301775 + ], + "units": "m" }, "center_of_mass": [ -0.00012288785364944488, @@ -107,7 +161,7 @@ 0.0007310376968234777, 0.0009333726484328508 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "wood", "name": "D00386 Lunch Box", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00386 Lunch Box", "part_name": "D00386 Lunch Box" }, - "volume": 0.0001630434847396353 + "volume": 0.0001630434847396353, + "source_prim_path": "/World/textured_mesh_6a86a688ad93f8edde6b99e1/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "dbdb23a0f64406b94ff46325ef177c92b1610176cc5ebbae0cdbac58a8172a78" + }, + "usd_path": "batch37/D00386 Lunch Box/IsaacSim_assets_6a86a688ad93f8edde6b99e1/IsaacSim_asset_6a86a688ad93f8edde6b99e1.usd", + "usd_sha256": "0444e67d2bde2fd34fb3d99c38e4d9f07bc6f0f0c36154cd9fec0bd8e9222de1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.210828997194767, - 0.06594300118740648, - 0.12236099690198898 - ] + 0.12236099690198898, + 0.06594300118740648 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0444e67d2bde2fd34fb3d99c38e4d9f07bc6f0f0c36154cd9fec0bd8e9222de1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.2500000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0444e67d2bde2fd34fb3d99c38e4d9f07bc6f0f0c36154cd9fec0bd8e9222de1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2500000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 27, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0444e67d2bde2fd34fb3d99c38e4d9f07bc6f0f0c36154cd9fec0bd8e9222de1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 27, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0444e67d2bde2fd34fb3d99c38e4d9f07bc6f0f0c36154cd9fec0bd8e9222de1", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00461 Kitchen Range/IsaacSim_assets_6a8463b9a08484187f66dd78/physics_6a8463b9a08484187f66dd78.json b/batch37/D00461 Kitchen Range/IsaacSim_assets_6a8463b9a08484187f66dd78/physics_6a8463b9a08484187f66dd78.json index 9186577a80c17898d16bbbc710774aa57610db1d..ce47a021b3583f6bab5f2dcece9d845f3c5a2a9e 100644 --- a/batch37/D00461 Kitchen Range/IsaacSim_assets_6a8463b9a08484187f66dd78/physics_6a8463b9a08484187f66dd78.json +++ b/batch37/D00461 Kitchen Range/IsaacSim_assets_6a8463b9a08484187f66dd78/physics_6a8463b9a08484187f66dd78.json @@ -6,64 +6,208 @@ "body0": "/World/textured_mesh_6a8463b9a08484187f66dd78/part_4", "body1": "/World/textured_mesh_6a8463b9a08484187f66dd78/part_2", "joint_path": "/World/textured_mesh_6a8463b9a08484187f66dd78/Joints/joint_part_4__part_2", - "type": "fixed" + "type": "fixed", + "id": "joint_part_4__part_2", + "path": "/World/textured_mesh_6a8463b9a08484187f66dd78/Joints/joint_part_4__part_2", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a8463b9a08484187f66dd78/part_4" + ], + "body1_targets": [ + "/World/textured_mesh_6a8463b9a08484187f66dd78/part_2" + ], + "authored_usd": { + "id": "joint_part_4__part_2", + "source_prim_path": "/World/textured_mesh_6a8463b9a08484187f66dd78/Joints/joint_part_4__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8463b9a08484187f66dd78/part_4" + ], + "body1": [ + "/World/textured_mesh_6a8463b9a08484187f66dd78/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0027415896765887737 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0027415896765887737 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a8463b9a08484187f66dd78/part_0", "body1": "/World/textured_mesh_6a8463b9a08484187f66dd78/part_3", "joint_path": "/World/textured_mesh_6a8463b9a08484187f66dd78/Joints/joint_part_0__part_3", - "type": "revolute" + "type": "revolute", + "id": "joint_part_0__part_3", + "path": "/World/textured_mesh_6a8463b9a08484187f66dd78/Joints/joint_part_0__part_3", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a8463b9a08484187f66dd78/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a8463b9a08484187f66dd78/part_3" + ], + "authored_usd": { + "id": "joint_part_0__part_3", + "source_prim_path": "/World/textured_mesh_6a8463b9a08484187f66dd78/Joints/joint_part_0__part_3", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a8463b9a08484187f66dd78/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8463b9a08484187f66dd78/part_3" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -180.0, + "upperLimit": 0.0, + "localPos0": [ + 0.00010250136256217957, + -0.24388301372528076, + 0.08100208640098572 + ], + "localPos1": [ + 0.00010250136256217957, + -0.24388301372528076, + 0.08100208640098572 + ], + "localRot0": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "localRot1": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a8463b9a08484187f66dd78/part_0", "body1": "/World/textured_mesh_6a8463b9a08484187f66dd78/part_4", "joint_path": "/World/textured_mesh_6a8463b9a08484187f66dd78/Joints/joint_part_0__part_4", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_4", + "path": "/World/textured_mesh_6a8463b9a08484187f66dd78/Joints/joint_part_0__part_4", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a8463b9a08484187f66dd78/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a8463b9a08484187f66dd78/part_4" + ], + "authored_usd": { + "id": "joint_part_0__part_4", + "source_prim_path": "/World/textured_mesh_6a8463b9a08484187f66dd78/Joints/joint_part_0__part_4", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8463b9a08484187f66dd78/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8463b9a08484187f66dd78/part_4" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0027415896765887737 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0027415896765887737 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.18730700016021729, - 0.20020201802253723, - 0.26494100689888 - ], "min": [ -0.1867540031671524, - 0.0026495896745473146, - -0.25445300340652466 + -0.26494100689888, + 0.0026495896745473146 + ], + "max": [ + 0.18730700016021729, + 0.25445300340652466, + 0.20020201802253723 ], "size": [ 0.3740610033273697, - 0.19755242834798992, - 0.5193940103054047 - ] + 0.5193940103054047, + 0.19755242834798992 + ], + "units": "m" }, "description": "D00461 Kitchen Range", "name": "D00461 Kitchen Range", "object_type": "rigid_bodies", - "total_mass": 8.0 + "total_mass": 8.000000018626451, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00461", "parts": [ { "bounds": { - "center": [ - 0.0002764984965324402, - 0.09141409362200648, - -0.008914001286029816 + "min": [ + -0.1867540031671524, + -0.23662500083446503, + 0.0026495896745473146 ], "max": [ 0.18730700016021729, - 0.18017859756946564, - 0.23662500083446503 + 0.25445300340652466, + 0.18017859756946564 ], - "min": [ - -0.1867540031671524, - 0.0026495896745473146, - -0.25445300340652466 - ] + "size": [ + 0.3740610033273697, + 0.4910780042409897, + 0.17752900789491832 + ], + "units": "m" }, "center_of_mass": [ 0.00015797671221662313, @@ -86,25 +230,28 @@ "object_name": "D00461 Kitchen Range", "part_name": "D00461 Kitchen Range" }, - "volume": 0.03333333333333333 + "volume": 0.03333333333333333, + "source_prim_path": "/World/textured_mesh_6a8463b9a08484187f66dd78/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -8.97720456123352e-05, - 0.18380548804998398, - -0.021710827946662903 + "min": [ + -0.14434869587421417, + -0.13497409224510193, + 0.16740895807743073 ], "max": [ 0.1441691517829895, - 0.20020201802253723, - 0.13497409224510193 + 0.17839574813842773, + 0.20020201802253723 ], - "min": [ - -0.14434869587421417, - 0.16740895807743073, - -0.17839574813842773 - ] + "size": [ + 0.2885178476572037, + 0.31336984038352966, + 0.032793059945106506 + ], + "units": "m" }, "center_of_mass": [ -0.00023195674293674529, @@ -127,25 +274,28 @@ "object_name": "D00461 Kitchen Range", "part_name": "D00461 Kitchen Range" }, - "volume": 0.003401360544217687 + "volume": 0.003401360544217687, + "source_prim_path": "/World/textured_mesh_6a8463b9a08484187f66dd78/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00045049935579299927, - 0.16626908630132675, - -0.016473500058054924 + "min": [ + -0.05473500117659569, + -0.03707600012421608, + 0.1487685889005661 ], "max": [ 0.055635999888181686, - 0.1837695837020874, - 0.03707600012421608 + 0.07002300024032593, + 0.1837695837020874 ], - "min": [ - -0.05473500117659569, - 0.1487685889005661, - -0.07002300024032593 - ] + "size": [ + 0.11037100106477737, + 0.10709900036454201, + 0.0350009948015213 + ], + "units": "m" }, "center_of_mass": [ 0.0002910061739385128, @@ -160,7 +310,7 @@ 0.000295051810098812, 0.000538248335942626 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "wood", "name": "D00461 Kitchen Range", "physics_type": "rigid", @@ -168,25 +318,28 @@ "object_name": "D00461 Kitchen Range", "part_name": "D00461 Kitchen Range" }, - "volume": 0.0004000000158945719 + "volume": 0.0004000000158945719, + "source_prim_path": "/World/textured_mesh_6a8463b9a08484187f66dd78/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00010250136256217957, - 0.08100209012627602, - 0.24388300627470016 + "min": [ + -0.03856699913740158, + -0.26494100689888, + 0.042277589440345764 ], "max": [ 0.03877200186252594, - 0.11972659081220627, - 0.26494100689888 + -0.22282500565052032, + 0.11972659081220627 ], - "min": [ - -0.03856699913740158, - 0.042277589440345764, - 0.22282500565052032 - ] + "size": [ + 0.07733900099992752, + 0.04211600124835968, + 0.0774490013718605 + ], + "units": "m" }, "center_of_mass": [ 0.00030206478550098836, @@ -201,7 +354,7 @@ 2.644742198754102e-05, 3.758858656510711e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "foam_or_hollow", "name": "D00461 Kitchen Range", "physics_type": "rigid", @@ -209,25 +362,28 @@ "object_name": "D00461 Kitchen Range", "part_name": "D00461 Kitchen Range" }, - "volume": 0.0002500000037252903 + "volume": 0.0002500000037252903, + "source_prim_path": "/World/textured_mesh_6a8463b9a08484187f66dd78/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0002924986183643341, - 0.1382535882294178, - -0.016342999413609505 + "min": [ + -0.06865700334310532, + -0.05047300085425377, + 0.12286058813333511 ], "max": [ 0.06924200057983398, - 0.1536465883255005, - 0.05047300085425377 + 0.08315899968147278, + 0.1536465883255005 ], - "min": [ - -0.06865700334310532, - 0.12286058813333511, - -0.08315899968147278 - ] + "size": [ + 0.1378990039229393, + 0.13363200053572655, + 0.030786000192165375 + ], + "units": "m" }, "center_of_mass": [ 0.0002681234909687191, @@ -242,7 +398,7 @@ 0.0002742433571256697, 0.0005054577486589551 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "light_wood_or_paper", "name": "D00461 Kitchen Range", "physics_type": "rigid", @@ -250,10 +406,27 @@ "object_name": "D00461 Kitchen Range", "part_name": "D00461 Kitchen Range" }, - "volume": 0.0005000000198682149 + "volume": 0.0005000000198682149, + "source_prim_path": "/World/textured_mesh_6a8463b9a08484187f66dd78/part_4", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e86cd35066f1d3e80eeb624de89486267254680a443e0bd9780e2a26804c63d9" + }, + "usd_path": "batch37/D00461 Kitchen Range/IsaacSim_assets_6a8463b9a08484187f66dd78/IsaacSim_asset_6a8463b9a08484187f66dd78.usd", + "usd_sha256": "f9c5af2dd6983e61b9956ee710523150e0183ab9e91b2720466059b2e0504344", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -272,24 +445,58 @@ "up_axis": "Z", "bounds_m": [ 0.3740610033273697, - 0.19755242834798992, - 0.5193940103054047 - ] + 0.5193940103054047, + 0.19755242834798992 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9c5af2dd6983e61b9956ee710523150e0183ab9e91b2720466059b2e0504344", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 8.0 + "value_kg": 8.000000018626451, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9c5af2dd6983e61b9956ee710523150e0183ab9e91b2720466059b2e0504344", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 8.000000018626451, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 190, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9c5af2dd6983e61b9956ee710523150e0183ab9e91b2720466059b2e0504344", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 190, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9c5af2dd6983e61b9956ee710523150e0183ab9e91b2720466059b2e0504344", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00521_Spoon_Scoop/IsaacSim_assets_6a86d4aead93f8edde77ad98/physics_6a86d4aead93f8edde77ad98.json b/batch37/D00521_Spoon_Scoop/IsaacSim_assets_6a86d4aead93f8edde77ad98/physics_6a86d4aead93f8edde77ad98.json index 3bfb2aacaac786e51df432835982b57a70df08d9..bd04734a1a9404694c18b7a759e2f28b0fbed78e 100644 --- a/batch37/D00521_Spoon_Scoop/IsaacSim_assets_6a86d4aead93f8edde77ad98/physics_6a86d4aead93f8edde77ad98.json +++ b/batch37/D00521_Spoon_Scoop/IsaacSim_assets_6a86d4aead93f8edde77ad98/physics_6a86d4aead93f8edde77ad98.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08718600124120712, - 0.021084999665617943, - 0.037512000650167465 - ], "min": [ -0.08726300299167633, - -0.021064000204205513, - -0.03759799897670746 + -0.037512000650167465, + -0.021064000204205513 + ], + "max": [ + 0.08718600124120712, + 0.03759799897670746, + 0.021084999665617943 ], "size": [ 0.17444900423288345, - 0.042148999869823456, - 0.07510999962687492 - ] + 0.07510999962687492, + 0.042148999869823456 + ], + "units": "m" }, "description": "D00521 Spoon_Scoop", "name": "D00521 Spoon_Scoop", "object_type": "rigid_bodies", - "total_mass": 0.038 + "total_mass": 0.03799999877810478, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00521", "parts": [ { "bounds": { - "center": [ - -3.850087523460388e-05, - 1.0499730706214905e-05, - -4.299916326999664e-05 + "min": [ + -0.08726300299167633, + -0.037512000650167465, + -0.021064000204205513 ], "max": [ 0.08718600124120712, - 0.021084999665617943, - 0.037512000650167465 + 0.03759799897670746, + 0.021084999665617943 ], - "min": [ - -0.08726300299167633, - -0.021064000204205513, - -0.03759799897670746 - ] + "size": [ + 0.17444900423288345, + 0.07510999962687492, + 0.042148999869823456 + ], + "units": "m" }, "center_of_mass": [ -0.023587113246321678, @@ -59,7 +65,7 @@ 5.877347575733438e-05, 6.500245217466727e-05 ], - "mass": 0.038, + "mass": 0.03799999877810478, "material": "plastic", "name": "D00521 Spoon_Scoop", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00521 Spoon_Scoop", "part_name": "D00521 Spoon_Scoop" }, - "volume": 3.454545343464071e-05 + "volume": 3.454545343464071e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e473cd5aba864ce99c3074c513b48af7745478d2a9a19057b713324dbbf78e15" + }, + "usd_path": "batch37/D00521_Spoon_Scoop/IsaacSim_assets_6a86d4aead93f8edde77ad98/IsaacSim_asset_6a86d4aead93f8edde77ad98.usd", + "usd_sha256": "abfc2de9273f1376ae4850c1100121cfe2f9aaa9d7b5de8654c9c508429706a8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.17444900423288345, - 0.042148999869823456, - 0.07510999962687492 - ] + 0.07510999962687492, + 0.042148999869823456 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "abfc2de9273f1376ae4850c1100121cfe2f9aaa9d7b5de8654c9c508429706a8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.038 + "value_kg": 0.03799999877810478, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "abfc2de9273f1376ae4850c1100121cfe2f9aaa9d7b5de8654c9c508429706a8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.03799999877810478, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "abfc2de9273f1376ae4850c1100121cfe2f9aaa9d7b5de8654c9c508429706a8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "abfc2de9273f1376ae4850c1100121cfe2f9aaa9d7b5de8654c9c508429706a8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00550 Butter Bell/IsaacSim_assets_6a86799cad93f8edde677cd5/physics_6a86799cad93f8edde677cd5.json b/batch37/D00550 Butter Bell/IsaacSim_assets_6a86799cad93f8edde677cd5/physics_6a86799cad93f8edde677cd5.json index 481a9547cf5f19bc2480fb0bef3820a946569dc3..179daf2a9ff1869da9d751c905aef40855b0133c 100644 --- a/batch37/D00550 Butter Bell/IsaacSim_assets_6a86799cad93f8edde677cd5/physics_6a86799cad93f8edde677cd5.json +++ b/batch37/D00550 Butter Bell/IsaacSim_assets_6a86799cad93f8edde677cd5/physics_6a86799cad93f8edde677cd5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13101500272750854, - 0.12333077937364578, - 0.05911500006914139 - ], "min": [ -0.11981499940156937, - 0.0006207798141986132, - -0.06018200144171715 + -0.05911500006914139, + 0.0006207798141986132 + ], + "max": [ + 0.13101500272750854, + 0.06018200144171715, + 0.12333077937364578 ], "size": [ 0.2508300021290779, - 0.12270999955944717, - 0.11929700151085854 - ] + 0.11929700151085854, + 0.12270999955944717 + ], + "units": "m" }, "description": "D00550 Butter Bell", "name": "D00550 Butter Bell", "object_type": "rigid_bodies", - "total_mass": 0.9 + "total_mass": 0.9000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00550", "parts": [ { "bounds": { - "center": [ - -0.06336349970661104, - 0.06202277960255742, - -0.000370001420378685 + "min": [ + -0.11981499940156937, + -0.05638999864459038, + 0.000714779831469059 ], "max": [ -0.006912000011652708, - 0.12333077937364578, - 0.05638999864459038 + 0.05713000148534775, + 0.12333077937364578 ], - "min": [ - -0.11981499940156937, - 0.000714779831469059, - -0.05713000148534775 - ] + "size": [ + 0.11290299938991666, + 0.11352000012993813, + 0.12261599954217672 + ], + "units": "m" }, "center_of_mass": [ -0.06261128932237625, @@ -59,7 +65,7 @@ 0.0008496578666381538, 0.0008563022711314261 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic_or_glass", "name": "D00550 Butter Bell", "physics_type": "rigid", @@ -67,25 +73,28 @@ "object_name": "D00550 Butter Bell", "part_name": "D00550 Butter Bell" }, - "volume": 0.00016666666915019353 + "volume": 0.00016666666915019353, + "source_prim_path": "/World/textured_mesh_6a86799cad93f8edde677cd5/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.07277850154787302, - 0.045832278789021075, - -0.0005335006862878799 + "min": [ + 0.014542000368237495, + -0.05911500006914139, + 0.0006207798141986132 ], "max": [ 0.13101500272750854, - 0.09104377776384354, - 0.05911500006914139 + 0.06018200144171715, + 0.09104377776384354 ], - "min": [ - 0.014542000368237495, - 0.0006207798141986132, - -0.06018200144171715 - ] + "size": [ + 0.11647300235927105, + 0.11929700151085854, + 0.09042299794964492 + ], + "units": "m" }, "center_of_mass": [ 0.0731082558631897, @@ -108,10 +117,27 @@ "object_name": "D00550 Butter Bell", "part_name": "D00550 Butter Bell" }, - "volume": 0.00020833333333333335 + "volume": 0.00020833333333333335, + "source_prim_path": "/World/textured_mesh_6a86799cad93f8edde677cd5/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "865dc3da06a72b617cf4464f1b5ff02d444fe7b4fe3f9b4fb25fded1c2e65b7f" + }, + "usd_path": "batch37/D00550 Butter Bell/IsaacSim_assets_6a86799cad93f8edde677cd5/IsaacSim_asset_6a86799cad93f8edde677cd5.usd", + "usd_sha256": "bb4909ac53474a99c97fa041bedf8fa4a032606e0a68f49439073474504a9191", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -130,24 +156,58 @@ "up_axis": "Z", "bounds_m": [ 0.2508300021290779, - 0.12270999955944717, - 0.11929700151085854 - ] + 0.11929700151085854, + 0.12270999955944717 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bb4909ac53474a99c97fa041bedf8fa4a032606e0a68f49439073474504a9191", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.9 + "value_kg": 0.9000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bb4909ac53474a99c97fa041bedf8fa4a032606e0a68f49439073474504a9191", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.9000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 54, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bb4909ac53474a99c97fa041bedf8fa4a032606e0a68f49439073474504a9191", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 54, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bb4909ac53474a99c97fa041bedf8fa4a032606e0a68f49439073474504a9191", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00650 Daikon/IsaacSim_assets_6a82fe99b7a9c4204ad52d4e/physics_6a82fe99b7a9c4204ad52d4e.json b/batch37/D00650 Daikon/IsaacSim_assets_6a82fe99b7a9c4204ad52d4e/physics_6a82fe99b7a9c4204ad52d4e.json index 669bea6eb6593bca39f01815ec80d46d6cc4c704..9186e4426d0a702f4ffcd371d8b5c756ba114dd1 100644 --- a/batch37/D00650 Daikon/IsaacSim_assets_6a82fe99b7a9c4204ad52d4e/physics_6a82fe99b7a9c4204ad52d4e.json +++ b/batch37/D00650 Daikon/IsaacSim_assets_6a82fe99b7a9c4204ad52d4e/physics_6a82fe99b7a9c4204ad52d4e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.3017750084400177, - 0.09720899909734726, - 0.04853999987244606 - ], "min": [ -0.14643199741840363, - -9.000000318337698e-06, - -0.04507699981331825 + -0.04853999987244606, + -9.000000318337698e-06 + ], + "max": [ + 0.3017750084400177, + 0.04507699981331825, + 0.09720899909734726 ], "size": [ 0.4482070058584213, - 0.0972179990976656, - 0.09361699968576431 - ] + 0.09361699968576431, + 0.0972179990976656 + ], + "units": "m" }, "description": "D00650 Daikon", "name": "D00650 Daikon", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00650", "parts": [ { "bounds": { - "center": [ - 0.07767150551080704, - 0.04859999954851446, - 0.0017315000295639038 + "min": [ + -0.14643199741840363, + -0.04853999987244606, + -9.000000318337698e-06 ], "max": [ 0.3017750084400177, - 0.09720899909734726, - 0.04853999987244606 + 0.04507699981331825, + 0.09720899909734726 ], - "min": [ - -0.14643199741840363, - -9.000000318337698e-06, - -0.04507699981331825 - ] + "size": [ + 0.4482070058584213, + 0.09361699968576431, + 0.0972179990976656 + ], + "units": "m" }, "center_of_mass": [ 0.0873226448893547, @@ -59,7 +65,7 @@ 0.011368772946298122, 0.01137987244874239 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "plastic", "name": "D00650 Daikon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00650 Daikon", "part_name": "D00650 Daikon" }, - "volume": 0.0012000000476837158 + "volume": 0.0012000000476837158, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4b6b8c1e2e0c773b7548ded490b397609a44c8cd71626d0cb25c9abff9034218" + }, + "usd_path": "batch37/D00650 Daikon/IsaacSim_assets_6a82fe99b7a9c4204ad52d4e/IsaacSim_asset_6a82fe99b7a9c4204ad52d4e.usd", + "usd_sha256": "8b7d561ad7b24805d1ace54f4c3981ecd66d7815494a7b0c7a547308027f2554", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.4482070058584213, - 0.0972179990976656, - 0.09361699968576431 - ] + 0.09361699968576431, + 0.0972179990976656 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8b7d561ad7b24805d1ace54f4c3981ecd66d7815494a7b0c7a547308027f2554", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8b7d561ad7b24805d1ace54f4c3981ecd66d7815494a7b0c7a547308027f2554", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8b7d561ad7b24805d1ace54f4c3981ecd66d7815494a7b0c7a547308027f2554", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8b7d561ad7b24805d1ace54f4c3981ecd66d7815494a7b0c7a547308027f2554", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00683 Salt/IsaacSim_assets_6a86a6a0ad93f8edde6bad91/physics_6a86a6a0ad93f8edde6bad91.json b/batch37/D00683 Salt/IsaacSim_assets_6a86a6a0ad93f8edde6bad91/physics_6a86a6a0ad93f8edde6bad91.json index 0415aab03156ba2015400909e4e2c5317527c725..a3f9268c57b45ec1856cf4df8e8cc7336ab5514c 100644 --- a/batch37/D00683 Salt/IsaacSim_assets_6a86a6a0ad93f8edde6bad91/physics_6a86a6a0ad93f8edde6bad91.json +++ b/batch37/D00683 Salt/IsaacSim_assets_6a86a6a0ad93f8edde6bad91/physics_6a86a6a0ad93f8edde6bad91.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.051816001534461975, - 0.17545753717422485, - 0.052177999168634415 - ], "min": [ -0.05280100181698799, - 0.0008745299419388175, - -0.05240200087428093 + -0.052177999168634415, + 0.0008745299419388175 + ], + "max": [ + 0.051816001534461975, + 0.05240200087428093, + 0.17545753717422485 ], "size": [ 0.10461700335144997, - 0.17458300723228604, - 0.10458000004291534 - ] + 0.10458000004291534, + 0.17458300723228604 + ], + "units": "m" }, "description": "D00683 Salt", "name": "D00683 Salt", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000670552254, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00683", "parts": [ { "bounds": { - "center": [ - -0.0004925001412630081, - 0.0812490337411873, - -0.00011200085282325745 + "min": [ + -0.05280100181698799, + -0.052177999168634415, + 0.0008745299419388175 ], "max": [ 0.051816001534461975, - 0.1616235375404358, - 0.052177999168634415 + 0.05240200087428093, + 0.1616235375404358 ], - "min": [ - -0.05280100181698799, - 0.0008745299419388175, - -0.05240200087428093 - ] + "size": [ + 0.10461700335144997, + 0.10458000004291534, + 0.16074900759849697 + ], + "units": "m" }, "center_of_mass": [ -0.0003685303090605885, @@ -59,7 +65,7 @@ 0.0005269419634714723, 0.0005331694264896214 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "plastic", "name": "D00683 Salt", "physics_type": "rigid", @@ -67,25 +73,28 @@ "object_name": "D00683 Salt", "part_name": "D00683 Salt" }, - "volume": 0.0001578947431162784 + "volume": 0.0001578947431162784, + "source_prim_path": "/World/textured_mesh_6a86a6a0ad93f8edde6bad91/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0005139987915754318, - 0.16722053289413452, - -0.00010900013148784637 + "min": [ + -0.052462998777627945, + -0.051826998591423035, + 0.1589835286140442 ], "max": [ 0.05143500119447708, - 0.17545753717422485, - 0.051826998591423035 + 0.05204499885439873, + 0.17545753717422485 ], - "min": [ - -0.052462998777627945, - 0.1589835286140442, - -0.05204499885439873 - ] + "size": [ + 0.10389799997210503, + 0.10387199744582176, + 0.016474008560180664 + ], + "units": "m" }, "center_of_mass": [ -0.0005131522193551064, @@ -100,7 +109,7 @@ 3.461954474914819e-05, 6.699372170260176e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "plastic", "name": "D00683 Salt", "physics_type": "rigid", @@ -108,10 +117,27 @@ "object_name": "D00683 Salt", "part_name": "D00683 Salt" }, - "volume": 5.2631579731640065e-05 + "volume": 5.2631579731640065e-05, + "source_prim_path": "/World/textured_mesh_6a86a6a0ad93f8edde6bad91/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "34642a3cdc5bc0cf079c84c4db39362a2b13ca864c5cbe30fc0ee242f2d9968d" + }, + "usd_path": "batch37/D00683 Salt/IsaacSim_assets_6a86a6a0ad93f8edde6bad91/IsaacSim_asset_6a86a6a0ad93f8edde6bad91.usd", + "usd_sha256": "5cf063215f737420e0855807fe21c68153aa473dc8a164e7145c78cb07b76d5f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -130,24 +156,58 @@ "up_axis": "Z", "bounds_m": [ 0.10461700335144997, - 0.17458300723228604, - 0.10458000004291534 - ] + 0.10458000004291534, + 0.17458300723228604 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5cf063215f737420e0855807fe21c68153aa473dc8a164e7145c78cb07b76d5f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000670552254, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5cf063215f737420e0855807fe21c68153aa473dc8a164e7145c78cb07b76d5f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000670552254, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5cf063215f737420e0855807fe21c68153aa473dc8a164e7145c78cb07b76d5f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5cf063215f737420e0855807fe21c68153aa473dc8a164e7145c78cb07b76d5f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00696_Sauce_Kettle/IsaacSim_assets_6a87f3a81597a2d66f5b48cc/physics_6a87f3a81597a2d66f5b48cc.json b/batch37/D00696_Sauce_Kettle/IsaacSim_assets_6a87f3a81597a2d66f5b48cc/physics_6a87f3a81597a2d66f5b48cc.json index 2944f4958bc221c35cb4df610a86038f8cea538c..f1285022adf0af170cf852e97aa1f8cdb861ebe3 100644 --- a/batch37/D00696_Sauce_Kettle/IsaacSim_assets_6a87f3a81597a2d66f5b48cc/physics_6a87f3a81597a2d66f5b48cc.json +++ b/batch37/D00696_Sauce_Kettle/IsaacSim_assets_6a87f3a81597a2d66f5b48cc/physics_6a87f3a81597a2d66f5b48cc.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a87f3a81597a2d66f5b48cc/part_0", "body1": "/World/textured_mesh_6a87f3a81597a2d66f5b48cc/part_1", "joint_path": "/World/textured_mesh_6a87f3a81597a2d66f5b48cc/Joints/joint_part_0__part_1", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a87f3a81597a2d66f5b48cc/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a87f3a81597a2d66f5b48cc/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a87f3a81597a2d66f5b48cc/part_1" + ], + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a87f3a81597a2d66f5b48cc/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a87f3a81597a2d66f5b48cc/part_0" + ], + "body1": [ + "/World/textured_mesh_6a87f3a81597a2d66f5b48cc/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.19785499572753906, - 0.08872429234907031, - 0.08711300045251846 - ], "min": [ -0.09719300270080566, - 0.0009222897933796048, - -0.07872200012207031 + -0.08711300045251846, + 0.0009222897933796048 + ], + "max": [ + 0.19785499572753906, + 0.07872200012207031, + 0.08872429234907031 ], "size": [ 0.2950479984283447, - 0.0878020025556907, - 0.16583500057458878 - ] + 0.16583500057458878, + 0.0878020025556907 + ], + "units": "m" }, "description": "D00696 Sauce_Kettle", "name": "D00696 Sauce_Kettle", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00696", "parts": [ { "bounds": { - "center": [ - 0.030684001743793488, - 0.043786788650322706, - 0.004195500165224075 + "min": [ + -0.09719300270080566, + -0.08711300045251846, + 0.0009222897933796048 ], "max": [ 0.15856100618839264, - 0.0866512875072658, - 0.08711300045251846 + 0.07872200012207031, + 0.0866512875072658 ], - "min": [ - -0.09719300270080566, - 0.0009222897933796048, - -0.07872200012207031 - ] + "size": [ + 0.2557540088891983, + 0.16583500057458878, + 0.0857289977138862 + ], + "units": "m" }, "center_of_mass": [ -0.002072263043373823, @@ -66,7 +117,7 @@ 0.0036882536951452494, 0.004466427955776453 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "metal", "name": "D00696 Sauce_Kettle", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00696 Sauce_Kettle", "part_name": "D00696 Sauce_Kettle" }, - "volume": 0.00016666667328940496 + "volume": 0.00016666667328940496, + "source_prim_path": "/World/textured_mesh_6a87f3a81597a2d66f5b48cc/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.12626249715685844, - 0.07402229076251388, - 0.0015064999461174011 + "min": [ + 0.054669998586177826, + -0.019245000556111336, + 0.05932028917595744 ], "max": [ 0.19785499572753906, - 0.08872429234907031, - 0.019245000556111336 + 0.016232000663876534, + 0.08872429234907031 ], - "min": [ - 0.054669998586177826, - 0.05932028917595744, - -0.016232000663876534 - ] + "size": [ + 0.14318499714136124, + 0.03547700121998787, + 0.02940400317311287 + ], + "units": "m" }, "center_of_mass": [ 0.12279082089662552, @@ -107,7 +161,7 @@ 0.0004933762247674167, 0.0005135770188644528 ], - "mass": 0.3, + "mass": 0.30000001192092896, "material": "metal", "name": "D00696 Sauce_Kettle", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00696 Sauce_Kettle", "part_name": "D00696 Sauce_Kettle" }, - "volume": 4.166666832235124e-05 + "volume": 4.166666832235124e-05, + "source_prim_path": "/World/textured_mesh_6a87f3a81597a2d66f5b48cc/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8ae409ad777c20b7a8f9c5ac5fb1d7fc24ddb3fd670608dec93742e8eedd4e16" + }, + "usd_path": "batch37/D00696_Sauce_Kettle/IsaacSim_assets_6a87f3a81597a2d66f5b48cc/IsaacSim_asset_6a87f3a81597a2d66f5b48cc.usd", + "usd_sha256": "bba0d9020657b219e7641a2d52c7936789b04bc169f7607cdaae64964351de93", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.2950479984283447, - 0.0878020025556907, - 0.16583500057458878 - ] + 0.16583500057458878, + 0.0878020025556907 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bba0d9020657b219e7641a2d52c7936789b04bc169f7607cdaae64964351de93", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bba0d9020657b219e7641a2d52c7936789b04bc169f7607cdaae64964351de93", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bba0d9020657b219e7641a2d52c7936789b04bc169f7607cdaae64964351de93", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bba0d9020657b219e7641a2d52c7936789b04bc169f7607cdaae64964351de93", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00702_Saucepan_Kettle/IsaacSim_assets_6a87f5031597a2d66f5bafd0/physics_6a87f5031597a2d66f5bafd0.json b/batch37/D00702_Saucepan_Kettle/IsaacSim_assets_6a87f5031597a2d66f5bafd0/physics_6a87f5031597a2d66f5bafd0.json index 2e564711edad3bc6112aab3faeb29096f915f530..c359558f70957467e605aeb318e3053310a0f45f 100644 --- a/batch37/D00702_Saucepan_Kettle/IsaacSim_assets_6a87f5031597a2d66f5bafd0/physics_6a87f5031597a2d66f5bafd0.json +++ b/batch37/D00702_Saucepan_Kettle/IsaacSim_assets_6a87f5031597a2d66f5bafd0/physics_6a87f5031597a2d66f5bafd0.json @@ -6,64 +6,205 @@ "body0": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_0", "body1": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_2", "joint_path": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/Joints/joint_part_0__part_2", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_2", + "path": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/Joints/joint_part_0__part_2", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_2" + ], + "authored_usd": { + "id": "joint_part_0__part_2", + "source_prim_path": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/Joints/joint_part_0__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_0" + ], + "body1": [ + "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_0", "body1": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_3", "joint_path": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/Joints/joint_part_0__part_3", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_3", + "path": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/Joints/joint_part_0__part_3", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_3" + ], + "authored_usd": { + "id": "joint_part_0__part_3", + "source_prim_path": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/Joints/joint_part_0__part_3", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_0" + ], + "body1": [ + "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_3" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_2", "body1": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_4", "joint_path": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/Joints/joint_part_2__part_4", - "type": "fixed" + "type": "fixed", + "id": "joint_part_2__part_4", + "path": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/Joints/joint_part_2__part_4", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_4" + ], + "authored_usd": { + "id": "joint_part_2__part_4", + "source_prim_path": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/Joints/joint_part_2__part_4", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_2" + ], + "body1": [ + "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_4" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.21364133011966596, - 0.15150631432372996, - 0.09827629705246817 - ], "min": [ - -0.09450081609759095, - -6.817363280204347e-05, - -0.07940619197855513 + -0.09418245226310239, + -0.09827576026977816, + -2.710505431213761e-20 + ], + "max": [ + 0.2136260987668209, + 0.07910147221218136, + 0.15112518993708085 ], "size": [ - 0.3081421462172569, - 0.151574487956532, - 0.1776824890310233 - ] + 0.30780855102992327, + 0.17737723248195952, + 0.15112518993708085 + ], + "units": "m" }, "description": "D00702 Saucepan_Kettle", "name": "D00702 Saucepan_Kettle", "object_type": "rigid_bodies", - "total_mass": 1.21 + "total_mass": 1.2099999766796827, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00702", "parts": [ { "bounds": { - "center": [ - -0.013547591667844014, - 0.04856793440411947, - -0.002595380992555678 + "min": [ + -0.09306430148554203, + -0.07382412943199226, + -2.710505431213761e-20 ], "max": [ - 0.0661850492247111, - 0.09720404244104097, - 0.07384653328535286 + 0.0661804774195312, + 0.0790027239063755, + 0.09714361231808764 ], - "min": [ - -0.09328023256039913, - -6.817363280204347e-05, - -0.07903729527046421 - ] + "size": [ + 0.15924477890507321, + 0.15282685333836776, + 0.09714361231808764 + ], + "units": "m" }, "center_of_mass": [ -0.01250015664845705, @@ -78,7 +219,7 @@ 0.0018318548100069165, 0.0019470567349344492 ], - "mass": 0.65, + "mass": 0.6499999761581421, "material": "metal", "name": "D00702 Saucepan_Kettle", "physics_type": "rigid", @@ -86,25 +227,28 @@ "object_name": "D00702 Saucepan_Kettle", "part_name": "D00702 Saucepan_Kettle" }, - "volume": 7.254464019622122e-05 + "volume": 7.254464019622122e-05, + "source_prim_path": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.014560042638697118, - 0.10999161923037318, - -0.0013009275354548128 + "min": [ + -0.09418245226310239, + -0.07655432281893707, + 0.087181828482713 ], "max": [ - 0.06538073082019671, - 0.13320189986814446, - 0.0768043369076455 + 0.06487531745615928, + 0.07910147221218136, + 0.13229195431574037 ], - "min": [ - -0.09450081609759095, - 0.0867813385926019, - -0.07940619197855513 - ] + "size": [ + 0.15905776971926167, + 0.15565579503111843, + 0.04511012583302737 + ], + "units": "m" }, "center_of_mass": [ 0.002395383780822158, @@ -127,25 +271,28 @@ "object_name": "D00702 Saucepan_Kettle", "part_name": "D00702 Saucepan_Kettle" }, - "volume": 2.7901785714285713e-05 + "volume": 2.7901785714285713e-05, + "source_prim_path": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.13165186970480636, - 0.09397613734049254, - -0.0016432945903770355 + "min": [ + 0.04969198153281074, + -0.04264645131843835, + 0.036815672618898114 ], "max": [ - 0.21364133011966596, - 0.15150631432372996, - 0.042691007381278616 + 0.2136260987668209, + 0.0459714034040741, + 0.15112518993708085 ], - "min": [ - 0.04966240928994674, - 0.03644596035725512, - -0.04597759656203269 - ] + "size": [ + 0.16393411723401016, + 0.08861785472251245, + 0.11430951731818273 + ], + "units": "m" }, "center_of_mass": [ 0.08372119069099426, @@ -168,25 +315,28 @@ "object_name": "D00702 Saucepan_Kettle", "part_name": "D00702 Saucepan_Kettle" }, - "volume": 2.86368843069874e-05 + "volume": 2.86368843069874e-05, + "source_prim_path": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.011900782403739416, - 0.0713550243500241, - 0.08328803898283224 + "min": [ + -0.03470793256001963, + -0.09827576026977816, + 0.04569654823634349 ], "max": [ - 0.011019464035994533, - 0.09707887161422751, - 0.09827629705246817 + 0.011016258968015969, + -0.06832162451378611, + 0.09707195996367422 ], - "min": [ - -0.034821028843473364, - 0.045631177085820686, - 0.06829978091319631 - ] + "size": [ + 0.0457241915280356, + 0.029954135755992053, + 0.05137541172733073 + ], + "units": "m" }, "center_of_mass": [ 0.007529886905103922, @@ -201,7 +351,7 @@ 3.4704236895777285e-05, 3.8492227758979425e-05 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "metal", "name": "D00702 Saucepan_Kettle", "physics_type": "rigid", @@ -209,25 +359,28 @@ "object_name": "D00702 Saucepan_Kettle", "part_name": "D00702 Saucepan_Kettle" }, - "volume": 5.580357226010944e-06 + "volume": 5.580357226010944e-06, + "source_prim_path": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0658196346288894, - 0.05263618923832825, - 0.026819366936973857 + "min": [ + 0.06098809156876674, + -0.03184800878420491, + 0.047336582875880835 ], "max": [ - 0.07066106228056589, - 0.05794571839081776, - 0.03185069176258606 + 0.07064848558389294, + -0.02178999488401079, + 0.05793186932732911 ], - "min": [ - 0.06097820697721291, - 0.047326660085838745, - 0.02178804211136166 - ] + "size": [ + 0.009660394015126202, + 0.010058013900194122, + 0.010595286451448277 + ], + "units": "m" }, "center_of_mass": [ 0.065806083381176, @@ -242,7 +395,7 @@ 9.78255627614999e-08, 1.0078094447862895e-07 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "metal", "name": "D00702 Saucepan_Kettle", "physics_type": "rigid", @@ -250,10 +403,27 @@ "object_name": "D00702 Saucepan_Kettle", "part_name": "D00702 Saucepan_Kettle" }, - "volume": 1.1454753466761263e-06 + "volume": 1.1454753466761263e-06, + "source_prim_path": "/World/textured_mesh_6a87f5031597a2d66f5bafd0/part_4", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6f9901d7e78b35fc294235f1ebeef765876b8c21bd224991ae5479b942a5e46a" + }, + "usd_path": "batch37/D00702_Saucepan_Kettle/IsaacSim_assets_6a87f5031597a2d66f5bafd0/IsaacSim_asset_6a87f5031597a2d66f5bafd0.usd", + "usd_sha256": "56cf3eb9923a3d2bea05096d7fc3125c2f92efc58bfb9d29733c5f7e3480aece", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -271,25 +441,60 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3081421462172569, - 0.151574487956532, - 0.1776824890310233 - ] + 0.30780855102992327, + 0.17737723248195952, + 0.15112518993708085 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56cf3eb9923a3d2bea05096d7fc3125c2f92efc58bfb9d29733c5f7e3480aece", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.21 + "value_kg": 1.2099999766796827, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56cf3eb9923a3d2bea05096d7fc3125c2f92efc58bfb9d29733c5f7e3480aece", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2099999766796827, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 29, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56cf3eb9923a3d2bea05096d7fc3125c2f92efc58bfb9d29733c5f7e3480aece", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 29, + "approximations": [ + "convexHull", + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "56cf3eb9923a3d2bea05096d7fc3125c2f92efc58bfb9d29733c5f7e3480aece", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00736 Small Spice Container/IsaacSim_assets_6a86a08fad93f8edde6aae85/physics_6a86a08fad93f8edde6aae85.json b/batch37/D00736 Small Spice Container/IsaacSim_assets_6a86a08fad93f8edde6aae85/physics_6a86a08fad93f8edde6aae85.json index 1ab1b2dedbf3a1efe9e8dc3dc0e96baac6efc938..ba38fb4fd56fe9231ad4ef05f0a5cc82726231e1 100644 --- a/batch37/D00736 Small Spice Container/IsaacSim_assets_6a86a08fad93f8edde6aae85/physics_6a86a08fad93f8edde6aae85.json +++ b/batch37/D00736 Small Spice Container/IsaacSim_assets_6a86a08fad93f8edde6aae85/physics_6a86a08fad93f8edde6aae85.json @@ -6,58 +6,154 @@ "body0": "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_0", "body1": "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_1", "joint_path": "/World/textured_mesh_6a86a08fad93f8edde6aae85/Joints/joint_part_0__part_1", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a86a08fad93f8edde6aae85/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_1" + ], + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a86a08fad93f8edde6aae85/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_0" + ], + "body1": [ + "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_0", "body1": "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_2", "joint_path": "/World/textured_mesh_6a86a08fad93f8edde6aae85/Joints/joint_part_0__part_2", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_2", + "path": "/World/textured_mesh_6a86a08fad93f8edde6aae85/Joints/joint_part_0__part_2", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_2" + ], + "authored_usd": { + "id": "joint_part_0__part_2", + "source_prim_path": "/World/textured_mesh_6a86a08fad93f8edde6aae85/Joints/joint_part_0__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_0" + ], + "body1": [ + "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.034887999296188354, - 0.13737399876117706, - 0.034324999898672104 - ], "min": [ -0.03476100042462349, - 3.099999958067201e-05, - -0.035868000239133835 + -0.034324999898672104, + 3.099999958067201e-05 + ], + "max": [ + 0.034887999296188354, + 0.035868000239133835, + 0.13737399876117706 ], "size": [ 0.06964899972081184, - 0.1373429987615964, - 0.07019300013780594 - ] + 0.07019300013780594, + 0.1373429987615964 + ], + "units": "m" }, "description": "D00736 Small Spice Container", "name": "D00736 Small Spice Container", "object_type": "rigid_bodies", - "total_mass": 0.211 + "total_mass": 0.21100000652950257, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00736", "parts": [ { "bounds": { - "center": [ - 6.349943578243256e-05, - 0.059312998315363075, - -0.0009780004620552063 + "min": [ + -0.03476100042462349, + -0.03391199931502342, + 3.099999958067201e-05 ], "max": [ 0.034887999296188354, - 0.11859499663114548, - 0.03391199931502342 + 0.035868000239133835, + 0.11859499663114548 ], - "min": [ - -0.03476100042462349, - 3.099999958067201e-05, - -0.035868000239133835 - ] + "size": [ + 0.06964899972081184, + 0.06977999955415726, + 0.1185639966315648 + ], + "units": "m" }, "center_of_mass": [ 3.515545904519968e-05, @@ -72,7 +168,7 @@ 0.00025316988467238843, 0.00025347198243252933 ], - "mass": 0.18, + "mass": 0.18000000715255737, "material": "ceramic_or_glass", "name": "D00736 Small Spice Container", "physics_type": "rigid", @@ -80,25 +176,28 @@ "object_name": "D00736 Small Spice Container", "part_name": "D00736 Small Spice Container" }, - "volume": 7.200000286102294e-05 + "volume": 7.200000286102294e-05, + "source_prim_path": "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 6.250105798244476e-05, - 0.07742749899625778, - -0.0010874997824430466 + "min": [ + -0.034598998725414276, + -0.0336030013859272, + 0.0174809992313385 ], "max": [ 0.034724000841379166, - 0.13737399876117706, - 0.0336030013859272 + 0.03577800095081329, + 0.13737399876117706 ], - "min": [ - -0.034598998725414276, - 0.0174809992313385, - -0.03577800095081329 - ] + "size": [ + 0.06932299956679344, + 0.0693810023367405, + 0.11989299952983856 + ], + "units": "m" }, "center_of_mass": [ -0.0037218572106212378, @@ -113,7 +212,7 @@ 2.4335160560440272e-05, 2.5011802790686488e-05 ], - "mass": 0.03, + "mass": 0.029999999329447746, "material": "metal", "name": "D00736 Small Spice Container", "physics_type": "rigid", @@ -121,25 +220,28 @@ "object_name": "D00736 Small Spice Container", "part_name": "D00736 Small Spice Container" }, - "volume": 3.846153760185608e-06 + "volume": 3.846153760185608e-06, + "source_prim_path": "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0011145006865262985, - 0.0578014999628067, - 0.028083999641239643 + "min": [ + -0.02658200077712536, + -0.034324999898672104, + 0.016832999885082245 ], "max": [ 0.02435299940407276, - 0.09877000004053116, - 0.034324999898672104 + -0.021842999383807182, + 0.09877000004053116 ], - "min": [ - -0.02658200077712536, - 0.016832999885082245, - 0.021842999383807182 - ] + "size": [ + 0.05093500018119812, + 0.012482000514864922, + 0.08193700015544891 + ], + "units": "m" }, "center_of_mass": [ -0.0013468554243445396, @@ -154,7 +256,7 @@ 5.65548646136449e-07, 6.938130354683381e-07 ], - "mass": 0.001, + "mass": 0.0010000000474974513, "material": "wood", "name": "D00736 Small Spice Container", "physics_type": "rigid", @@ -162,10 +264,27 @@ "object_name": "D00736 Small Spice Container", "part_name": "D00736 Small Spice Container" }, - "volume": 1.2500000593718142e-06 + "volume": 1.2500000593718142e-06, + "source_prim_path": "/World/textured_mesh_6a86a08fad93f8edde6aae85/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0f20739d463b2e6ec3faa1f38288758a5ac90d9411c368c2659ca719eae944ae" + }, + "usd_path": "batch37/D00736 Small Spice Container/IsaacSim_assets_6a86a08fad93f8edde6aae85/IsaacSim_asset_6a86a08fad93f8edde6aae85.usd", + "usd_sha256": "d6b6a2319effc854eb1af3c3a4365e0fcc1eb391e7d14984031aa73ef6bc60c6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -184,24 +303,58 @@ "up_axis": "Z", "bounds_m": [ 0.06964899972081184, - 0.1373429987615964, - 0.07019300013780594 - ] + 0.07019300013780594, + 0.1373429987615964 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6b6a2319effc854eb1af3c3a4365e0fcc1eb391e7d14984031aa73ef6bc60c6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.211 + "value_kg": 0.21100000652950257, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6b6a2319effc854eb1af3c3a4365e0fcc1eb391e7d14984031aa73ef6bc60c6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.21100000652950257, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6b6a2319effc854eb1af3c3a4365e0fcc1eb391e7d14984031aa73ef6bc60c6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6b6a2319effc854eb1af3c3a4365e0fcc1eb391e7d14984031aa73ef6bc60c6", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch37/D00826 Stove/IsaacSim_assets_6a8679b3ad93f8edde6783d2/physics_6a8679b3ad93f8edde6783d2.json b/batch37/D00826 Stove/IsaacSim_assets_6a8679b3ad93f8edde6783d2/physics_6a8679b3ad93f8edde6783d2.json index bc2a8dbec40b6cb3dd95fc7aaf9cc4c0573e1ab7..48f665f88c5606c9f8e346656e6f6281efb120d9 100644 --- a/batch37/D00826 Stove/IsaacSim_assets_6a8679b3ad93f8edde6783d2/physics_6a8679b3ad93f8edde6783d2.json +++ b/batch37/D00826 Stove/IsaacSim_assets_6a8679b3ad93f8edde6783d2/physics_6a8679b3ad93f8edde6783d2.json @@ -6,58 +6,157 @@ "body0": "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_0", "body1": "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_2", "joint_path": "/World/textured_mesh_6a8679b3ad93f8edde6783d2/Joints/joint_part_0__part_2", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_2", + "path": "/World/textured_mesh_6a8679b3ad93f8edde6783d2/Joints/joint_part_0__part_2", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_2" + ], + "authored_usd": { + "id": "joint_part_0__part_2", + "source_prim_path": "/World/textured_mesh_6a8679b3ad93f8edde6783d2/Joints/joint_part_0__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0016909700352698565 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0016909700352698565 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "body0": "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_0", "body1": "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_3", "joint_path": "/World/textured_mesh_6a8679b3ad93f8edde6783d2/Joints/joint_part_0__part_3", - "type": "revolute" + "type": "revolute", + "id": "joint_part_0__part_3", + "path": "/World/textured_mesh_6a8679b3ad93f8edde6783d2/Joints/joint_part_0__part_3", + "usd_type": "PhysicsRevoluteJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_3" + ], + "authored_usd": { + "id": "joint_part_0__part_3", + "source_prim_path": "/World/textured_mesh_6a8679b3ad93f8edde6783d2/Joints/joint_part_0__part_3", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_3" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -180.0, + "upperLimit": 180.0, + "localPos0": [ + 0.0008530188351869583, + -0.1457224041223526, + 0.053374480456113815 + ], + "localPos1": [ + 0.0008530188351869583, + -0.1457224041223526, + 0.053374480456113815 + ], + "localRot0": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "localRot1": [ + 0.0, + 0.0, + 0.0, + 1.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15542300045490265, - 0.12906304001808167, - 0.1633100062608719 - ], "min": [ -0.15390799939632416, - 0.001652969978749752, - -0.14603100717067719 + -0.1633100062608719, + 0.001652969978749752 + ], + "max": [ + 0.15542300045490265, + 0.14603100717067719, + 0.12906304001808167 ], "size": [ 0.3093309998512268, - 0.1274100700393319, - 0.3093410134315491 - ] + 0.3093410134315491, + 0.1274100700393319 + ], + "units": "m" }, "description": "D00826 Stove", "name": "D00826 Stove", "object_type": "rigid_bodies", - "total_mass": 1.61 + "total_mass": 1.6100000012665987, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00826", "parts": [ { "bounds": { - "center": [ - 0.0007575005292892456, - 0.0464654709212482, - -0.001851506531238556 + "min": [ + -0.15390799939632416, + -0.14232799410820007, + 0.001652969978749752 ], "max": [ 0.15542300045490265, - 0.09127797186374664, - 0.14232799410820007 + 0.14603100717067719, + 0.09127797186374664 ], - "min": [ - -0.15390799939632416, - 0.001652969978749752, - -0.14603100717067719 - ] + "size": [ + 0.3093309998512268, + 0.28835900127887726, + 0.08962500188499689 + ], + "units": "m" }, "center_of_mass": [ 0.0007409133249893785, @@ -80,25 +179,28 @@ "object_name": "D00826 Stove", "part_name": "D00826 Stove" }, - "volume": 0.00012738853503184712 + "volume": 0.00012738853503184712, + "source_prim_path": "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0007279813289642334, - 0.10602602362632751, - -0.008298836648464203 + "min": [ + -0.0945216566324234, + -0.08361011743545532, + 0.08298900723457336 ], "max": [ 0.09597761929035187, - 0.12906304001808167, - 0.08361011743545532 + 0.10020779073238373, + 0.12906304001808167 ], - "min": [ - -0.0945216566324234, - 0.08298900723457336, - -0.10020779073238373 - ] + "size": [ + 0.19049927592277527, + 0.18381790816783905, + 0.0460740327835083 + ], + "units": "m" }, "center_of_mass": [ 0.0006303892587311566, @@ -121,25 +223,28 @@ "object_name": "D00826 Stove", "part_name": "D00826 Stove" }, - "volume": 7.042253521126761e-05 + "volume": 7.042253521126761e-05, + "source_prim_path": "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0007060002535581589, - 0.07074547000229359, - 0.03849849849939346 + "min": [ + -0.05063299834728241, + -0.13548199832439423, + 0.050235968083143234 ], "max": [ 0.05204499885439873, - 0.09125497192144394, - 0.13548199832439423 + 0.0584850013256073, + 0.09125497192144394 ], - "min": [ - -0.05063299834728241, - 0.050235968083143234, - -0.0584850013256073 - ] + "size": [ + 0.10267799720168114, + 0.19396699965000153, + 0.041019003838300705 + ], + "units": "m" }, "center_of_mass": [ -0.0022596006747335196, @@ -154,7 +259,7 @@ 0.0001645307056605816, 0.00020702890469692647 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "metal", "name": "D00826 Stove", "physics_type": "rigid", @@ -162,25 +267,28 @@ "object_name": "D00826 Stove", "part_name": "D00826 Stove" }, - "volume": 1.176470605766072e-05 + "volume": 1.176470605766072e-05, + "source_prim_path": "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0007579997181892395, - 0.053883470594882965, - 0.1487715020775795 + "min": [ + -0.01806800067424774, + -0.1633100062608719, + 0.03314197063446045 ], "max": [ 0.01958400011062622, - 0.07462497055530548, - 0.1633100062608719 + -0.1342329978942871, + 0.07462497055530548 ], - "min": [ - -0.01806800067424774, - 0.03314197063446045, - 0.1342329978942871 - ] + "size": [ + 0.03765200078487396, + 0.029077008366584778, + 0.04148299992084503 + ], + "units": "m" }, "center_of_mass": [ 0.000886290508788079, @@ -195,7 +303,7 @@ 1.9617345969891176e-06, 2.1444411686388776e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "plastic", "name": "D00826 Stove", "physics_type": "rigid", @@ -203,10 +311,27 @@ "object_name": "D00826 Stove", "part_name": "D00826 Stove" }, - "volume": 9.090908887711438e-06 + "volume": 9.090908887711438e-06, + "source_prim_path": "/World/textured_mesh_6a8679b3ad93f8edde6783d2/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fab01805a422377666cc83a43844d2e291ebb753d0c3c0def190b07b499c9a94" + }, + "usd_path": "batch37/D00826 Stove/IsaacSim_assets_6a8679b3ad93f8edde6783d2/IsaacSim_asset_6a8679b3ad93f8edde6783d2.usd", + "usd_sha256": "de4e588ba5d3c8bb672a5961853e541303280b16d12a5abae49125687c38a8b5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -225,24 +350,58 @@ "up_axis": "Z", "bounds_m": [ 0.3093309998512268, - 0.1274100700393319, - 0.3093410134315491 - ] + 0.3093410134315491, + 0.1274100700393319 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de4e588ba5d3c8bb672a5961853e541303280b16d12a5abae49125687c38a8b5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.61 + "value_kg": 1.6100000012665987, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de4e588ba5d3c8bb672a5961853e541303280b16d12a5abae49125687c38a8b5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.6100000012665987, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 225, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de4e588ba5d3c8bb672a5961853e541303280b16d12a5abae49125687c38a8b5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 225, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de4e588ba5d3c8bb672a5961853e541303280b16d12a5abae49125687c38a8b5", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00136_Citrus_Juicer/IsaacSim_assets_D00136/physics_D00136.json b/batch38/D00136_Citrus_Juicer/IsaacSim_assets_D00136/physics_D00136.json index fb41ff77529ca72833268ff076084976f495b5b4..01f0b3de6a43e6ad339d188f12077cd751272588 100644 --- a/batch38/D00136_Citrus_Juicer/IsaacSim_assets_D00136/physics_D00136.json +++ b/batch38/D00136_Citrus_Juicer/IsaacSim_assets_D00136/physics_D00136.json @@ -284,13 +284,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "9f88eebef7ed1438f9010f9d96f6d6705519d9010879bafe595828f7215cd669" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f45efcb70dbca3445316e87d6648e22f3017bc948b11f0524ad3163a1e01e2d0" }, "usd_path": "batch38/D00136_Citrus_Juicer/IsaacSim_assets_D00136/IsaacSim_asset_D00136.usd", - "usd_sha256": "3f5861c40e199835d1ebfa0d2de24924383d5eabf41de1223d9472a9c5955e2a", + "usd_sha256": "307bdf6f7db37719e92a0eacff9e9f37bbdf24cc16a3442dfd0c72616221f513", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -317,9 +317,9 @@ 0.27151302361287216, 0.32755169857269517 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3f5861c40e199835d1ebfa0d2de24924383d5eabf41de1223d9472a9c5955e2a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "307bdf6f7db37719e92a0eacff9e9f37bbdf24cc16a3442dfd0c72616221f513", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -328,9 +328,9 @@ "status": "verified", "confidence": "high", "value_kg": 2.3599999509751797, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3f5861c40e199835d1ebfa0d2de24924383d5eabf41de1223d9472a9c5955e2a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "307bdf6f7db37719e92a0eacff9e9f37bbdf24cc16a3442dfd0c72616221f513", "scope": "authored_usd_mass_consistency", "part_sum_kg": 2.3599999509751797, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -339,9 +339,9 @@ "status": "verified", "confidence": "high", "shape_count": 113, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3f5861c40e199835d1ebfa0d2de24924383d5eabf41de1223d9472a9c5955e2a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "307bdf6f7db37719e92a0eacff9e9f37bbdf24cc16a3442dfd0c72616221f513", "scope": "authored_usd_collision_schema", "enabled_shape_count": 113, "approximations": [ @@ -353,18 +353,36 @@ "status": "verified", "confidence": "high", "moving_joints": 2, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3f5861c40e199835d1ebfa0d2de24924383d5eabf41de1223d9472a9c5955e2a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "307bdf6f7db37719e92a0eacff9e9f37bbdf24cc16a3442dfd0c72616221f513", "scope": "authored_usd_joint_schema", "joint_count": 2, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "307bdf6f7db37719e92a0eacff9e9f37bbdf24cc16a3442dfd0c72616221f513", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 13, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:16:00.540503+00:00", + "joint_status": "passed", + "joints_total": 2, + "joints_passed": 2, + "joints_failed": 0, + "thumbnail_sha256": "69f9fb990a96d13059c474969b155068b57f721e8aa2491c5e8043b5db2e51d7", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00189_Cooker/IsaacSim_assets_D00189/physics_D00189.json b/batch38/D00189_Cooker/IsaacSim_assets_D00189/physics_D00189.json index f5b1ada6c1368f3b19494857c3ddb0366f981315..8bb407f2b8a2b6f1c5dd83e31cf85b11658cdb12 100644 --- a/batch38/D00189_Cooker/IsaacSim_assets_D00189/physics_D00189.json +++ b/batch38/D00189_Cooker/IsaacSim_assets_D00189/physics_D00189.json @@ -424,13 +424,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "41d979599ab1acd5c64005f8e49c3a700352a451ee25be4ea8b40390bbbca8b5" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "462d54edda33eef92a0ceef6327ae379fa288806723076465de77a70e34a5d0e" }, "usd_path": "batch38/D00189_Cooker/IsaacSim_assets_D00189/IsaacSim_asset_D00189.usd", - "usd_sha256": "d207ecb2087c2a8fde4db1f1d9c3bc4933c269a747d24c30ae9feec0827bca77", + "usd_sha256": "cffc68de20d54b9fe63c11811ce5a1e9d823ccfbdee3b51a1813f2b18b0fb763", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -457,9 +457,9 @@ 0.24648426535150045, 0.24949963127382957 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d207ecb2087c2a8fde4db1f1d9c3bc4933c269a747d24c30ae9feec0827bca77", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cffc68de20d54b9fe63c11811ce5a1e9d823ccfbdee3b51a1813f2b18b0fb763", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -468,9 +468,9 @@ "status": "verified", "confidence": "high", "value_kg": 3.3100000713020563, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d207ecb2087c2a8fde4db1f1d9c3bc4933c269a747d24c30ae9feec0827bca77", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cffc68de20d54b9fe63c11811ce5a1e9d823ccfbdee3b51a1813f2b18b0fb763", "scope": "authored_usd_mass_consistency", "part_sum_kg": 3.3100000713020563, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -479,9 +479,9 @@ "status": "verified", "confidence": "high", "shape_count": 16, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d207ecb2087c2a8fde4db1f1d9c3bc4933c269a747d24c30ae9feec0827bca77", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cffc68de20d54b9fe63c11811ce5a1e9d823ccfbdee3b51a1813f2b18b0fb763", "scope": "authored_usd_collision_schema", "enabled_shape_count": 16, "approximations": [ @@ -495,18 +495,19 @@ "status": "verified", "confidence": "high", "moving_joints": 3, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d207ecb2087c2a8fde4db1f1d9c3bc4933c269a747d24c30ae9feec0827bca77", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cffc68de20d54b9fe63c11811ce5a1e9d823ccfbdee3b51a1813f2b18b0fb763", "scope": "authored_usd_joint_schema", "joint_count": 3, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00201_Mini_Fridge/D00201_Mini_Fridge_simready/physics_D00201.json b/batch38/D00201_Mini_Fridge/D00201_Mini_Fridge_simready/physics_D00201.json index 5366e3b01e881ada94ee69c2eb6879c46bf3ad7b..91060c8707d1464300bfdda01d834c5b7b966672 100644 --- a/batch38/D00201_Mini_Fridge/D00201_Mini_Fridge_simready/physics_D00201.json +++ b/batch38/D00201_Mini_Fridge/D00201_Mini_Fridge_simready/physics_D00201.json @@ -311,13 +311,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "437498117614708dc54052467675f6afb4d93879a5f6441c8e9bc410ecea831b" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6890d942c50fbcd00dedc7b42a82975f287bd01b98681b085fbdc55c858e5575" }, "usd_path": "batch38/D00201_Mini_Fridge/D00201_Mini_Fridge_simready/D00201_Mini_Fridge.usd", - "usd_sha256": "5d636d92d22f79153a7296794c8a6e5a97359cd7a9a0de588880491edd933684", + "usd_sha256": "c25896232e17c31ef6c3ee8d572123f9a0dadda3490f1df307621ffb2510ac7f", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -344,9 +344,9 @@ 0.5028997212648392, 0.5 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "5d636d92d22f79153a7296794c8a6e5a97359cd7a9a0de588880491edd933684", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c25896232e17c31ef6c3ee8d572123f9a0dadda3490f1df307621ffb2510ac7f", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -355,9 +355,9 @@ "status": "verified", "confidence": "high", "value_kg": 17.379999993368983, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "5d636d92d22f79153a7296794c8a6e5a97359cd7a9a0de588880491edd933684", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c25896232e17c31ef6c3ee8d572123f9a0dadda3490f1df307621ffb2510ac7f", "scope": "authored_usd_mass_consistency", "part_sum_kg": 17.379999993368983, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -366,9 +366,9 @@ "status": "verified", "confidence": "high", "shape_count": 198, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "5d636d92d22f79153a7296794c8a6e5a97359cd7a9a0de588880491edd933684", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c25896232e17c31ef6c3ee8d572123f9a0dadda3490f1df307621ffb2510ac7f", "scope": "authored_usd_collision_schema", "enabled_shape_count": 198, "approximations": [ @@ -380,18 +380,19 @@ "status": "verified", "confidence": "high", "moving_joints": 2, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "5d636d92d22f79153a7296794c8a6e5a97359cd7a9a0de588880491edd933684", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c25896232e17c31ef6c3ee8d572123f9a0dadda3490f1df307621ffb2510ac7f", "scope": "authored_usd_joint_schema", "joint_count": 2, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00207_Tortilla_Press/IsaacSim_assets_D00207/physics_D00207.json b/batch38/D00207_Tortilla_Press/IsaacSim_assets_D00207/physics_D00207.json index dc65a123dea4fc6b3bf1c1985e9d334f52e6566f..7f4911f02d2968a97e441fbbcc6017a4e7c5bda5 100644 --- a/batch38/D00207_Tortilla_Press/IsaacSim_assets_D00207/physics_D00207.json +++ b/batch38/D00207_Tortilla_Press/IsaacSim_assets_D00207/physics_D00207.json @@ -282,13 +282,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "969ab5aa85219c191fd9620bc2d5ca3cab9a0a5039420548b27212a896b9e4aa" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "51c770613998c09635d180e031e5e1613a0cd9d60317982803fc8cb487b0c56a" }, "usd_path": "batch38/D00207_Tortilla_Press/IsaacSim_assets_D00207/IsaacSim_asset_D00207.usd", - "usd_sha256": "b511dde358b43f8df1e78fa404ce967ac856f5db69b84f20cff2bc55995d9a22", + "usd_sha256": "ffa8f188ff4b5003e86823a7eabf38505e9e9a0a8e426d4a6d610276f0589966", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -315,9 +315,9 @@ 0.2268051654100418, 0.06592220714994329 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b511dde358b43f8df1e78fa404ce967ac856f5db69b84f20cff2bc55995d9a22", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ffa8f188ff4b5003e86823a7eabf38505e9e9a0a8e426d4a6d610276f0589966", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -326,9 +326,9 @@ "status": "verified", "confidence": "high", "value_kg": 6.000000149011612, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b511dde358b43f8df1e78fa404ce967ac856f5db69b84f20cff2bc55995d9a22", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ffa8f188ff4b5003e86823a7eabf38505e9e9a0a8e426d4a6d610276f0589966", "scope": "authored_usd_mass_consistency", "part_sum_kg": 6.000000149011612, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -337,9 +337,9 @@ "status": "verified", "confidence": "high", "shape_count": 22, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b511dde358b43f8df1e78fa404ce967ac856f5db69b84f20cff2bc55995d9a22", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ffa8f188ff4b5003e86823a7eabf38505e9e9a0a8e426d4a6d610276f0589966", "scope": "authored_usd_collision_schema", "enabled_shape_count": 22, "approximations": [ @@ -352,18 +352,39 @@ "status": "verified", "confidence": "high", "moving_joints": 2, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b511dde358b43f8df1e78fa404ce967ac856f5db69b84f20cff2bc55995d9a22", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ffa8f188ff4b5003e86823a7eabf38505e9e9a0a8e426d4a6d610276f0589966", "scope": "authored_usd_joint_schema", "joint_count": 2, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "ffa8f188ff4b5003e86823a7eabf38505e9e9a0a8e426d4a6d610276f0589966", + "supplemental_accepted": false, + "planned_test_count": 13, + "result_count": 13, + "passed": 12, + "skipped": 0, + "failed": 1, + "issues": [ + "independent_joint_safety_missing_or_failed", + "palatial_joint_constraint_safety:fail" + ], + "warnings": [], + "completed_at": "2026-10-13T21:39:07.546830+00:00", + "joint_status": "failed", + "joints_total": 2, + "joints_passed": 2, + "joints_failed": 0, + "thumbnail_sha256": "da226a02558520635cf6718a95c5fed92f92e5a33b5992a100276f1041577950", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00302_Flour_Canister/D00302_Flour_Canister_simready/physics_D00302.json b/batch38/D00302_Flour_Canister/D00302_Flour_Canister_simready/physics_D00302.json index 380dc6c8348eee012c10f30c7c093e196d5e0207..7a26eed338bb3499f74e314926e4efdf1c2a1f95 100644 --- a/batch38/D00302_Flour_Canister/D00302_Flour_Canister_simready/physics_D00302.json +++ b/batch38/D00302_Flour_Canister/D00302_Flour_Canister_simready/physics_D00302.json @@ -98,13 +98,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "49734c0260d1e091f848e3deff660898eb2c61345d2d64b0af85601102e66737" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9cc4c9ac3c9f5a34964a3f853fe1538158424998ed1057b4d6f040eed11f1213" }, "usd_path": "batch38/D00302_Flour_Canister/D00302_Flour_Canister_simready/D00302_Flour_Canister.usd", - "usd_sha256": "7bae347b10f369fa06cb8b760b1be225124ba9396f1e3002bad81351a47d6dd1", + "usd_sha256": "88b96f51954eacc40e9c9a5946f7b8989da341be20222ccf3bf38cec113c8e83", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -131,9 +131,9 @@ 0.12999999523162842, 0.19999998807907104 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7bae347b10f369fa06cb8b760b1be225124ba9396f1e3002bad81351a47d6dd1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "88b96f51954eacc40e9c9a5946f7b8989da341be20222ccf3bf38cec113c8e83", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -142,9 +142,9 @@ "status": "verified", "confidence": "high", "value_kg": 1.019999973475933, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7bae347b10f369fa06cb8b760b1be225124ba9396f1e3002bad81351a47d6dd1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "88b96f51954eacc40e9c9a5946f7b8989da341be20222ccf3bf38cec113c8e83", "scope": "authored_usd_mass_consistency", "part_sum_kg": 1.019999973475933, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -153,9 +153,9 @@ "status": "verified", "confidence": "high", "shape_count": 256, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7bae347b10f369fa06cb8b760b1be225124ba9396f1e3002bad81351a47d6dd1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "88b96f51954eacc40e9c9a5946f7b8989da341be20222ccf3bf38cec113c8e83", "scope": "authored_usd_collision_schema", "enabled_shape_count": 256, "approximations": [ @@ -167,18 +167,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7bae347b10f369fa06cb8b760b1be225124ba9396f1e3002bad81351a47d6dd1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "88b96f51954eacc40e9c9a5946f7b8989da341be20222ccf3bf38cec113c8e83", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00430_Kettle_Food_Processor/D00430_Kettle_Food_Processor/IsaacSim_assets_D00430/physics_D00430.json b/batch38/D00430_Kettle_Food_Processor/D00430_Kettle_Food_Processor/IsaacSim_assets_D00430/physics_D00430.json index e9960494817eed3ee13a9eda7dc0392c59ee1b5b..88af383f3cada3f09a25ced71bc13d0753449cd7 100644 --- a/batch38/D00430_Kettle_Food_Processor/D00430_Kettle_Food_Processor/IsaacSim_assets_D00430/physics_D00430.json +++ b/batch38/D00430_Kettle_Food_Processor/D00430_Kettle_Food_Processor/IsaacSim_assets_D00430/physics_D00430.json @@ -168,6 +168,47 @@ "/World/blade" ], "proxyPrim": [] + }, + "id": "blade_spin", + "path": "/World/Joints/blade_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "blade_spin", + "source_prim_path": "/World/Joints/blade_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/bowl" + ], + "body1": [ + "/World/blade" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": "-Infinity", + "upperLimit": "Infinity", + "localPos0": [ + 0.0, + 0.0, + 0.2549999952316284 + ], + "localPos1": [ + 0.0, + 0.0, + 0.2549999952316284 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,52 +377,99 @@ "/World/speed_dial" ], "proxyPrim": [] + }, + "id": "speed_dial_spindle", + "path": "/World/Joints/speed_dial_spindle", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "speed_dial_spindle", + "source_prim_path": "/World/Joints/speed_dial_spindle", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/base" + ], + "body1": [ + "/World/speed_dial" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -60.0, + "upperLimit": 60.0, + "localPos0": [ + 0.0, + -0.09627699851989746, + 0.07800000160932541 + ], + "localPos1": [ + 0.0, + -0.09627699851989746, + 0.07800000160932541 + ], + "localRot0": [ + 0.7071067690849304, + 0.7071067690849304, + 0.0, + 0.0 + ], + "localRot1": [ + 0.7071067690849304, + 0.7071067690849304, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 2, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10499999672174454, - 0.390980988740921, - 0.1087999939918518 - ], "min": [ -0.10499999672174454, - 0.0, - -0.10499999672174454 + -0.1087999939918518, + 0.0 + ], + "max": [ + 0.10499999672174454, + 0.10499999672174454, + 0.390980988740921 ], "size": [ 0.20999999344348907, - 0.390980988740921, - 0.21379999071359634 - ] + 0.21379999071359634, + 0.390980988740921 + ], + "units": "m" }, "description": "Kettle Food Processor", "name": "base", "object_type": "rigid_bodies", - "total_mass": 2.3899999503046274 + "total_mass": 2.3899999503046274, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00430", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.12250000238418579, + "min": [ + -0.10499999672174454, + -0.10499999672174454, 0.0 ], "max": [ 0.10499999672174454, - 0.24500000476837158, - 0.10499999672174454 + 0.10499999672174454, + 0.24500000476837158 ], - "min": [ - -0.10499999672174454, - 0.0, - -0.10499999672174454 - ] + "size": [ + 0.20999999344348907, + 0.20999999344348907, + 0.24500000476837158 + ], + "units": "m" }, "collision": {}, "id": "base", @@ -391,25 +479,28 @@ "source": { "object_name": "World", "part_name": "base" - } + }, + "source_prim_path": "/World/base", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.23749998956918716, - 0.0 + "min": [ + -0.0860000029206276, + -0.0860000029206276, + 0.13099999725818634 ], "max": [ 0.0860000029206276, - 0.343999981880188, - 0.0860000029206276 + 0.0860000029206276, + 0.343999981880188 ], - "min": [ - -0.0860000029206276, - 0.13099999725818634, - -0.0860000029206276 - ] + "size": [ + 0.1720000058412552, + 0.1720000058412552, + 0.21299998462200165 + ], + "units": "m" }, "collision": {}, "id": "bowl", @@ -419,25 +510,28 @@ "source": { "object_name": "World", "part_name": "bowl" - } + }, + "source_prim_path": "/World/bowl", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.35499048233032227, - 0.0 + "min": [ + -0.0860000029206276, + -0.0860000029206276, + 0.3189999759197235 ], "max": [ 0.0860000029206276, - 0.390980988740921, - 0.0860000029206276 + 0.0860000029206276, + 0.390980988740921 ], - "min": [ - -0.0860000029206276, - 0.3189999759197235, - -0.0860000029206276 - ] + "size": [ + 0.1720000058412552, + 0.1720000058412552, + 0.07198101282119751 + ], + "units": "m" }, "collision": {}, "id": "lid", @@ -447,25 +541,28 @@ "source": { "object_name": "World", "part_name": "lid" - } + }, + "source_prim_path": "/World/lid", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.006852086633443832, - 0.24898747354745865, - -7.403083145618439e-06 + "min": [ + -0.04193870723247528, + -0.02945803850889206, + 0.23200000822544098 ], "max": [ 0.055642880499362946, - 0.2659749388694763, - 0.02945803850889206 + 0.029472844675183296, + 0.2659749388694763 ], - "min": [ - -0.04193870723247528, - 0.23200000822544098, - -0.029472844675183296 - ] + "size": [ + 0.09758158773183823, + 0.058930883184075356, + 0.03397493064403534 + ], + "units": "m" }, "collision": {}, "id": "blade", @@ -475,25 +572,28 @@ "source": { "object_name": "World", "part_name": "blade" - } + }, + "source_prim_path": "/World/blade", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.07799999043345451, - 0.09687697142362595 + "min": [ + -0.01982889696955681, + -0.1087999939918518, + 0.058171093463897705 ], "max": [ 0.01982889696955681, - 0.09782888740301132, - 0.1087999939918518 + -0.08495394885540009, + 0.09782888740301132 ], - "min": [ - -0.01982889696955681, - 0.058171093463897705, - 0.08495394885540009 - ] + "size": [ + 0.03965779393911362, + 0.02384604513645172, + 0.03965779393911362 + ], + "units": "m" }, "collision": {}, "id": "speed_dial", @@ -503,10 +603,27 @@ "source": { "object_name": "World", "part_name": "speed_dial" - } + }, + "source_prim_path": "/World/speed_dial", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "638af0926f9fc4f41e2269f65b07ff7a7e03e3eec674d93c0f97bc9d37aa8161" + }, + "usd_path": "batch38/D00430_Kettle_Food_Processor/D00430_Kettle_Food_Processor/IsaacSim_assets_D00430/IsaacSim_asset_D00430.usd", + "usd_sha256": "315b5c03999fdfbf64c1f4f8953086c68373a95681b5f30b71ad2b0425d20c32", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -523,24 +640,59 @@ "up_axis": "Z", "bounds_m": [ 0.20999999344348907, - 0.390980988740921, - 0.21379999071359634 - ] + 0.21379999071359634, + 0.390980988740921 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "315b5c03999fdfbf64c1f4f8953086c68373a95681b5f30b71ad2b0425d20c32", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.3899999503046274 + "value_kg": 2.3899999503046274, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "315b5c03999fdfbf64c1f4f8953086c68373a95681b5f30b71ad2b0425d20c32", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.3899999503046274, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 180, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "315b5c03999fdfbf64c1f4f8953086c68373a95681b5f30b71ad2b0425d20c32", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 180, + "approximations": [ + "convexHull", + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "315b5c03999fdfbf64c1f4f8953086c68373a95681b5f30b71ad2b0425d20c32", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00437_Kitchen_Appliance/D00437_Kitchen_Appliance/IsaacSim_assets_D00437/physics_D00437.json b/batch38/D00437_Kitchen_Appliance/D00437_Kitchen_Appliance/IsaacSim_assets_D00437/physics_D00437.json index ecd1229cf8aa3e3b103c9a560bb40f3737b8182f..136caa46dc32c148489a2a4e18fdb2afbfa27d7e 100644 --- a/batch38/D00437_Kitchen_Appliance/D00437_Kitchen_Appliance/IsaacSim_assets_D00437/physics_D00437.json +++ b/batch38/D00437_Kitchen_Appliance/D00437_Kitchen_Appliance/IsaacSim_assets_D00437/physics_D00437.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "drawer_slide", + "path": "/World/Joints/drawer_slide", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "drawer_slide", + "source_prim_path": "/World/Joints/drawer_slide", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.20000000298023224, + "localPos0": [ + 0.0, + 0.14100000262260437, + 0.09399999678134918 + ], + "localPos1": [ + 0.0, + 0.14100000262260437, + 0.09399999678134918 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,52 +377,99 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "control_dial_spindle", + "path": "/World/Joints/control_dial_spindle", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "control_dial_spindle", + "source_prim_path": "/World/Joints/control_dial_spindle", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -135.0, + "upperLimit": 135.0, + "localPos0": [ + 0.0, + -0.0020000000949949026, + 0.29249998927116394 + ], + "localPos1": [ + 0.0, + -0.0020000000949949026, + 0.29249998927116394 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 2, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14499999582767487, - 0.3001999855041504, - 0.14249999821186066 - ], "min": [ -0.14499999582767487, - 0.0, - -0.17749999463558197 + -0.14249999821186066, + 0.0 + ], + "max": [ + 0.14499999582767487, + 0.17749999463558197, + 0.3001999855041504 ], "size": [ 0.28999999165534973, - 0.3001999855041504, - 0.3199999928474426 - ] + 0.3199999928474426, + 0.3001999855041504 + ], + "units": "m" }, "description": "Kitchen Appliance", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 3.920000035315752 + "total_mass": 3.920000035315752, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00437", "parts": [ { "bounds": { - "center": [ - 0.0, - 0.14624999463558197, - 0.0002760961651802063 + "min": [ + -0.14499999582767487, + -0.14249999821186066, + 0.0 ], "max": [ 0.14499999582767487, - 0.29249998927116394, - 0.14249999821186066 + 0.14194780588150024, + 0.29249998927116394 ], - "min": [ - -0.14499999582767487, - 0.0, - -0.14194780588150024 - ] + "size": [ + 0.28999999165534973, + 0.2844478040933609, + 0.29249998927116394 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -391,25 +479,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.09400000236928463, - -0.032499998807907104 + "min": [ + -0.11800000071525574, + -0.11249999701976776, + 0.024000000208616257 ], "max": [ 0.11800000071525574, - 0.164000004529953, - 0.11249999701976776 + 0.17749999463558197, + 0.164000004529953 ], - "min": [ - -0.11800000071525574, - 0.024000000208616257, - -0.17749999463558197 - ] + "size": [ + 0.23600000143051147, + 0.28999999165534973, + 0.14000000432133675 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -419,25 +510,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0, - 0.2964499890804291, - -0.0013868827372789383 + "min": [ + -0.03172623738646507, + -0.03372623398900032, + 0.29269999265670776 ], "max": [ 0.03172623738646507, - 0.3001999855041504, - 0.03372623398900032 + 0.0364999994635582, + 0.3001999855041504 ], - "min": [ - -0.03172623738646507, - 0.29269999265670776, - -0.0364999994635582 - ] + "size": [ + 0.06345247477293015, + 0.07022623345255852, + 0.007499992847442627 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -447,10 +541,27 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b638e09da347e5ffb13509b8446f0184bca383b34ae80c251e043e5b13beb94a" + }, + "usd_path": "batch38/D00437_Kitchen_Appliance/D00437_Kitchen_Appliance/IsaacSim_assets_D00437/IsaacSim_asset_D00437.usd", + "usd_sha256": "433331a897fff6e2c68c52ae286e1853597cf1b8c2b5fdd8d9b241716f06f5b8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -467,24 +578,58 @@ "up_axis": "Z", "bounds_m": [ 0.28999999165534973, - 0.3001999855041504, - 0.3199999928474426 - ] + 0.3199999928474426, + 0.3001999855041504 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "433331a897fff6e2c68c52ae286e1853597cf1b8c2b5fdd8d9b241716f06f5b8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.920000035315752 + "value_kg": 3.920000035315752, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "433331a897fff6e2c68c52ae286e1853597cf1b8c2b5fdd8d9b241716f06f5b8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.920000035315752, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 210, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "433331a897fff6e2c68c52ae286e1853597cf1b8c2b5fdd8d9b241716f06f5b8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 210, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "433331a897fff6e2c68c52ae286e1853597cf1b8c2b5fdd8d9b241716f06f5b8", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00439_Kitchen_Mixer/IsaacSim_assets_D00439/physics_D00439.json b/batch38/D00439_Kitchen_Mixer/IsaacSim_assets_D00439/physics_D00439.json index e7e92504c171fe297657c3053f7c44be55d0a8ff..d758d4b7bfd64b987960606578925e19199de0b2 100644 --- a/batch38/D00439_Kitchen_Mixer/IsaacSim_assets_D00439/physics_D00439.json +++ b/batch38/D00439_Kitchen_Mixer/IsaacSim_assets_D00439/physics_D00439.json @@ -150,6 +150,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "head_tilt", + "path": "/World/Joints/head_tilt", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "head_tilt", + "source_prim_path": "/World/Joints/head_tilt", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": 0.0, + "upperLimit": 40.0, + "localPos0": [ + 0.0, + -0.13750000298023224, + 0.23999999463558197 + ], + "localPos1": [ + 0.0, + -0.13750000298023224, + 0.23999999463558197 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -300,6 +341,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "bowl_twist_lock", + "path": "/World/Joints/bowl_twist_lock", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "bowl_twist_lock", + "source_prim_path": "/World/Joints/bowl_twist_lock", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -180.0, + "upperLimit": 180.0, + "localPos0": [ + 0.0, + 0.051830001175403595, + 0.029999999329447746 + ], + "localPos1": [ + 0.0, + 0.051830001175403595, + 0.029999999329447746 + ], + "localRot0": [ + 0.7071067690849304, + 0.0, + -0.7071067690849304, + 0.0 + ], + "localRot1": [ + 0.7071067690849304, + 0.0, + -0.7071067690849304, + 0.0 + ], + "static_frames": [] } }, { @@ -468,6 +550,47 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "dial_rotate", + "path": "/World/Joints/dial_rotate", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "dial_rotate", + "source_prim_path": "/World/Joints/dial_rotate", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_02" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -135.0, + "upperLimit": 135.0, + "localPos0": [ + -0.07400000095367432, + -0.060430001467466354, + 0.24260999262332916 + ], + "localPos1": [ + -0.07400000095367432, + -0.060430001467466354, + 0.24260999262332916 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -619,6 +742,47 @@ "/World/part_04" ], "proxyPrim": [] + }, + "id": "beater_spin", + "path": "/World/Joints/beater_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "beater_spin", + "source_prim_path": "/World/Joints/beater_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_02" + ], + "body1": [ + "/World/part_04" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": "-Infinity", + "upperLimit": "Infinity", + "localPos0": [ + 0.0, + 0.051830001175403595, + 0.17000000178813934 + ], + "localPos1": [ + 0.0, + 0.051830001175403595, + 0.17000000178813934 + ], + "localRot0": [ + 0.7071067690849304, + 0.0, + -0.7071067690849304, + 0.0 + ], + "localRot1": [ + 0.7071067690849304, + 0.0, + -0.7071067690849304, + 0.0 + ], + "static_frames": [] } }, { @@ -792,52 +956,99 @@ "/World/part_05" ], "proxyPrim": [] + }, + "id": "lock_lever_pivot", + "path": "/World/Joints/lock_lever_pivot", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "lock_lever_pivot", + "source_prim_path": "/World/Joints/lock_lever_pivot", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_02" + ], + "body1": [ + "/World/part_05" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": -20.0, + "upperLimit": 20.0, + "localPos0": [ + -0.07419999688863754, + -0.12564000487327576, + 0.27399998903274536 + ], + "localPos1": [ + -0.07419999688863754, + -0.12564000487327576, + 0.27399998903274536 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 5, + "rigid_body_count": 6, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10020001232624054, - 0.3399992287158966, - 0.22049999237060547 - ], "min": [ -0.11818496882915497, - 0.0, - -0.17499999701976776 + -0.22049999237060547, + 0.0 + ], + "max": [ + 0.10020001232624054, + 0.17499999701976776, + 0.3399992287158966 ], "size": [ 0.2183849811553955, - 0.3399992287158966, - 0.39549998939037323 - ] + 0.39549998939037323, + 0.3399992287158966 + ], + "units": "m" }, "description": "Kitchen Mixer", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 6.930000023916364 + "total_mass": 6.930000023916364, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00439", "parts": [ { "bounds": { - "center": [ - 0.012038111686706543, - 0.125, - 0.022749997675418854 + "min": [ + -0.07500000298023224, + -0.22049999237060547, + 0.0 ], "max": [ 0.09907622635364532, - 0.25, - 0.22049999237060547 + 0.17499999701976776, + 0.25 ], - "min": [ - -0.07500000298023224, - 0.0, - -0.17499999701976776 - ] + "size": [ + 0.17407622933387756, + 0.39549998939037323, + 0.25 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -847,25 +1058,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.008992478251457214, - 0.11934999842196703, - -0.051831724122166634 + "min": [ + -0.11818496882915497, + -0.04836828634142876, + 0.03019999898970127 ], "max": [ 0.10020001232624054, - 0.2084999978542328, - 0.04836828634142876 + 0.15203173458576202, + 0.2084999978542328 ], - "min": [ - -0.11818496882915497, - 0.03019999898970127, - -0.15203173458576202 - ] + "size": [ + 0.2183849811553955, + 0.20040002092719078, + 0.17829999886453152 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -875,25 +1089,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 3.725290298461914e-09, - 0.2547496110200882, - 0.01716286689043045 + "min": [ + -0.07476170361042023, + -0.1868257224559784, + 0.16949999332427979 ], "max": [ 0.07476171106100082, - 0.3399992287158966, - 0.1868257224559784 + 0.1524999886751175, + 0.3399992287158966 ], - "min": [ - -0.07476170361042023, - 0.16949999332427979, - -0.1524999886751175 - ] + "size": [ + 0.14952341467142105, + 0.3393257111310959, + 0.17049923539161682 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -903,25 +1120,28 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.07421675696969032, - 0.2426084205508232, - 0.06292856857180595 + "min": [ + -0.08141675591468811, + -0.08242856711149216, + 0.22560842335224152 ], "max": [ -0.06701675802469254, - 0.2596084177494049, - 0.08242856711149216 + -0.04342857003211975, + 0.2596084177494049 ], - "min": [ - -0.08141675591468811, - 0.22560842335224152, - 0.04342857003211975 - ] + "size": [ + 0.014399997889995575, + 0.038999997079372406, + 0.03399999439716339 + ], + "units": "m" }, "collision": {}, "id": "part_03", @@ -931,25 +1151,28 @@ "source": { "object_name": "World", "part_name": "part_03" - } + }, + "source_prim_path": "/World/part_03", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.002313680946826935, - 0.11722662672400475, - -0.05182765191420913 + "min": [ + -0.06842333823442459, + -0.008762304671108723, + 0.044953249394893646 ], "max": [ 0.06379597634077072, - 0.18950000405311584, - 0.008762304671108723 + 0.11241760849952698, + 0.18950000405311584 ], - "min": [ - -0.06842333823442459, - 0.044953249394893646, - -0.11241760849952698 - ] + "size": [ + 0.1322193145751953, + 0.1211799131706357, + 0.1445467546582222 + ], + "units": "m" }, "collision": {}, "id": "part_04", @@ -959,25 +1182,28 @@ "source": { "object_name": "World", "part_name": "part_04" - } + }, + "source_prim_path": "/World/part_04", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.07562137767672539, - 0.2664553076028824, - 0.12564286217093468 + "min": [ + -0.08199210464954376, + -0.14580000936985016, + 0.2602018415927887 ], "max": [ -0.06925065070390701, - 0.2727087736129761, - 0.14580000936985016 + -0.1054857149720192, + 0.2727087736129761 ], - "min": [ - -0.08199210464954376, - 0.2602018415927887, - 0.1054857149720192 - ] + "size": [ + 0.01274145394563675, + 0.04031429439783096, + 0.012506932020187378 + ], + "units": "m" }, "collision": {}, "id": "part_05", @@ -987,10 +1213,27 @@ "source": { "object_name": "World", "part_name": "part_05" - } + }, + "source_prim_path": "/World/part_05", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2476e6a94a31956d05cde127c7ab0d6e4780e1e1fcab8ea375789d36bcb1bbef" + }, + "usd_path": "batch38/D00439_Kitchen_Mixer/IsaacSim_assets_D00439/IsaacSim_asset_D00439.usd", + "usd_sha256": "b9b94907a9923822400c8f8ed0446394fde7cf202184f1a61e7378e5294479d0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -1007,24 +1250,58 @@ "up_axis": "Z", "bounds_m": [ 0.2183849811553955, - 0.3399992287158966, - 0.39549998939037323 - ] + 0.39549998939037323, + 0.3399992287158966 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b9b94907a9923822400c8f8ed0446394fde7cf202184f1a61e7378e5294479d0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 6.930000023916364 + "value_kg": 6.930000023916364, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b9b94907a9923822400c8f8ed0446394fde7cf202184f1a61e7378e5294479d0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 6.930000023916364, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 6 + "status": "verified", + "confidence": "high", + "shape_count": 128, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b9b94907a9923822400c8f8ed0446394fde7cf202184f1a61e7378e5294479d0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 128, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 5 + "moving_joints": 5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b9b94907a9923822400c8f8ed0446394fde7cf202184f1a61e7378e5294479d0", + "scope": "authored_usd_joint_schema", + "joint_count": 5, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00455_Kitchen_Blender_Blender agent/D00455_Kitchen_Blender/IsaacSim_assets_D00455/physics_D00455.json b/batch38/D00455_Kitchen_Blender_Blender agent/D00455_Kitchen_Blender/IsaacSim_assets_D00455/physics_D00455.json index 9897d459075f42480b1a4bb5486f9ea15b99bad4..9b3172d103fa792241aefa80295011ee0152ae24 100644 --- a/batch38/D00455_Kitchen_Blender_Blender agent/D00455_Kitchen_Blender/IsaacSim_assets_D00455/physics_D00455.json +++ b/batch38/D00455_Kitchen_Blender_Blender agent/D00455_Kitchen_Blender/IsaacSim_assets_D00455/physics_D00455.json @@ -534,13 +534,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "0c01657dc4b531985fb30cc505f2a99135b62401e51150abc62ef81eebc4bb3d" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c3d71caae075031f307a6f3ae28590e1f11a27a63f4eef1953ed9cf85cd5fbe2" }, "usd_path": "batch38/D00455_Kitchen_Blender_Blender agent/D00455_Kitchen_Blender/IsaacSim_assets_D00455/IsaacSim_asset_D00455.usd", - "usd_sha256": "9e5ffc11cf1593f360cdb8048f3d9679dec97004c1a2deb1f932d4bed5e4a087", + "usd_sha256": "08a50f67bc9354e28613e10d70f9e1e356e4c3a1583c261abd0d146fba38b96c", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -567,9 +567,9 @@ 0.19671447575092316, 0.4236000180244446 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9e5ffc11cf1593f360cdb8048f3d9679dec97004c1a2deb1f932d4bed5e4a087", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "08a50f67bc9354e28613e10d70f9e1e356e4c3a1583c261abd0d146fba38b96c", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -578,9 +578,9 @@ "status": "verified", "confidence": "high", "value_kg": 3.6700000744313, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9e5ffc11cf1593f360cdb8048f3d9679dec97004c1a2deb1f932d4bed5e4a087", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "08a50f67bc9354e28613e10d70f9e1e356e4c3a1583c261abd0d146fba38b96c", "scope": "authored_usd_mass_consistency", "part_sum_kg": 3.6700000744313, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -589,9 +589,9 @@ "status": "verified", "confidence": "high", "shape_count": 224, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9e5ffc11cf1593f360cdb8048f3d9679dec97004c1a2deb1f932d4bed5e4a087", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "08a50f67bc9354e28613e10d70f9e1e356e4c3a1583c261abd0d146fba38b96c", "scope": "authored_usd_collision_schema", "enabled_shape_count": 224, "approximations": [ @@ -603,18 +603,19 @@ "status": "verified", "confidence": "high", "moving_joints": 3, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9e5ffc11cf1593f360cdb8048f3d9679dec97004c1a2deb1f932d4bed5e4a087", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "08a50f67bc9354e28613e10d70f9e1e356e4c3a1583c261abd0d146fba38b96c", "scope": "authored_usd_joint_schema", "joint_count": 4, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00516_Microwave/D00516_Microwave/IsaacSim_assets_D00516/physics_D00516.json b/batch38/D00516_Microwave/D00516_Microwave/IsaacSim_assets_D00516/physics_D00516.json index 978c5735055524228dc337644e67efabcaff4880..493c9461d8524403a063a2e21394008fc327e996 100644 --- a/batch38/D00516_Microwave/D00516_Microwave/IsaacSim_assets_D00516/physics_D00516.json +++ b/batch38/D00516_Microwave/D00516_Microwave/IsaacSim_assets_D00516/physics_D00516.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "piv_btn_aux_1_press", + "path": "/World/Joints/piv_btn_aux_1_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_aux_1_press", + "source_prim_path": "/World/Joints/piv_btn_aux_1_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.23199999332427979, + -0.1627500057220459, + 0.10000000149011612 + ], + "localPos1": [ + 0.23199999332427979, + -0.1627500057220459, + 0.10000000149011612 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,6 +377,47 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "piv_btn_aux_2_press", + "path": "/World/Joints/piv_btn_aux_2_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_aux_2_press", + "source_prim_path": "/World/Joints/piv_btn_aux_2_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.23199999332427979, + -0.1627500057220459, + 0.03999999910593033 + ], + "localPos1": [ + 0.23199999332427979, + -0.1627500057220459, + 0.03999999910593033 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -504,6 +586,47 @@ "/World/part_03" ], "proxyPrim": [] + }, + "id": "piv_btn_preset_1_press", + "path": "/World/Joints/piv_btn_preset_1_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_preset_1_press", + "source_prim_path": "/World/Joints/piv_btn_preset_1_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_03" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.1720000058412552, + -0.1627500057220459, + 0.2280000001192093 + ], + "localPos1": [ + 0.1720000058412552, + -0.1627500057220459, + 0.2280000001192093 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -672,6 +795,47 @@ "/World/part_04" ], "proxyPrim": [] + }, + "id": "piv_btn_preset_2_press", + "path": "/World/Joints/piv_btn_preset_2_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_preset_2_press", + "source_prim_path": "/World/Joints/piv_btn_preset_2_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_04" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.20200000703334808, + -0.1627500057220459, + 0.2280000001192093 + ], + "localPos1": [ + 0.20200000703334808, + -0.1627500057220459, + 0.2280000001192093 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -840,6 +1004,47 @@ "/World/part_05" ], "proxyPrim": [] + }, + "id": "piv_btn_preset_3_press", + "path": "/World/Joints/piv_btn_preset_3_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_preset_3_press", + "source_prim_path": "/World/Joints/piv_btn_preset_3_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_05" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.23199999332427979, + -0.1627500057220459, + 0.2280000001192093 + ], + "localPos1": [ + 0.23199999332427979, + -0.1627500057220459, + 0.2280000001192093 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1008,6 +1213,47 @@ "/World/part_06" ], "proxyPrim": [] + }, + "id": "piv_btn_r1c1_press", + "path": "/World/Joints/piv_btn_r1c1_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_r1c1_press", + "source_prim_path": "/World/Joints/piv_btn_r1c1_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_06" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.17599999904632568, + -0.1627500057220459, + 0.20999999344348907 + ], + "localPos1": [ + 0.17599999904632568, + -0.1627500057220459, + 0.20999999344348907 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1176,6 +1422,47 @@ "/World/part_07" ], "proxyPrim": [] + }, + "id": "piv_btn_r1c2_press", + "path": "/World/Joints/piv_btn_r1c2_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_r1c2_press", + "source_prim_path": "/World/Joints/piv_btn_r1c2_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_07" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.20399999618530273, + -0.1627500057220459, + 0.20999999344348907 + ], + "localPos1": [ + 0.20399999618530273, + -0.1627500057220459, + 0.20999999344348907 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1344,6 +1631,47 @@ "/World/part_08" ], "proxyPrim": [] + }, + "id": "piv_btn_r1c3_press", + "path": "/World/Joints/piv_btn_r1c3_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_r1c3_press", + "source_prim_path": "/World/Joints/piv_btn_r1c3_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_08" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.23199999332427979, + -0.1627500057220459, + 0.20999999344348907 + ], + "localPos1": [ + 0.23199999332427979, + -0.1627500057220459, + 0.20999999344348907 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1512,6 +1840,47 @@ "/World/part_09" ], "proxyPrim": [] + }, + "id": "piv_btn_r2c1_press", + "path": "/World/Joints/piv_btn_r2c1_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_r2c1_press", + "source_prim_path": "/World/Joints/piv_btn_r2c1_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_09" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.17599999904632568, + -0.1627500057220459, + 0.1899999976158142 + ], + "localPos1": [ + 0.17599999904632568, + -0.1627500057220459, + 0.1899999976158142 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1680,6 +2049,47 @@ "/World/part_10" ], "proxyPrim": [] + }, + "id": "piv_btn_r2c2_press", + "path": "/World/Joints/piv_btn_r2c2_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_r2c2_press", + "source_prim_path": "/World/Joints/piv_btn_r2c2_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_10" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.20399999618530273, + -0.1627500057220459, + 0.1899999976158142 + ], + "localPos1": [ + 0.20399999618530273, + -0.1627500057220459, + 0.1899999976158142 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -1848,6 +2258,47 @@ "/World/part_11" ], "proxyPrim": [] + }, + "id": "piv_btn_r2c3_press", + "path": "/World/Joints/piv_btn_r2c3_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_r2c3_press", + "source_prim_path": "/World/Joints/piv_btn_r2c3_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_11" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.23199999332427979, + -0.1627500057220459, + 0.1899999976158142 + ], + "localPos1": [ + 0.23199999332427979, + -0.1627500057220459, + 0.1899999976158142 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -2016,9 +2467,50 @@ "/World/part_12" ], "proxyPrim": [] - } - }, - { + }, + "id": "piv_btn_r3c1_press", + "path": "/World/Joints/piv_btn_r3c1_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_r3c1_press", + "source_prim_path": "/World/Joints/piv_btn_r3c1_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_12" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.17599999904632568, + -0.1627500057220459, + 0.17000000178813934 + ], + "localPos1": [ + 0.17599999904632568, + -0.1627500057220459, + 0.17000000178813934 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } + }, + { "applied_schemas": [ "PhysicsDriveAPI:linear" ], @@ -2184,6 +2676,47 @@ "/World/part_13" ], "proxyPrim": [] + }, + "id": "piv_btn_r3c2_press", + "path": "/World/Joints/piv_btn_r3c2_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_r3c2_press", + "source_prim_path": "/World/Joints/piv_btn_r3c2_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_13" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.20399999618530273, + -0.1627500057220459, + 0.17000000178813934 + ], + "localPos1": [ + 0.20399999618530273, + -0.1627500057220459, + 0.17000000178813934 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -2352,6 +2885,47 @@ "/World/part_14" ], "proxyPrim": [] + }, + "id": "piv_btn_r3c3_press", + "path": "/World/Joints/piv_btn_r3c3_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_r3c3_press", + "source_prim_path": "/World/Joints/piv_btn_r3c3_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_14" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.23199999332427979, + -0.1627500057220459, + 0.17000000178813934 + ], + "localPos1": [ + 0.23199999332427979, + -0.1627500057220459, + 0.17000000178813934 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -2520,6 +3094,47 @@ "/World/part_15" ], "proxyPrim": [] + }, + "id": "piv_btn_r4c1_press", + "path": "/World/Joints/piv_btn_r4c1_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_r4c1_press", + "source_prim_path": "/World/Joints/piv_btn_r4c1_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_15" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.17599999904632568, + -0.1627500057220459, + 0.15000000596046448 + ], + "localPos1": [ + 0.17599999904632568, + -0.1627500057220459, + 0.15000000596046448 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -2688,6 +3303,47 @@ "/World/part_16" ], "proxyPrim": [] + }, + "id": "piv_btn_r4c2_press", + "path": "/World/Joints/piv_btn_r4c2_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_r4c2_press", + "source_prim_path": "/World/Joints/piv_btn_r4c2_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_16" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.20399999618530273, + -0.1627500057220459, + 0.15000000596046448 + ], + "localPos1": [ + 0.20399999618530273, + -0.1627500057220459, + 0.15000000596046448 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -2856,6 +3512,47 @@ "/World/part_17" ], "proxyPrim": [] + }, + "id": "piv_btn_r4c3_press", + "path": "/World/Joints/piv_btn_r4c3_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_r4c3_press", + "source_prim_path": "/World/Joints/piv_btn_r4c3_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_17" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.23199999332427979, + -0.1627500057220459, + 0.15000000596046448 + ], + "localPos1": [ + 0.23199999332427979, + -0.1627500057220459, + 0.15000000596046448 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -3024,6 +3721,47 @@ "/World/part_18" ], "proxyPrim": [] + }, + "id": "piv_btn_r5c1_press", + "path": "/World/Joints/piv_btn_r5c1_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_r5c1_press", + "source_prim_path": "/World/Joints/piv_btn_r5c1_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_18" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.0035000001080334187, + "localPos0": [ + 0.17599999904632568, + -0.1627500057220459, + 0.12999999523162842 + ], + "localPos1": [ + 0.17599999904632568, + -0.1627500057220459, + 0.12999999523162842 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -3192,6 +3930,47 @@ "/World/part_19" ], "proxyPrim": [] + }, + "id": "piv_btn_r5c2_press", + "path": "/World/Joints/piv_btn_r5c2_press", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "piv_btn_r5c2_press", + "source_prim_path": "/World/Joints/piv_btn_r5c2_press", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_19" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 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"part_name": "part_14" - } + }, + "source_prim_path": "/World/part_14", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.17599999904632568, - 0.15000000596046448, - 0.16475000232458115 + "min": [ + 0.164000004529953, + -0.16795000433921814, + 0.1420000046491623 ], "max": [ 0.18799999356269836, - 0.15800000727176666, - 0.16795000433921814 + -0.16155000030994415, + 0.15800000727176666 ], - "min": [ - 0.164000004529953, - 0.1420000046491623, - 0.16155000030994415 - ] + "size": [ + 0.02399998903274536, + 0.006400004029273987, + 0.01600000262260437 + ], + "units": "m" }, "collision": {}, "id": "part_15", @@ -4507,25 +5542,28 @@ "source": { "object_name": "World", "part_name": "part_15" - } + }, + "source_prim_path": "/World/part_15", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.20399999618530273, - 0.15000000596046448, - 0.16475000232458115 + "min": [ + 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] + "size": [ + 0.02399998903274536, + 0.006400004029273987, + 0.01600000262260437 + ], + "units": "m" }, "collision": {}, "id": "part_17", @@ -4563,25 +5604,28 @@ "source": { "object_name": "World", "part_name": "part_17" - } + }, + "source_prim_path": "/World/part_17", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.17599999904632568, - 0.12999999523162842, - 0.16475000232458115 + "min": [ + 0.164000004529953, + -0.16795000433921814, + 0.12199999392032623 ], "max": [ 0.18799999356269836, - 0.1379999965429306, - 0.16795000433921814 + -0.16155000030994415, + 0.1379999965429306 ], - "min": [ - 0.164000004529953, - 0.12199999392032623, - 0.16155000030994415 - ] + "size": [ + 0.02399998903274536, + 0.006400004029273987, + 0.01600000262260437 + ], + "units": "m" }, "collision": {}, "id": "part_18", @@ -4591,25 +5635,28 @@ "source": { "object_name": "World", "part_name": "part_18" - } + }, + "source_prim_path": "/World/part_18", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.20399999618530273, - 0.12999999523162842, - 0.16475000232458115 + "min": [ + 0.19200000166893005, + -0.16795000433921814, + 0.12199999392032623 ], "max": [ 0.21599999070167542, - 0.1379999965429306, - 0.16795000433921814 + -0.16155000030994415, + 0.1379999965429306 ], - "min": [ - 0.19200000166893005, - 0.12199999392032623, - 0.16155000030994415 - ] + "size": [ + 0.02399998903274536, + 0.006400004029273987, + 0.01600000262260437 + ], + "units": "m" }, "collision": {}, "id": "part_19", @@ -4619,25 +5666,28 @@ "source": { "object_name": "World", "part_name": "part_19" - } + }, + "source_prim_path": "/World/part_19", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.23199999332427979, - 0.12999999523162842, - 0.16475000232458115 + "min": [ + 0.2199999988079071, + -0.16795000433921814, + 0.12199999392032623 ], "max": [ 0.24399998784065247, - 0.1379999965429306, - 0.16795000433921814 + -0.16155000030994415, + 0.1379999965429306 ], - "min": [ - 0.2199999988079071, - 0.12199999392032623, - 0.16155000030994415 - ] + "size": [ + 0.02399998903274536, + 0.006400004029273987, + 0.01600000262260437 + ], + "units": "m" }, "collision": {}, "id": "part_20", @@ -4647,25 +5697,28 @@ "source": { "object_name": "World", "part_name": "part_20" - } + }, + "source_prim_path": "/World/part_20", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.2699870616197586, - 0.1565000037662685, - 0.35999999940395355 + "min": [ + -0.2888741195201874, + -0.5600000023841858, + 0.014999999664723873 ], "max": [ -0.25110000371932983, - 0.2980000078678131, - 0.5600000023841858 + -0.1599999964237213, + 0.2980000078678131 ], - "min": [ - -0.2888741195201874, - 0.014999999664723873, - 0.1599999964237213 - ] + "size": [ + 0.037774115800857544, + 0.4000000059604645, + 0.28300000820308924 + ], + "units": "m" }, "collision": {}, "id": "part_21", @@ -4675,25 +5728,28 @@ "source": { "object_name": "World", "part_name": "part_21" - } + }, + "source_prim_path": "/World/part_21", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.05199999734759331, - 0.06970000267028809, - -0.009500004351139069 + "min": [ + -0.2094999998807907, + -0.14800000190734863, + 0.06360000371932983 ], "max": [ 0.1055000051856041, - 0.07580000162124634, - 0.14800000190734863 + 0.16700001060962677, + 0.07580000162124634 ], - "min": [ - -0.2094999998807907, - 0.06360000371932983, - -0.16700001060962677 - ] + "size": [ + 0.3150000050663948, + 0.3150000125169754, + 0.012199997901916504 + ], + "units": "m" }, "collision": {}, "id": "part_22", @@ -4703,25 +5759,28 @@ "source": { "object_name": "World", "part_name": "part_22" - } + }, + "source_prim_path": "/World/part_22", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.052000001072883606, - 0.05429999902844429, - -0.009500004351139069 + "min": [ + -0.15190483629703522, + -0.09040482342243195, + 0.04529999941587448 ], "max": [ 0.047904834151268005, - 0.0632999986410141, - 0.09040482342243195 + 0.10940483212471008, + 0.0632999986410141 ], - "min": [ - -0.15190483629703522, - 0.04529999941587448, - -0.10940483212471008 - ] + "size": [ + 0.19980967044830322, + 0.19980965554714203, + 0.017999999225139618 + ], + "units": "m" }, "collision": {}, "id": "part_23", @@ -4731,25 +5790,28 @@ "source": { "object_name": "World", "part_name": "part_23" - } + }, + "source_prim_path": "/World/part_23", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.20400001108646393, - 0.06275000236928463, - 0.16884999722242355 + "min": [ + 0.18300001323223114, + -0.17520000040531158, + 0.039500001817941666 ], "max": [ 0.22500000894069672, - 0.0860000029206276, - 0.17520000040531158 + -0.16249999403953552, + 0.0860000029206276 ], - "min": [ - 0.18300001323223114, - 0.039500001817941666, - 0.16249999403953552 - ] + "size": [ + 0.041999995708465576, + 0.012700006365776062, + 0.04650000110268593 + ], + "units": "m" }, "collision": {}, "id": "part_24", @@ -4759,10 +5821,27 @@ "source": { "object_name": "World", "part_name": "part_24" - } + }, + "source_prim_path": "/World/part_24", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e94a980befd44b8bbafa12138a655f3cff25a834eb55519dbbc5d9a6461cf389" + }, + "usd_path": "batch38/D00516_Microwave/D00516_Microwave/IsaacSim_assets_D00516/IsaacSim_asset_D00516.usd", + "usd_sha256": "de99274abe04759d3c641f6c6d4ac589636afccdc6fb0fe05b0e93417bb0fa04", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -4779,24 +5858,58 @@ "up_axis": "Z", "bounds_m": [ 0.5428741276264191, - 0.29899999499320984, - 0.7629999965429306 - ] + 0.7629999965429306, + 0.29899999499320984 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de99274abe04759d3c641f6c6d4ac589636afccdc6fb0fe05b0e93417bb0fa04", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 11.420000027865171 + "value_kg": 11.420000027865171, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de99274abe04759d3c641f6c6d4ac589636afccdc6fb0fe05b0e93417bb0fa04", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 11.420000027865171, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 25 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de99274abe04759d3c641f6c6d4ac589636afccdc6fb0fe05b0e93417bb0fa04", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 24 + "moving_joints": 24, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "de99274abe04759d3c641f6c6d4ac589636afccdc6fb0fe05b0e93417bb0fa04", + "scope": "authored_usd_joint_schema", + "joint_count": 24, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00528_Mill/D00528_Mill/IsaacSim_assets_D00528/physics_D00528.json b/batch38/D00528_Mill/D00528_Mill/IsaacSim_assets_D00528/physics_D00528.json index 3a323e5124d88b5167e70283d30737c0717f5de6..7b38f0eaaffa24a0b83537846fcd9691c73c6433 100644 --- a/batch38/D00528_Mill/D00528_Mill/IsaacSim_assets_D00528/physics_D00528.json +++ b/batch38/D00528_Mill/D00528_Mill/IsaacSim_assets_D00528/physics_D00528.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "crank_shaft", + "path": "/World/Joints/crank_shaft", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "crank_shaft", + "source_prim_path": "/World/Joints/crank_shaft", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": "-Infinity", + "upperLimit": "Infinity", + "localPos0": [ + 0.0, + 0.0, + 0.0336184948682785 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0336184948682785 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -336,52 +377,99 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "knob_spin", + "path": "/World/Joints/knob_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "knob_spin", + "source_prim_path": "/World/Joints/knob_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_01" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "X", + "lowerLimit": "-Infinity", + "upperLimit": "Infinity", + "localPos0": [ + 0.15449999272823334, + 0.0, + 0.11381849646568298 + ], + "localPos1": [ + 0.15449999272823334, + 0.0, + 0.11381849646568298 + ], + "localRot0": [ + 0.7071067690849304, + 0.0, + -0.7071067690849304, + 0.0 + ], + "localRot1": [ + 0.7071067690849304, + 0.0, + -0.7071067690849304, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 2, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16779999434947968, - 0.1551433652639389, - 0.12136296182870865 - ], "min": [ -0.12391588091850281, - 0.0, - -0.13971184194087982 + -0.12136296182870865, + 0.0 + ], + "max": [ + 0.16779999434947968, + 0.13971184194087982, + 0.1551433652639389 ], "size": [ 0.2917158752679825, - 0.1551433652639389, - 0.26107480376958847 - ] + 0.26107480376958847, + 0.1551433652639389 + ], + "units": "m" }, "description": "Mill", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.6499999966472387 + "total_mass": 0.6499999966472387, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00528", "parts": [ { "bounds": { - "center": [ - -7.450580596923828e-09, - 0.056627508252859116, - -0.009174440056085587 + "min": [ + -0.12391588091850281, + -0.12136296182870865, + 0.0 ], "max": [ 0.12391586601734161, - 0.11325501650571823, - 0.12136296182870865 + 0.13971184194087982, + 0.11325501650571823 ], - "min": [ - -0.12391588091850281, - 0.0, - -0.13971184194087982 - ] + "size": [ + 0.24783174693584442, + 0.26107480376958847, + 0.11325501650571823 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -391,25 +479,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.046619921922683716, - 0.0898809302598238, - 0.0057636434212327 + "min": [ + -0.06926015019416809, + -0.03923829272389412, + 0.024618495255708694 ], "max": [ 0.16249999403953552, - 0.1551433652639389, - 0.03923829272389412 + 0.02771100588142872, + 0.1551433652639389 ], - "min": [ - -0.06926015019416809, - 0.024618495255708694, - -0.02771100588142872 - ] + "size": [ + 0.2317601442337036, + 0.06694929860532284, + 0.1305248700082302 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -419,25 +510,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.15449999272823334, - 0.13331849873065948, - 0.0 + "min": [ + 0.141199991106987, + -0.013299999758601189, + 0.11731849610805511 ], "max": [ 0.16779999434947968, - 0.14931850135326385, - 0.013299999758601189 + 0.013299999758601189, + 0.14931850135326385 ], - "min": [ - 0.141199991106987, - 0.11731849610805511, - -0.013299999758601189 - ] + "size": [ + 0.026600003242492676, + 0.026599999517202377, + 0.03200000524520874 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -447,10 +541,27 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fe9f68614dd63dd67cb850385723ae2ddc012180477684513e123881a841296a" + }, + "usd_path": "batch38/D00528_Mill/D00528_Mill/IsaacSim_assets_D00528/IsaacSim_asset_D00528.usd", + "usd_sha256": "d4c5d52921b0492a97bcd047cae20f8123f4b997856f7351faea9cbe36fa9a4c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -467,24 +578,58 @@ "up_axis": "Z", "bounds_m": [ 0.2917158752679825, - 0.1551433652639389, - 0.26107480376958847 - ] + 0.26107480376958847, + 0.1551433652639389 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4c5d52921b0492a97bcd047cae20f8123f4b997856f7351faea9cbe36fa9a4c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6499999966472387 + "value_kg": 0.6499999966472387, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4c5d52921b0492a97bcd047cae20f8123f4b997856f7351faea9cbe36fa9a4c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6499999966472387, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 74, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4c5d52921b0492a97bcd047cae20f8123f4b997856f7351faea9cbe36fa9a4c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 74, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4c5d52921b0492a97bcd047cae20f8123f4b997856f7351faea9cbe36fa9a4c", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00567_Meat_Grinder_v2/D00567_Meat_Grinder/IsaacSim_assets_D00567/physics_D00567.json b/batch38/D00567_Meat_Grinder_v2/D00567_Meat_Grinder/IsaacSim_assets_D00567/physics_D00567.json index 837167dc4b2b298d09a3463cf21cdf285e155071..9ae48c3c3458293b4214da15b71516e66603c13d 100644 --- a/batch38/D00567_Meat_Grinder_v2/D00567_Meat_Grinder/IsaacSim_assets_D00567/physics_D00567.json +++ b/batch38/D00567_Meat_Grinder_v2/D00567_Meat_Grinder/IsaacSim_assets_D00567/physics_D00567.json @@ -168,6 +168,47 @@ "/World/part_01" ], "proxyPrim": [] + }, + "id": "crank_shaft_spin", + "path": "/World/Joints/crank_shaft_spin", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "crank_shaft_spin", + "source_prim_path": "/World/Joints/crank_shaft_spin", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_01" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -360.0, + "upperLimit": 360.0, + "localPos0": [ + -0.08749999850988388, + 0.0, + 0.15719999372959137 + ], + "localPos1": [ + -0.08749999850988388, + 0.0, + 0.15719999372959137 + ], + "localRot0": [ + 0.7071067690849304, + 0.0, + 0.7071067690849304, + 0.0 + ], + "localRot1": [ + 0.7071067690849304, + 0.0, + 0.7071067690849304, + 0.0 + ], + "static_frames": [] } }, { @@ -336,52 +377,99 @@ "/World/part_02" ], "proxyPrim": [] + }, + "id": "clamp_thumbscrew_slide", + "path": "/World/Joints/clamp_thumbscrew_slide", + "usd_type": "PhysicsPrismaticJoint", + "authored_usd": { + "id": "clamp_thumbscrew_slide", + "source_prim_path": "/World/Joints/clamp_thumbscrew_slide", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/World/part_00" + ], + "body1": [ + "/World/part_02" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 0.029999999329447746, + "localPos0": [ + 0.005044999998062849, + -0.009820999577641487, + 0.0421999916434288 + ], + "localPos1": [ + 0.005044999998062849, + -0.009820999577641487, + 0.0421999916434288 + ], + "localRot0": [ + 0.7071067690849304, + 0.7071067690849304, + 0.0, + 0.0 + ], + "localRot1": [ + 0.7071067690849304, + 0.7071067690849304, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 2, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09799999743700027, - 0.2453971952199936, - 0.07099762558937073 - ], "min": [ -0.1622999906539917, - 0.0, - -0.07099762558937073 + -0.07099762558937073, + 0.0 + ], + "max": [ + 0.09799999743700027, + 0.07099762558937073, + 0.2453971952199936 ], "size": [ 0.260299988090992, - 0.2453971952199936, - 0.14199525117874146 - ] + 0.14199525117874146, + 0.2453971952199936 + ], + "units": "m" }, "description": "Meat Grinder v2", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 3.109999891370535 + "total_mass": 3.109999891370535, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00567", "parts": [ { "bounds": { - "center": [ - -0.0020000003278255463, - 0.1437985971570015, - 0.0 + "min": [ + -0.10199999809265137, + -0.07099762558937073, + 0.0421999990940094 ], "max": [ 0.09799999743700027, - 0.2453971952199936, - 0.07099762558937073 + 0.07099762558937073, + 0.2453971952199936 ], - "min": [ - -0.10199999809265137, - 0.0421999990940094, - -0.07099762558937073 - ] + "size": [ + 0.19999999552965164, + 0.14199525117874146, + 0.2031971961259842 + ], + "units": "m" }, "collision": {}, "id": "part_00", @@ -391,25 +479,28 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.03239999711513519, - 0.1694779321551323, - 0.01370925735682249 + "min": [ + -0.1622999906539917, + -0.052918512374162674, + 0.13169997930526733 ], "max": [ 0.09749999642372131, - 0.20725588500499725, - 0.052918512374162674 + 0.025499997660517693, + 0.20725588500499725 ], - "min": [ - -0.1622999906539917, - 0.13169997930526733, - -0.025499997660517693 - ] + "size": [ + 0.259799987077713, + 0.07841851003468037, + 0.07555590569972992 + ], + "units": "m" }, "collision": {}, "id": "part_01", @@ -419,25 +510,28 @@ "source": { "object_name": "World", "part_name": "part_01" - } + }, + "source_prim_path": "/World/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.004999998956918716, - 0.03334999829530716, - 0.01000000024214387 + "min": [ + -0.03220000118017197, + -0.02199999988079071, + 0.0 ], "max": [ 0.0421999990940094, - 0.06669999659061432, - 0.02199999988079071 + 0.0019999993965029716, + 0.06669999659061432 ], - "min": [ - -0.03220000118017197, - 0.0, - -0.0019999993965029716 - ] + "size": [ + 0.07440000027418137, + 0.023999999277293682, + 0.06669999659061432 + ], + "units": "m" }, "collision": {}, "id": "part_02", @@ -447,10 +541,27 @@ "source": { "object_name": "World", "part_name": "part_02" - } + }, + "source_prim_path": "/World/part_02", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "752383f1470b9c6b283184ac09a04e231777acdad83e9f9da35b111b20b6639b" + }, + "usd_path": "batch38/D00567_Meat_Grinder_v2/D00567_Meat_Grinder/IsaacSim_assets_D00567/IsaacSim_asset_D00567.usd", + "usd_sha256": "bc4a45995e928ff9d7dd5542affa32e49bb9f1fc207c4e481bae1b8217f39913", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -467,24 +578,58 @@ "up_axis": "Z", "bounds_m": [ 0.260299988090992, - 0.2453971952199936, - 0.14199525117874146 - ] + 0.14199525117874146, + 0.2453971952199936 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bc4a45995e928ff9d7dd5542affa32e49bb9f1fc207c4e481bae1b8217f39913", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.109999891370535 + "value_kg": 3.109999891370535, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bc4a45995e928ff9d7dd5542affa32e49bb9f1fc207c4e481bae1b8217f39913", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.109999891370535, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 196, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bc4a45995e928ff9d7dd5542affa32e49bb9f1fc207c4e481bae1b8217f39913", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 196, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bc4a45995e928ff9d7dd5542affa32e49bb9f1fc207c4e481bae1b8217f39913", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00604_Electric_Can_Opener_Blender agent/D00604_Electric_Can_Opener/IsaacSim_assets_D00604/physics_D00604.json b/batch38/D00604_Electric_Can_Opener_Blender agent/D00604_Electric_Can_Opener/IsaacSim_assets_D00604/physics_D00604.json index 25720272d8dd9d6fcb36db6c350db1b6285b945c..4e4cd472aa1f2613f993929bfbe1546ec4cd530a 100644 --- a/batch38/D00604_Electric_Can_Opener_Blender agent/D00604_Electric_Can_Opener/IsaacSim_assets_D00604/physics_D00604.json +++ b/batch38/D00604_Electric_Can_Opener_Blender agent/D00604_Electric_Can_Opener/IsaacSim_assets_D00604/physics_D00604.json @@ -486,13 +486,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "90842aed785330a611f8501e6821cb42558f6c805ec2302240f61a2377a83b9f" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d368a81f87941c1f93be97544e3172bded54d0460375ea359fde67c0200ebf19" }, "usd_path": "batch38/D00604_Electric_Can_Opener_Blender agent/D00604_Electric_Can_Opener/IsaacSim_assets_D00604/IsaacSim_asset_D00604.usd", - "usd_sha256": "cb77a38b656602d1a8f717774c5041fc07e42d2cbb9959d947494c2f5c25c04d", + "usd_sha256": "771a6b2d9ee1dc7f063c4c04bd093d7cc1b7741e2e8847841dbbfe5da54019df", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -519,9 +519,9 @@ 0.27224600315093994, 0.19777868688106537 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb77a38b656602d1a8f717774c5041fc07e42d2cbb9959d947494c2f5c25c04d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "771a6b2d9ee1dc7f063c4c04bd093d7cc1b7741e2e8847841dbbfe5da54019df", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -530,9 +530,9 @@ "status": "verified", "confidence": "high", "value_kg": 2.5700000021606684, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb77a38b656602d1a8f717774c5041fc07e42d2cbb9959d947494c2f5c25c04d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "771a6b2d9ee1dc7f063c4c04bd093d7cc1b7741e2e8847841dbbfe5da54019df", "scope": "authored_usd_mass_consistency", "part_sum_kg": 2.5700000021606684, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -541,9 +541,9 @@ "status": "verified", "confidence": "high", "shape_count": 164, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb77a38b656602d1a8f717774c5041fc07e42d2cbb9959d947494c2f5c25c04d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "771a6b2d9ee1dc7f063c4c04bd093d7cc1b7741e2e8847841dbbfe5da54019df", "scope": "authored_usd_collision_schema", "enabled_shape_count": 164, "approximations": [ @@ -555,18 +555,19 @@ "status": "verified", "confidence": "high", "moving_joints": 4, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb77a38b656602d1a8f717774c5041fc07e42d2cbb9959d947494c2f5c25c04d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "771a6b2d9ee1dc7f063c4c04bd093d7cc1b7741e2e8847841dbbfe5da54019df", "scope": "authored_usd_joint_schema", "joint_count": 4, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00805_Stand_Mixer_Blender agent/D00805_Stand_Mixer/IsaacSim_assets_D00805/physics_D00805.json b/batch38/D00805_Stand_Mixer_Blender agent/D00805_Stand_Mixer/IsaacSim_assets_D00805/physics_D00805.json index a002ea78db6073b8f47b9566b19ec3c9df455ce2..b574a0ccce77614b2d092cf8bced889db49185a0 100644 --- a/batch38/D00805_Stand_Mixer_Blender agent/D00805_Stand_Mixer/IsaacSim_assets_D00805/physics_D00805.json +++ b/batch38/D00805_Stand_Mixer_Blender agent/D00805_Stand_Mixer/IsaacSim_assets_D00805/physics_D00805.json @@ -385,13 +385,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "6df362d2760fdf4bb603bed8016058682dff1f458c83c9651b5432f43b1d63ac" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "671656e3bd67a6d9f41fa83d58d26ca4fa2425f825de07e00d25ad603dcbefe7" }, "usd_path": "batch38/D00805_Stand_Mixer_Blender agent/D00805_Stand_Mixer/IsaacSim_assets_D00805/IsaacSim_asset_D00805.usd", - "usd_sha256": "088d5e07c7482e3b00d5ecbfa8ac5eff8b2cfed1fc2715d25da3551631aed3e6", + "usd_sha256": "8734baf9aba2857e2e3e881ef91e1238c8a8d17d99937acb014a346dc3e101de", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -418,9 +418,9 @@ 0.5540541261434555, 0.3507460057735443 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "088d5e07c7482e3b00d5ecbfa8ac5eff8b2cfed1fc2715d25da3551631aed3e6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8734baf9aba2857e2e3e881ef91e1238c8a8d17d99937acb014a346dc3e101de", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -429,9 +429,9 @@ "status": "verified", "confidence": "high", "value_kg": 4.820000048726797, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "088d5e07c7482e3b00d5ecbfa8ac5eff8b2cfed1fc2715d25da3551631aed3e6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8734baf9aba2857e2e3e881ef91e1238c8a8d17d99937acb014a346dc3e101de", "scope": "authored_usd_mass_consistency", "part_sum_kg": 4.820000048726797, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -440,9 +440,9 @@ "status": "verified", "confidence": "high", "shape_count": 354, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "088d5e07c7482e3b00d5ecbfa8ac5eff8b2cfed1fc2715d25da3551631aed3e6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8734baf9aba2857e2e3e881ef91e1238c8a8d17d99937acb014a346dc3e101de", "scope": "authored_usd_collision_schema", "enabled_shape_count": 354, "approximations": [ @@ -454,18 +454,19 @@ "status": "verified", "confidence": "high", "moving_joints": 3, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "088d5e07c7482e3b00d5ecbfa8ac5eff8b2cfed1fc2715d25da3551631aed3e6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8734baf9aba2857e2e3e881ef91e1238c8a8d17d99937acb014a346dc3e101de", "scope": "authored_usd_joint_schema", "joint_count": 3, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch38/D00866_Toaster_Blender agent/D00866_Toaster/IsaacSim_assets_D00866/physics_D00866.json b/batch38/D00866_Toaster_Blender agent/D00866_Toaster/IsaacSim_assets_D00866/physics_D00866.json index 81758cf1c8de3ec0bc2bfb229b19e411668fcebd..71503fb8cff1a8ef7997e70399686626bfaa504f 100644 --- a/batch38/D00866_Toaster_Blender agent/D00866_Toaster/IsaacSim_assets_D00866/physics_D00866.json +++ b/batch38/D00866_Toaster_Blender agent/D00866_Toaster/IsaacSim_assets_D00866/physics_D00866.json @@ -499,13 +499,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "9a8d2c043c9e17d53612533d4293ed9485b09ca5c1cba1572ea2e47ae7f005a3" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "844ecea26d0a4f4d86721becfd6a74d7a95bd35e38c25bf3425136baccfffa48" }, "usd_path": "batch38/D00866_Toaster_Blender agent/D00866_Toaster/IsaacSim_assets_D00866/IsaacSim_asset_D00866.usd", - "usd_sha256": "c2291f55170d9b4f6863bb936124b203623b00166499822659dc9f9745a2a593", + "usd_sha256": "52742868981f4c9f4949f83253a72ce05e6bdd7af6425b81247ba8526ec2f7b8", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -532,9 +532,9 @@ 0.1979999914765358, 0.20000000298023224 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c2291f55170d9b4f6863bb936124b203623b00166499822659dc9f9745a2a593", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52742868981f4c9f4949f83253a72ce05e6bdd7af6425b81247ba8526ec2f7b8", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -543,9 +543,9 @@ "status": "verified", "confidence": "high", "value_kg": 1.2000000141561031, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c2291f55170d9b4f6863bb936124b203623b00166499822659dc9f9745a2a593", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52742868981f4c9f4949f83253a72ce05e6bdd7af6425b81247ba8526ec2f7b8", "scope": "authored_usd_mass_consistency", "part_sum_kg": 1.2000000141561031, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -554,9 +554,9 @@ "status": "verified", "confidence": "high", "shape_count": 106, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c2291f55170d9b4f6863bb936124b203623b00166499822659dc9f9745a2a593", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52742868981f4c9f4949f83253a72ce05e6bdd7af6425b81247ba8526ec2f7b8", "scope": "authored_usd_collision_schema", "enabled_shape_count": 106, "approximations": [ @@ -568,18 +568,19 @@ "status": "verified", "confidence": "high", "moving_joints": 4, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c2291f55170d9b4f6863bb936124b203623b00166499822659dc9f9745a2a593", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52742868981f4c9f4949f83253a72ce05e6bdd7af6425b81247ba8526ec2f7b8", "scope": "authored_usd_joint_schema", "joint_count": 4, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00091_Butter_Dish/IsaacSim_assets_6a8bf9e23febd2fb750ffaf0/physics_D00091.json b/batch39/D00091_Butter_Dish/IsaacSim_assets_6a8bf9e23febd2fb750ffaf0/physics_D00091.json index 34e154151525027c8d6d996d05c0657b908a741f..d01c0103f6897ebc641b2d1a9b6435e3dbf683b2 100644 --- a/batch39/D00091_Butter_Dish/IsaacSim_assets_6a8bf9e23febd2fb750ffaf0/physics_D00091.json +++ b/batch39/D00091_Butter_Dish/IsaacSim_assets_6a8bf9e23febd2fb750ffaf0/physics_D00091.json @@ -141,52 +141,96 @@ "/World/textured_mesh_6a8bf9e23febd2fb750ffaf0/part_2" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_2", + "path": "/World/textured_mesh_6a8bf9e23febd2fb750ffaf0/Joints/joint_part_0__part_2", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_0__part_2", + "source_prim_path": "/World/textured_mesh_6a8bf9e23febd2fb750ffaf0/Joints/joint_part_0__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8bf9e23febd2fb750ffaf0/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8bf9e23febd2fb750ffaf0/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06872959276096664, - 0.07788288971548175, - 0.06873236010452927 - ], "min": [ -0.06862743004224872, - -3.3787172399420064e-06, - -0.06860059908951799 + -0.06873236010452927, + -3.3787172399420064e-06 + ], + "max": [ + 0.06872959276096664, + 0.06860059908951799, + 0.07788288971548175 ], "size": [ 0.13735702280321538, - 0.0778862684327217, - 0.13733295919404725 - ] + 0.13733295919404725, + 0.0778862684327217 + ], + "units": "m" }, "description": "Butter Dish", "name": "part_0", "object_type": "rigid_bodies", - "total_mass": 0.42000000551342964 + "total_mass": 0.42000000551342964, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00091", "parts": [ { "bounds": { - "center": [ - -5.4402930856119885e-05, - 0.03589490271663779, - 0.00013596698671221666 + "min": [ + -0.054065915213897885, + -0.05401572536368129, + 0.011932832776131996 ], "max": [ 0.053957109352185645, - 0.059856972657143584, - 0.05401572536368129 + 0.053743791390256854, + 0.059856972657143584 ], - "min": [ - -0.054065915213897885, - 0.011932832776131996, - -0.053743791390256854 - ] + "size": [ + 0.10802302456608354, + 0.10775951675393813, + 0.04792413988101159 + ], + "units": "m" }, "center_of_mass": [ -0.00011571732466109097, @@ -207,25 +251,28 @@ "source": { "object_name": "World", "part_name": "part_0" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bf9e23febd2fb750ffaf0/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 5.108135935896069e-05, - 0.007604499090153937, - 6.588050750563901e-05 + "min": [ + -0.06862743004224872, + -0.06873236010452927, + -3.3787172399420064e-06 ], "max": [ 0.06872959276096664, - 0.015212376897547817, - 0.06873236010452927 + 0.06860059908951799, + 0.015212376897547817 ], - "min": [ - -0.06862743004224872, - -3.3787172399420064e-06, - -0.06860059908951799 - ] + "size": [ + 0.13735702280321538, + 0.13733295919404725, + 0.01521575561478776 + ], + "units": "m" }, "center_of_mass": [ 1.438245817553252e-06, @@ -246,25 +293,28 @@ "source": { "object_name": "World", "part_name": "part_1" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bf9e23febd2fb750ffaf0/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -4.234047757890359e-05, - 0.06840292236543771, - 0.00019470153472948663 + "min": [ + -0.009944217345865715, + -0.010116936091283786, + 0.05892295501539366 ], "max": [ 0.009859536390707907, - 0.07788288971548175, - 0.010116936091283786 + 0.009727533021824813, + 0.07788288971548175 ], - "min": [ - -0.009944217345865715, - 0.05892295501539366, - -0.009727533021824813 - ] + "size": [ + 0.019803753736573622, + 0.0198444691131086, + 0.018959934700088096 + ], + "units": "m" }, "center_of_mass": [ 2.3683414838160388e-05, @@ -285,10 +335,27 @@ "source": { "object_name": "World", "part_name": "part_2" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bf9e23febd2fb750ffaf0/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0916c16a7a98d5b4ad5a7446039eceea47fe8a91cdcbb507c3c63ad6b7b07870" + }, + "usd_path": "batch39/D00091_Butter_Dish/IsaacSim_assets_6a8bf9e23febd2fb750ffaf0/IsaacSim_asset_6a8bf9e23febd2fb750ffaf0.usd", + "usd_sha256": "3a5da96ec5d478242fbd5055b6a4be9e01a6e3a5ead2729f7f76823a10122f8a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -305,24 +372,76 @@ "up_axis": "Z", "bounds_m": [ 0.13735702280321538, - 0.0778862684327217, - 0.13733295919404725 - ] + 0.13733295919404725, + 0.0778862684327217 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a5da96ec5d478242fbd5055b6a4be9e01a6e3a5ead2729f7f76823a10122f8a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.42000000551342964 + "value_kg": 0.42000000551342964, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a5da96ec5d478242fbd5055b6a4be9e01a6e3a5ead2729f7f76823a10122f8a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.42000000551342964, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 40, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a5da96ec5d478242fbd5055b6a4be9e01a6e3a5ead2729f7f76823a10122f8a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 40, + "approximations": [ + "convexHull", + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3a5da96ec5d478242fbd5055b6a4be9e01a6e3a5ead2729f7f76823a10122f8a", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "3a5da96ec5d478242fbd5055b6a4be9e01a6e3a5ead2729f7f76823a10122f8a", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:00.070809+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "00065a21edacf03e4a4d723313efe8dc63effb7c0933c1ec5033767a7fcade6f", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00121_Cereal_Jar/IsaacSim_assets_6a882c2fe156890f3ebb623c/physics_D00121.json b/batch39/D00121_Cereal_Jar/IsaacSim_assets_6a882c2fe156890f3ebb623c/physics_D00121.json index 05ad9ff3b8bfbcf329163139fbc4375862da1437..57511295169b822eec36705cd61c3e79a722f96a 100644 --- a/batch39/D00121_Cereal_Jar/IsaacSim_assets_6a882c2fe156890f3ebb623c/physics_D00121.json +++ b/batch39/D00121_Cereal_Jar/IsaacSim_assets_6a882c2fe156890f3ebb623c/physics_D00121.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08199945644922506, - 0.21970795766699072, - 0.08220693803010996 - ], "min": [ -0.08256150645600836, - -6.039044819772243e-08, - -0.0830835442757234 + -0.08220693803010996, + -6.039044819772243e-08 + ], + "max": [ + 0.08199945644922506, + 0.0830835442757234, + 0.21970795766699072 ], "size": [ 0.16456096290523342, - 0.21970801805743892, - 0.16529048230583337 - ] + 0.16529048230583337, + 0.21970801805743892 + ], + "units": "m" }, "description": "Cereal Jar", "name": "part_0", "object_type": "rigid_bodies", - "total_mass": 1.300000011920929 + "total_mass": 1.300000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00121", "parts": [ { "bounds": { - "center": [ - -0.0002627239591674879, - 0.08648694267321844, - -0.0006415437674149871 + "min": [ + -0.08220072249241639, + -0.08180045674089342, + -6.039044819772243e-08 ], "max": [ 0.08167527457408141, - 0.17297394573688507, - 0.08180045674089342 + 0.0830835442757234, + 0.17297394573688507 ], - "min": [ - -0.08220072249241639, - -6.039044819772243e-08, - -0.0830835442757234 - ] + "size": [ + 0.1638759970664978, + 0.16488400101661682, + 0.17297400612733327 + ], + "units": "m" }, "center_of_mass": [ -0.0002097308315569535, @@ -65,25 +71,28 @@ "source": { "object_name": "World", "part_name": "part_0" - } + }, + "source_prim_path": "/World/textured_mesh_6a882c2fe156890f3ebb623c/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00028102500339165226, - 0.19571730243275012, - -0.00042824558657505313 + "min": [ + -0.08256150645600836, + -0.08220693803010996, + 0.17172664719850952 ], "max": [ 0.08199945644922506, - 0.21970795766699072, - 0.08220693803010996 + 0.08306342920326007, + 0.21970795766699072 ], - "min": [ - -0.08256150645600836, - 0.17172664719850952, - -0.08306342920326007 - ] + "size": [ + 0.16456096290523342, + 0.16527036723337002, + 0.0479813104684812 + ], + "units": "m" }, "center_of_mass": [ -0.0002578682033345103, @@ -104,10 +113,27 @@ "source": { "object_name": "World", "part_name": "part_1" - } + }, + "source_prim_path": "/World/textured_mesh_6a882c2fe156890f3ebb623c/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "af245edc7e06a0e2bf92442301204e0000ef84613ce8a85155574e2c1c77a6d7" + }, + "usd_path": "batch39/D00121_Cereal_Jar/IsaacSim_assets_6a882c2fe156890f3ebb623c/IsaacSim_asset_6a882c2fe156890f3ebb623c.usd", + "usd_sha256": "4a49924562c1c956b943c02b107c5ab40c3f9685bb356bbe02e381ff26630bd4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -124,24 +150,76 @@ "up_axis": "Z", "bounds_m": [ 0.16456096290523342, - 0.21970801805743892, - 0.16529048230583337 - ] + 0.16529048230583337, + 0.21970801805743892 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4a49924562c1c956b943c02b107c5ab40c3f9685bb356bbe02e381ff26630bd4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.300000011920929 + "value_kg": 1.300000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4a49924562c1c956b943c02b107c5ab40c3f9685bb356bbe02e381ff26630bd4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.300000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4a49924562c1c956b943c02b107c5ab40c3f9685bb356bbe02e381ff26630bd4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexDecomposition", + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4a49924562c1c956b943c02b107c5ab40c3f9685bb356bbe02e381ff26630bd4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "4a49924562c1c956b943c02b107c5ab40c3f9685bb356bbe02e381ff26630bd4", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:45.031228+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "6b2b6b1b20fac11832f17971b32699ee0b85e9cfdd1f60a37d39d5435c5cb6c5", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00161_Coffee_Pot/IsaacSim_assets_6a8bc0b93febd2fb750aa8dd/physics_D00161.json b/batch39/D00161_Coffee_Pot/IsaacSim_assets_6a8bc0b93febd2fb750aa8dd/physics_D00161.json index 1d5a328aedb1cf3b6a295024c7084bd68855e698..46fce1d869b0732c7b5e1a2020e37ee5f3c391a6 100644 --- a/batch39/D00161_Coffee_Pot/IsaacSim_assets_6a8bc0b93febd2fb750aa8dd/physics_D00161.json +++ b/batch39/D00161_Coffee_Pot/IsaacSim_assets_6a8bc0b93febd2fb750aa8dd/physics_D00161.json @@ -141,6 +141,44 @@ "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/part_2" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_2", + "path": "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/Joints/joint_part_0__part_2", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_0__part_2", + "source_prim_path": "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/Joints/joint_part_0__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -282,6 +320,44 @@ "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/part_3" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_3", + "path": "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/Joints/joint_part_0__part_3", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_0__part_3", + "source_prim_path": "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/Joints/joint_part_0__part_3", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/part_3" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -423,52 +499,96 @@ "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/part_4" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_4", + "path": "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/Joints/joint_part_0__part_4", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_0__part_4", + "source_prim_path": "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/Joints/joint_part_0__part_4", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/part_4" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11716097258182831, - 0.18988990560683908, - 0.072829273172402 - ], "min": [ -0.11423526239048894, - 0.0008345325517339224, - -0.07270762121775702 + -0.072829273172402, + 0.0008345325517339224 + ], + "max": [ + 0.11716097258182831, + 0.07270762121775702, + 0.18988990560683908 ], "size": [ 0.23139623497231726, - 0.18905537305510514, - 0.14553689439015902 - ] + 0.14553689439015902, + 0.18905537305510514 + ], + "units": "m" }, "description": "Coffee Pot", "name": "part_0", "object_type": "rigid_bodies", - "total_mass": 0.8000000081956387 + "total_mass": 0.8000000081956387, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00161", "parts": [ { "bounds": { - "center": [ - 0.0015253405729926603, - 0.07573246249545325, - 6.082597732248729e-05 + "min": [ + -0.07105548629120625, + -0.072829273172402, + 0.0008345325517339224 ], "max": [ 0.07410616743719158, - 0.15063039243917256, - 0.072829273172402 + 0.07270762121775702, + 0.15063039243917256 ], - "min": [ - -0.07105548629120625, - 0.0008345325517339224, - -0.07270762121775702 - ] + "size": [ + 0.14516165372839784, + 0.14553689439015902, + 0.14979585988743863 + ], + "units": "m" }, "center_of_mass": [ 0.0017029225127771497, @@ -489,25 +609,28 @@ "source": { "object_name": "World", "part_name": "part_0" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0010174207087554725, - 0.17033085798224898, - -0.0004032856687440217 + "min": [ + -0.0540914259994747, + -0.055687401584447994, + 0.15077181035765888 ], "max": [ 0.05612626741698565, - 0.18988990560683908, - 0.055687401584447994 + 0.05649397292193604, + 0.18988990560683908 ], - "min": [ - -0.0540914259994747, - 0.15077181035765888, - -0.05649397292193604 - ] + "size": [ + 0.11021769341646034, + 0.11218137450638403, + 0.039118095249180196 + ], + "units": "m" }, "center_of_mass": [ 0.000539661617949605, @@ -528,25 +651,28 @@ "source": { "object_name": "World", "part_name": "part_1" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.08321347440879964, - 0.08548324178256446, - -0.0028940836641408374 + "min": [ + -0.11423526239048894, + -0.009604777337244968, + 0.027360095592152748 ], "max": [ -0.052191686427110355, - 0.14360638797297617, - 0.009604777337244968 + 0.015392944665526643, + 0.14360638797297617 ], - "min": [ - -0.11423526239048894, - 0.027360095592152748, - -0.015392944665526643 - ] + "size": [ + 0.06204357596337858, + 0.02499772200277161, + 0.11624629238082343 + ], + "units": "m" }, "center_of_mass": [ -0.08753927797079086, @@ -567,25 +693,28 @@ "source": { "object_name": "World", "part_name": "part_2" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.08811693535481323, - 0.09981486834623192, - -0.0001826021033651936 + "min": [ + 0.05907289812779815, + -0.023716907794321562, + 0.0476522811620122 ], "max": [ 0.11716097258182831, - 0.15197745553045164, - 0.023716907794321562 + 0.02408211200105195, + 0.15197745553045164 ], - "min": [ - 0.05907289812779815, - 0.0476522811620122, - -0.02408211200105195 - ] + "size": [ + 0.05808807445403016, + 0.047799019795373515, + 0.10432517436843944 + ], + "units": "m" }, "center_of_mass": [ 0.0849900171160698, @@ -606,25 +735,28 @@ "source": { "object_name": "World", "part_name": "part_3" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0014948636785553533, - 0.005048915703892529, - -0.000309995951094863 + "min": [ + -0.0357521363721003, + -0.0379551098071753, + 0.0037596409384717845 ], "max": [ 0.038741863729211005, - 0.006338190469313272, - 0.0379551098071753 + 0.038575101709365026, + 0.006338190469313272 ], - "min": [ - -0.0357521363721003, - 0.0037596409384717845, - -0.038575101709365026 - ] + "size": [ + 0.0744940001013113, + 0.07653021151654033, + 0.0025785495308414874 + ], + "units": "m" }, "center_of_mass": [ 0.0012824373552575707, @@ -645,10 +777,27 @@ "source": { "object_name": "World", "part_name": "part_4" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bc0b93febd2fb750aa8dd/part_4", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b71e6499b6372c71b939dd455b50c4f44ef551aa7c85a6fad566898757056b2d" + }, + "usd_path": "batch39/D00161_Coffee_Pot/IsaacSim_assets_6a8bc0b93febd2fb750aa8dd/IsaacSim_asset_6a8bc0b93febd2fb750aa8dd.usd", + "usd_sha256": "10b4f1e27658f4b4dd97f147a84e8fbb2282dc42830fb60e8b8ce6e7047b17c4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -665,24 +814,75 @@ "up_axis": "Z", "bounds_m": [ 0.23139623497231726, - 0.18905537305510514, - 0.14553689439015902 - ] + 0.14553689439015902, + 0.18905537305510514 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10b4f1e27658f4b4dd97f147a84e8fbb2282dc42830fb60e8b8ce6e7047b17c4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8000000081956387 + "value_kg": 0.8000000081956387, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10b4f1e27658f4b4dd97f147a84e8fbb2282dc42830fb60e8b8ce6e7047b17c4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8000000081956387, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 136, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10b4f1e27658f4b4dd97f147a84e8fbb2282dc42830fb60e8b8ce6e7047b17c4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 136, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "10b4f1e27658f4b4dd97f147a84e8fbb2282dc42830fb60e8b8ce6e7047b17c4", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "10b4f1e27658f4b4dd97f147a84e8fbb2282dc42830fb60e8b8ce6e7047b17c4", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:11:02.165049+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "9e3ff6cf4e2d0e0b40d1a61bbe920d53dd35d91510ec2220e6aa0e591f92c153", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00285 Spice Tin/IsaacSim_assets_6a82ccffb7a9c4204acca12d/physics_6a82ccffb7a9c4204acca12d.json b/batch39/D00285 Spice Tin/IsaacSim_assets_6a82ccffb7a9c4204acca12d/physics_6a82ccffb7a9c4204acca12d.json index 3a467c5e905eac15d7638ac7c4c3f43950bd1ef0..54275eedd0f4a4a0275e6b1ed25f70524edcee97 100644 --- a/batch39/D00285 Spice Tin/IsaacSim_assets_6a82ccffb7a9c4204acca12d/physics_6a82ccffb7a9c4204acca12d.json +++ b/batch39/D00285 Spice Tin/IsaacSim_assets_6a82ccffb7a9c4204acca12d/physics_6a82ccffb7a9c4204acca12d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05081100016832352, - 0.10322101763449609, - 0.05062900111079216 - ], "min": [ -0.05111100152134895, - 0.0005640198942273853, - -0.05114400014281273 + -0.05062900111079216, + 0.0005640198942273853 + ], + "max": [ + 0.05081100016832352, + 0.05114400014281273, + 0.10322101763449609 ], "size": [ 0.10192200168967247, - 0.10265699774026871, - 0.10177300125360489 - ] + 0.10177300125360489, + 0.10265699774026871 + ], + "units": "m" }, "description": "D00285 Spice Tin", "name": "D00285 Spice Tin", "object_type": "rigid_bodies", - "total_mass": 0.28 + "total_mass": 0.2800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00285", "parts": [ { "bounds": { - "center": [ - -0.0001500006765127182, - 0.05189251876436174, - -0.0002574995160102844 + "min": [ + -0.05111100152134895, + -0.05062900111079216, + 0.0005640198942273853 ], "max": [ 0.05081100016832352, - 0.10322101763449609, - 0.05062900111079216 + 0.05114400014281273, + 0.10322101763449609 ], - "min": [ - -0.05111100152134895, - 0.0005640198942273853, - -0.05114400014281273 - ] + "size": [ + 0.10192200168967247, + 0.10177300125360489, + 0.10265699774026871 + ], + "units": "m" }, "center_of_mass": [ -0.00013834270066581666, @@ -59,7 +65,7 @@ 0.0004112750757485628, 0.00041155540384352207 ], - "mass": 0.28, + "mass": 0.2800000011920929, "material": "metal", "name": "D00285 Spice Tin", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00285 Spice Tin", "part_name": "D00285 Spice Tin" }, - "volume": 3.589743605026832e-05 + "volume": 3.589743605026832e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "60f7322dc681cddc2eea84d7c2dc9fa2ada23d711cbb84e571f7f4ed5a4c4951" + }, + "usd_path": "batch39/D00285 Spice Tin/IsaacSim_assets_6a82ccffb7a9c4204acca12d/IsaacSim_asset_6a82ccffb7a9c4204acca12d.usd", + "usd_sha256": "354a5d4a13b4808794bbc386417ffec1c81a5084eaa4727763b7544ca969648b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -89,24 +112,58 @@ "up_axis": "Z", "bounds_m": [ 0.10192200168967247, - 0.10265699774026871, - 0.10177300125360489 - ] + 0.10177300125360489, + 0.10265699774026871 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "354a5d4a13b4808794bbc386417ffec1c81a5084eaa4727763b7544ca969648b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.28 + "value_kg": 0.2800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "354a5d4a13b4808794bbc386417ffec1c81a5084eaa4727763b7544ca969648b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "354a5d4a13b4808794bbc386417ffec1c81a5084eaa4727763b7544ca969648b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "354a5d4a13b4808794bbc386417ffec1c81a5084eaa4727763b7544ca969648b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00350 Cocktail Shaker/IsaacSim_assets_6a86cc74ad93f8edde750b48/physics_D00350.json b/batch39/D00350 Cocktail Shaker/IsaacSim_assets_6a86cc74ad93f8edde750b48/physics_D00350.json index 642bc68d15041f26a5b7892c9002b48f1791d711..596817fcd96b18d1ce6876749c3e428c525c003c 100644 --- a/batch39/D00350 Cocktail Shaker/IsaacSim_assets_6a86cc74ad93f8edde750b48/physics_D00350.json +++ b/batch39/D00350 Cocktail Shaker/IsaacSim_assets_6a86cc74ad93f8edde750b48/physics_D00350.json @@ -160,13 +160,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "ba587040844c7026eaf6fdabb0fa2a66100fa76c09009e8b5a59a9bec372d9ec" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9fdebb1a53f8d623bf50b5f806bf9e02cc48ddfbba9703f6eeb3103c80ebf379" }, "usd_path": "batch39/D00350 Cocktail Shaker/IsaacSim_assets_6a86cc74ad93f8edde750b48/IsaacSim_asset_6a86cc74ad93f8edde750b48.usd", - "usd_sha256": "cec80568a3bfaf611952704a0a26d96e9cd2029d3fd24b848ba688aad528307e", + "usd_sha256": "953e64d6029e3be59ccaa30d30a316aae7692a26bab51ce4bbe665c64ad99497", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -193,9 +193,9 @@ 0.10158299654722214, 0.1468610074953176 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cec80568a3bfaf611952704a0a26d96e9cd2029d3fd24b848ba688aad528307e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "953e64d6029e3be59ccaa30d30a316aae7692a26bab51ce4bbe665c64ad99497", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -204,9 +204,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.36000000312924385, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cec80568a3bfaf611952704a0a26d96e9cd2029d3fd24b848ba688aad528307e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "953e64d6029e3be59ccaa30d30a316aae7692a26bab51ce4bbe665c64ad99497", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.36000000312924385, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -215,9 +215,9 @@ "status": "verified", "confidence": "high", "shape_count": 108, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cec80568a3bfaf611952704a0a26d96e9cd2029d3fd24b848ba688aad528307e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "953e64d6029e3be59ccaa30d30a316aae7692a26bab51ce4bbe665c64ad99497", "scope": "authored_usd_collision_schema", "enabled_shape_count": 108, "approximations": [ @@ -229,18 +229,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cec80568a3bfaf611952704a0a26d96e9cd2029d3fd24b848ba688aad528307e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "953e64d6029e3be59ccaa30d30a316aae7692a26bab51ce4bbe665c64ad99497", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00381 Sponge Holder/sim-asset/IsaacSim/physics_D00381.json b/batch39/D00381 Sponge Holder/sim-asset/IsaacSim/physics_D00381.json index 07ab989f44beec833e17cce1a2c7e212cea028d7..95aaf9d54d8e064deb1491abbdc72fb8fd9c0334 100644 --- a/batch39/D00381 Sponge Holder/sim-asset/IsaacSim/physics_D00381.json +++ b/batch39/D00381 Sponge Holder/sim-asset/IsaacSim/physics_D00381.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "944fff01ec2e95fea8087f1db4478cc976df19ae8bb15bb41646c9b4e376983c" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "87f7f006ebcd462a0e3eaae8468fd0b25e1940352b9994910a381893d6ec4ce1" }, "usd_path": "batch39/D00381 Sponge Holder/sim-asset/IsaacSim/IsaacSim_asset_6a9e6fefbd80665a638b5d5b.usd", - "usd_sha256": "9e158f217b9d904315e548fc8be3e1f9179a9ba8b3b81f4e72fedcda30b104c9", + "usd_sha256": "4b8b0cc542d237ed11d84799f63027656b60fc93ea0994661932bfa790ba7ffe", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -100,9 +100,9 @@ 0.11454100161790848, 0.042402999593832646 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9e158f217b9d904315e548fc8be3e1f9179a9ba8b3b81f4e72fedcda30b104c9", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4b8b0cc542d237ed11d84799f63027656b60fc93ea0994661932bfa790ba7ffe", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -111,9 +111,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.30000001192092896, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9e158f217b9d904315e548fc8be3e1f9179a9ba8b3b81f4e72fedcda30b104c9", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4b8b0cc542d237ed11d84799f63027656b60fc93ea0994661932bfa790ba7ffe", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.30000001192092896, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -122,9 +122,9 @@ "status": "verified", "confidence": "high", "shape_count": 1, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9e158f217b9d904315e548fc8be3e1f9179a9ba8b3b81f4e72fedcda30b104c9", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4b8b0cc542d237ed11d84799f63027656b60fc93ea0994661932bfa790ba7ffe", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "approximations": [ @@ -136,18 +136,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9e158f217b9d904315e548fc8be3e1f9179a9ba8b3b81f4e72fedcda30b104c9", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4b8b0cc542d237ed11d84799f63027656b60fc93ea0994661932bfa790ba7ffe", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00382 Honey/IsaacSim_assets_6a86cc68ad93f8edde74febf/physics_6a86cc68ad93f8edde74febf.json b/batch39/D00382 Honey/IsaacSim_assets_6a86cc68ad93f8edde74febf/physics_6a86cc68ad93f8edde74febf.json index a127a6d7cd131da7c5d9c72928d2c00db1631a36..08b007f225d092e020aff2982babc5f83ef3deba 100644 --- a/batch39/D00382 Honey/IsaacSim_assets_6a86cc68ad93f8edde74febf/physics_6a86cc68ad93f8edde74febf.json +++ b/batch39/D00382 Honey/IsaacSim_assets_6a86cc68ad93f8edde74febf/physics_6a86cc68ad93f8edde74febf.json @@ -6,52 +6,103 @@ "body0": "/World/textured_mesh_6a86cc68ad93f8edde74febf/part_0", "body1": "/World/textured_mesh_6a86cc68ad93f8edde74febf/part_1", "joint_path": "/World/textured_mesh_6a86cc68ad93f8edde74febf/Joints/joint_part_0__part_1", - "type": "fixed" + "type": "fixed", + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a86cc68ad93f8edde74febf/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_6a86cc68ad93f8edde74febf/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_6a86cc68ad93f8edde74febf/part_1" + ], + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a86cc68ad93f8edde74febf/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a86cc68ad93f8edde74febf/part_0" + ], + "body1": [ + "/World/textured_mesh_6a86cc68ad93f8edde74febf/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.000322829931974411 + ], + "localPos1": [ + 0.0, + 0.0, + 0.000322829931974411 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03198999911546707, - 0.13544483482837677, - 0.03123999945819378 - ], "min": [ -0.03201799839735031, - 0.0003508299414534122, - -0.03137600049376488 + -0.03123999945819378, + 0.0003508299414534122 + ], + "max": [ + 0.03198999911546707, + 0.03137600049376488, + 0.13544483482837677 ], "size": [ 0.06400799751281738, - 0.13509400488692336, - 0.06261599995195866 - ] + 0.06261599995195866, + 0.13509400488692336 + ], + "units": "m" }, "description": "D00382 Honey", "name": "D00382 Honey", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.35000000335276127, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00382", "parts": [ { "bounds": { - "center": [ - -1.3999640941619873e-05, - 0.05724532752356026, - -6.800051778554916e-05 + "min": [ + -0.03201799839735031, + -0.03123999945819378, + 0.0003508299414534122 ], "max": [ 0.03198999911546707, - 0.11413982510566711, - 0.03123999945819378 + 0.03137600049376488, + 0.11413982510566711 ], - "min": [ - -0.03201799839735031, - 0.0003508299414534122, - -0.03137600049376488 - ] + "size": [ + 0.06400799751281738, + 0.06261599995195866, + 0.1137889951642137 + ], + "units": "m" }, "center_of_mass": [ -3.879160794895142e-05, @@ -66,7 +117,7 @@ 0.00037795485695824027, 0.0003808546462096274 ], - "mass": 0.34, + "mass": 0.3400000035762787, "material": "composite_or_rubber", "name": "D00382 Honey", "physics_type": "rigid", @@ -74,25 +125,28 @@ "object_name": "D00382 Honey", "part_name": "D00382 Honey" }, - "volume": 0.00024285714541162764 + "volume": 0.00024285714541162764, + "source_prim_path": "/World/textured_mesh_6a86cc68ad93f8edde74febf/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -2.6999972760677338e-05, - 0.12385082989931107, - -0.00010649953037500381 + "min": [ + -0.01910099945962429, + -0.021777000278234482, + 0.11225682497024536 ], "max": [ 0.019046999514102936, - 0.13544483482837677, - 0.021777000278234482 + 0.02198999933898449, + 0.13544483482837677 ], - "min": [ - -0.01910099945962429, - 0.11225682497024536, - -0.02198999933898449 - ] + "size": [ + 0.038147998973727226, + 0.04376699961721897, + 0.02318800985813141 + ], + "units": "m" }, "center_of_mass": [ -2.8862392355222255e-05, @@ -107,7 +161,7 @@ 1.4462849549090606e-06, 1.8685090026338003e-06 ], - "mass": 0.01, + "mass": 0.009999999776482582, "material": "wood", "name": "D00382 Honey", "physics_type": "rigid", @@ -115,10 +169,27 @@ "object_name": "D00382 Honey", "part_name": "D00382 Honey" }, - "volume": 1.1111110862758424e-05 + "volume": 1.1111110862758424e-05, + "source_prim_path": "/World/textured_mesh_6a86cc68ad93f8edde74febf/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7281aef381729fc12032dab3a17ded6076af5da003b3d039924bb10d06e12435" + }, + "usd_path": "batch39/D00382 Honey/IsaacSim_assets_6a86cc68ad93f8edde74febf/IsaacSim_asset_6a86cc68ad93f8edde74febf.usd", + "usd_sha256": "7e1801a2438fa4a5dac6c82e870d9cfc560251e8f28155c0a42fa2f0f5f18983", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -137,24 +208,58 @@ "up_axis": "Z", "bounds_m": [ 0.06400799751281738, - 0.13509400488692336, - 0.06261599995195866 - ] + 0.06261599995195866, + 0.13509400488692336 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7e1801a2438fa4a5dac6c82e870d9cfc560251e8f28155c0a42fa2f0f5f18983", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.35000000335276127, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7e1801a2438fa4a5dac6c82e870d9cfc560251e8f28155c0a42fa2f0f5f18983", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.35000000335276127, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7e1801a2438fa4a5dac6c82e870d9cfc560251e8f28155c0a42fa2f0f5f18983", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7e1801a2438fa4a5dac6c82e870d9cfc560251e8f28155c0a42fa2f0f5f18983", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00471 Kitchen Utensil Spoon/IsaacSim_assets_6a8bc2ab3febd2fb750ae447/physics_D00471.json b/batch39/D00471 Kitchen Utensil Spoon/IsaacSim_assets_6a8bc2ab3febd2fb750ae447/physics_D00471.json index 2da19adc0d0cfb127ec0e143988801266e31cee1..9b472f1079ad62c4bd165cfee773dd537c4b630d 100644 --- a/batch39/D00471 Kitchen Utensil Spoon/IsaacSim_assets_6a8bc2ab3febd2fb750ae447/physics_D00471.json +++ b/batch39/D00471 Kitchen Utensil Spoon/IsaacSim_assets_6a8bc2ab3febd2fb750ae447/physics_D00471.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11501699686050415, - 0.025301368907094002, - 0.03532800078392029 - ], "min": [ -0.17392300069332123, - 0.001040369737893343, - -0.03545999899506569 + -0.03532800078392029, + 0.001040369737893343 + ], + "max": [ + 0.11501699686050415, + 0.03545999899506569, + 0.025301368907094002 ], "size": [ 0.2889399975538254, - 0.02426099916920066, - 0.07078799977898598 - ] + 0.07078799977898598, + 0.02426099916920066 + ], + "units": "m" }, "description": "Kitchen Utensil Spoon", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.37700000405311584 + "total_mass": 0.37700000405311584, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00471", "parts": [ { "bounds": { - "center": [ - -0.02945300191640854, - 0.013170869322493672, - -6.59991055727005e-05 + "min": [ + -0.17392300069332123, + -0.03532800078392029, + 0.001040369737893343 ], "max": [ 0.11501699686050415, - 0.025301368907094002, - 0.03532800078392029 + 0.03545999899506569, + 0.025301368907094002 ], - "min": [ - -0.17392300069332123, - 0.001040369737893343, - -0.03545999899506569 - ] + "size": [ + 0.2889399975538254, + 0.07078799977898598, + 0.02426099916920066 + ], + "units": "m" }, "center_of_mass": [ -0.02652556262910366, @@ -65,10 +71,27 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "28ba8f77f55ab88b67069a278a313cf0b3ca8562459e67420d09745cd746137e" + }, + "usd_path": "batch39/D00471 Kitchen Utensil Spoon/IsaacSim_assets_6a8bc2ab3febd2fb750ae447/IsaacSim_asset_6a8bc2ab3febd2fb750ae447.usd", + "usd_sha256": "aac3f9ff5c04a7ba7110bfb4848c52abefec892bcb0babaf33ccecd042c9cd37", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -85,24 +108,58 @@ "up_axis": "Z", "bounds_m": [ 0.2889399975538254, - 0.02426099916920066, - 0.07078799977898598 - ] + 0.07078799977898598, + 0.02426099916920066 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aac3f9ff5c04a7ba7110bfb4848c52abefec892bcb0babaf33ccecd042c9cd37", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.37700000405311584 + "value_kg": 0.37700000405311584, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aac3f9ff5c04a7ba7110bfb4848c52abefec892bcb0babaf33ccecd042c9cd37", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.37700000405311584, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 19, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aac3f9ff5c04a7ba7110bfb4848c52abefec892bcb0babaf33ccecd042c9cd37", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 19, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aac3f9ff5c04a7ba7110bfb4848c52abefec892bcb0babaf33ccecd042c9cd37", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00526_Oil_Sprayer_simready/D00526_Oil_Sprayer_simready/physics_D00526.json b/batch39/D00526_Oil_Sprayer_simready/D00526_Oil_Sprayer_simready/physics_D00526.json index 03e69435e729c13603d34e71a0a01481a1770dee..9a644acd717eb3ee0ba90efdfa01b3d4e2d6f96a 100644 --- a/batch39/D00526_Oil_Sprayer_simready/D00526_Oil_Sprayer_simready/physics_D00526.json +++ b/batch39/D00526_Oil_Sprayer_simready/D00526_Oil_Sprayer_simready/physics_D00526.json @@ -180,13 +180,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "435296f941419830e70ab802f3b68278955893656894060290d057640ce309b5" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d5807760b83d871ef2285c2976b6b8dc1fe263e272fb495d47eee0337929c249" }, "usd_path": "batch39/D00526_Oil_Sprayer_simready/D00526_Oil_Sprayer_simready/D00526_Oil_Sprayer.usd", - "usd_sha256": "eae857b9908db30c7defe83d291085f8900b87ff6ed8fe0c16d5c47e02aa415d", + "usd_sha256": "38a04453aa18beca0ff0a9b95d8571ba91900eab347bfa51471619bbb2a45387", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -213,9 +213,9 @@ 0.05560300126671791, 0.1895820089848712 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "eae857b9908db30c7defe83d291085f8900b87ff6ed8fe0c16d5c47e02aa415d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "38a04453aa18beca0ff0a9b95d8571ba91900eab347bfa51471619bbb2a45387", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -224,9 +224,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.30000000074505806, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "eae857b9908db30c7defe83d291085f8900b87ff6ed8fe0c16d5c47e02aa415d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "38a04453aa18beca0ff0a9b95d8571ba91900eab347bfa51471619bbb2a45387", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.30000000074505806, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -235,9 +235,9 @@ "status": "verified", "confidence": "high", "shape_count": 142, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "eae857b9908db30c7defe83d291085f8900b87ff6ed8fe0c16d5c47e02aa415d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "38a04453aa18beca0ff0a9b95d8571ba91900eab347bfa51471619bbb2a45387", "scope": "authored_usd_collision_schema", "enabled_shape_count": 142, "approximations": [ @@ -249,18 +249,19 @@ "status": "verified", "confidence": "high", "moving_joints": 1, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "eae857b9908db30c7defe83d291085f8900b87ff6ed8fe0c16d5c47e02aa415d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "38a04453aa18beca0ff0a9b95d8571ba91900eab347bfa51471619bbb2a45387", "scope": "authored_usd_joint_schema", "joint_count": 1, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00529 Mill Salt Shaker/IsaacSim_assets_6a8c0d503febd2fb75130914/physics_D00529.json b/batch39/D00529 Mill Salt Shaker/IsaacSim_assets_6a8c0d503febd2fb75130914/physics_D00529.json index 27bc2acc23984d6f9c3a36f5272696df21646ff0..3355fdb263ef678010121defba42ece720d201ee 100644 --- a/batch39/D00529 Mill Salt Shaker/IsaacSim_assets_6a8c0d503febd2fb75130914/physics_D00529.json +++ b/batch39/D00529 Mill Salt Shaker/IsaacSim_assets_6a8c0d503febd2fb75130914/physics_D00529.json @@ -170,6 +170,47 @@ "/World/textured_mesh_6a8c0d503febd2fb75130914/part_1" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a8c0d503febd2fb75130914/Joints/joint_part_0__part_1", + "usd_type": "PhysicsRevoluteJoint", + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a8c0d503febd2fb75130914/Joints/joint_part_0__part_1", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/World/textured_mesh_6a8c0d503febd2fb75130914/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8c0d503febd2fb75130914/part_1" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": "-Infinity", + "upperLimit": "Infinity", + "localPos0": [ + 5.5802858696551993e-05, + 0.0003238193166907877, + 0.1326979398727417 + ], + "localPos1": [ + 5.5802858696551993e-05, + 0.0003238193166907877, + 0.1326979398727417 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -311,52 +352,96 @@ "/World/textured_mesh_6a8c0d503febd2fb75130914/part_2" ], "proxyPrim": [] + }, + "id": "joint_part_1__part_2", + "path": "/World/textured_mesh_6a8c0d503febd2fb75130914/Joints/joint_part_1__part_2", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_1__part_2", + "source_prim_path": "/World/textured_mesh_6a8c0d503febd2fb75130914/Joints/joint_part_1__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8c0d503febd2fb75130914/part_1" + ], + "body1": [ + "/World/textured_mesh_6a8c0d503febd2fb75130914/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 5.5802858696551993e-05, + 0.0003238193166907877, + 0.1326979398727417 + ], + "localPos1": [ + 5.5802858696551993e-05, + 0.0003238193166907877, + 0.1326979398727417 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 1, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.026545999571681023, - 0.1880141943693161, - 0.02671400085091591 - ], "min": [ -0.026598000898957253, - 0.0007112000021152198, - -0.026869000867009163 + -0.02671400085091591, + 0.0007112000021152198 + ], + "max": [ + 0.026545999571681023, + 0.026869000867009163, + 0.1880141943693161 ], "size": [ 0.053144000470638275, - 0.18730299436720088, - 0.05358300171792507 - ] + 0.05358300171792507, + 0.18730299436720088 + ], + "units": "m" }, "description": "Mill Salt Shaker", "name": "part_0", "object_type": "rigid_bodies", - "total_mass": 0.3600000087171793 + "total_mass": 0.3600000087171793, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00529", "parts": [ { "bounds": { - "center": [ - -2.600066363811493e-05, - 0.06590320038958453, - -7.750000804662704e-05 + "min": [ + -0.026598000898957253, + -0.02671400085091591, + 0.0007112000021152198 ], "max": [ 0.026545999571681023, - 0.13109520077705383, - 0.02671400085091591 + 0.026869000867009163, + 0.13109520077705383 ], - "min": [ - -0.026598000898957253, - 0.0007112000021152198, - -0.026869000867009163 - ] + "size": [ + 0.053144000470638275, + 0.05358300171792507, + 0.1303840007749386 + ], + "units": "m" }, "center_of_mass": [ -1.1241249012527987e-05, @@ -377,25 +462,28 @@ "source": { "object_name": "World", "part_name": "part_0" - } + }, + "source_prim_path": "/World/textured_mesh_6a8c0d503febd2fb75130914/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -3.3999793231487274e-05, - 0.15554069727659225, - -6.949994713068008e-05 + "min": [ + -0.02637000009417534, + -0.026453999802470207, + 0.1298092007637024 ], "max": [ 0.026302000507712364, - 0.18127219378948212, - 0.026453999802470207 + 0.026592999696731567, + 0.18127219378948212 ], - "min": [ - -0.02637000009417534, - 0.1298092007637024, - -0.026592999696731567 - ] + "size": [ + 0.0526720006018877, + 0.053046999499201775, + 0.051462993025779724 + ], + "units": "m" }, "center_of_mass": [ -7.4300878623034805e-06, @@ -416,25 +504,28 @@ "source": { "object_name": "World", "part_name": "part_1" - } + }, + "source_prim_path": "/World/textured_mesh_6a8c0d503febd2fb75130914/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -4.3999869376420975e-05, - 0.18433869630098343, - -6.749993190169334e-05 + "min": [ + -0.007350999861955643, + -0.007273999974131584, + 0.18066319823265076 ], "max": [ 0.007263000123202801, - 0.1880141943693161, - 0.007273999974131584 + 0.007408999837934971, + 0.1880141943693161 ], - "min": [ - -0.007350999861955643, - 0.18066319823265076, - -0.007408999837934971 - ] + "size": [ + 0.014613999985158443, + 0.014682999812066555, + 0.007350996136665344 + ], + "units": "m" }, "center_of_mass": [ -5.45006878382992e-05, @@ -455,10 +546,27 @@ "source": { "object_name": "World", "part_name": "part_2" - } + }, + "source_prim_path": "/World/textured_mesh_6a8c0d503febd2fb75130914/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "cee70a4c8aa32021ffae397a8144a4e9bd5435377dc5dd6935e66ee9d46650bb" + }, + "usd_path": "batch39/D00529 Mill Salt Shaker/IsaacSim_assets_6a8c0d503febd2fb75130914/IsaacSim_asset_6a8c0d503febd2fb75130914.usd", + "usd_sha256": "c56d27d56bc87fcb1db1ce5672210cfd64d453a061c450db1104e20367873fa8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -475,24 +583,58 @@ "up_axis": "Z", "bounds_m": [ 0.053144000470638275, - 0.18730299436720088, - 0.05358300171792507 - ] + 0.05358300171792507, + 0.18730299436720088 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c56d27d56bc87fcb1db1ce5672210cfd64d453a061c450db1104e20367873fa8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.3600000087171793 + "value_kg": 0.3600000087171793, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c56d27d56bc87fcb1db1ce5672210cfd64d453a061c450db1104e20367873fa8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3600000087171793, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 114, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c56d27d56bc87fcb1db1ce5672210cfd64d453a061c450db1104e20367873fa8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 114, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c56d27d56bc87fcb1db1ce5672210cfd64d453a061c450db1104e20367873fa8", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00563 Olive Oil Bottle Spice Jar/IsaacSim_assets_6a8bc2b23febd2fb750ae6e7/physics_D00563.json b/batch39/D00563 Olive Oil Bottle Spice Jar/IsaacSim_assets_6a8bc2b23febd2fb750ae6e7/physics_D00563.json index 46602be153d3eaa8e855b32c1b21e9c2f64916a1..e43eea3031786d8a3cdf317a3d2d0f547c8122f5 100644 --- a/batch39/D00563 Olive Oil Bottle Spice Jar/IsaacSim_assets_6a8bc2b23febd2fb750ae6e7/physics_D00563.json +++ b/batch39/D00563 Olive Oil Bottle Spice Jar/IsaacSim_assets_6a8bc2b23febd2fb750ae6e7/physics_D00563.json @@ -141,6 +141,44 @@ "/World/textured_mesh_6a8bc2b23febd2fb750ae6e7/part_1" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a8bc2b23febd2fb750ae6e7/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a8bc2b23febd2fb750ae6e7/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8bc2b23febd2fb750ae6e7/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8bc2b23febd2fb750ae6e7/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0013830800307914615 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0013830800307914615 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -282,52 +320,96 @@ "/World/textured_mesh_6a8bc2b23febd2fb750ae6e7/part_2" ], "proxyPrim": [] + }, + "id": "joint_part_1__part_2", + "path": "/World/textured_mesh_6a8bc2b23febd2fb750ae6e7/Joints/joint_part_1__part_2", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_1__part_2", + "source_prim_path": "/World/textured_mesh_6a8bc2b23febd2fb750ae6e7/Joints/joint_part_1__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8bc2b23febd2fb750ae6e7/part_1" + ], + "body1": [ + "/World/textured_mesh_6a8bc2b23febd2fb750ae6e7/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0013830800307914615 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0013830800307914615 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03448700159788132, - 0.3139360547065735, - 0.03391199931502342 - ], "min": [ -0.03405800089240074, - 0.0014170800568535924, - -0.03432299941778183 + -0.03391199931502342, + 0.0014170800568535924 + ], + "max": [ + 0.03448700159788132, + 0.03432299941778183, + 0.3139360547065735 ], "size": [ 0.06854500249028206, - 0.3125189746497199, - 0.06823499873280525 - ] + 0.06823499873280525, + 0.3125189746497199 + ], + "units": "m" }, "description": "Olive Oil Bottle Spice Jar", "name": "part_0", "object_type": "rigid_bodies", - "total_mass": 0.5299999993294477 + "total_mass": 0.5299999993294477, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00563", "parts": [ { "bounds": { - "center": [ - 0.00021450035274028778, - 0.1312595802010037, - -0.0002055000513792038 + "min": [ + -0.03405800089240074, + -0.03391199931502342, + 0.0014170800568535924 ], "max": [ 0.03448700159788132, - 0.2611020803451538, - 0.03391199931502342 + 0.03432299941778183, + 0.2611020803451538 ], - "min": [ - -0.03405800089240074, - 0.0014170800568535924, - -0.03432299941778183 - ] + "size": [ + 0.06854500249028206, + 0.06823499873280525, + 0.2596850002883002 + ], + "units": "m" }, "center_of_mass": [ 0.00019426431390456855, @@ -348,25 +430,28 @@ "source": { "object_name": "World", "part_name": "part_0" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bc2b23febd2fb750ae6e7/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00022299960255622864, - 0.2645430713891983, - -0.00016849953681230545 + "min": [ + -0.018061000853776932, + -0.017942000180482864, + 0.2601180672645569 ], "max": [ 0.01850700005888939, - 0.2689680755138397, - 0.017942000180482864 + 0.018278999254107475, + 0.2689680755138397 ], - "min": [ - -0.018061000853776932, - 0.2601180672645569, - -0.018278999254107475 - ] + "size": [ + 0.03656800091266632, + 0.03622099943459034, + 0.008850008249282837 + ], + "units": "m" }, "center_of_mass": [ 0.0001829100656323135, @@ -387,25 +472,28 @@ "source": { "object_name": "World", "part_name": "part_1" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bc2b23febd2fb750ae6e7/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00018500001169741154, - 0.29059405624866486, - -0.0001479999627918005 + "min": [ + -0.007366000209003687, + -0.006965000182390213, + 0.2672520577907562 ], "max": [ 0.00773600023239851, - 0.3139360547065735, - 0.006965000182390213 + 0.007261000107973814, + 0.3139360547065735 ], - "min": [ - -0.007366000209003687, - 0.2672520577907562, - -0.007261000107973814 - ] + "size": [ + 0.015102000441402197, + 0.014226000290364027, + 0.04668399691581726 + ], + "units": "m" }, "center_of_mass": [ -4.221084509481443e-06, @@ -426,10 +514,27 @@ "source": { "object_name": "World", "part_name": "part_2" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bc2b23febd2fb750ae6e7/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c98ab9f1135d91d1e3f61b2ae92fcafef1e1e391eaa6940cd986320ac39d4d60" + }, + "usd_path": "batch39/D00563 Olive Oil Bottle Spice Jar/IsaacSim_assets_6a8bc2b23febd2fb750ae6e7/IsaacSim_asset_6a8bc2b23febd2fb750ae6e7.usd", + "usd_sha256": "654b9bb4a2483b2533c22e5512acbb863f963e1d2debae020be463063660ccfc", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -446,24 +551,58 @@ "up_axis": "Z", "bounds_m": [ 0.06854500249028206, - 0.3125189746497199, - 0.06823499873280525 - ] + 0.06823499873280525, + 0.3125189746497199 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "654b9bb4a2483b2533c22e5512acbb863f963e1d2debae020be463063660ccfc", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5299999993294477 + "value_kg": 0.5299999993294477, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "654b9bb4a2483b2533c22e5512acbb863f963e1d2debae020be463063660ccfc", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5299999993294477, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 49, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "654b9bb4a2483b2533c22e5512acbb863f963e1d2debae020be463063660ccfc", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 49, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "654b9bb4a2483b2533c22e5512acbb863f963e1d2debae020be463063660ccfc", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00565 Olive Oil Dispenser/IsaacSim_assets_6a8bc2b63febd2fb750ae810/physics_D00565.json b/batch39/D00565 Olive Oil Dispenser/IsaacSim_assets_6a8bc2b63febd2fb750ae810/physics_D00565.json index a8d2143e0e3a6140e9022ccc3d892933d5cebbb1..66d3504a15f524c23291787112ee2932f6028613 100644 --- a/batch39/D00565 Olive Oil Dispenser/IsaacSim_assets_6a8bc2b63febd2fb750ae810/physics_D00565.json +++ b/batch39/D00565 Olive Oil Dispenser/IsaacSim_assets_6a8bc2b63febd2fb750ae810/physics_D00565.json @@ -141,6 +141,44 @@ "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_1" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a8bc2b63febd2fb750ae810/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a8bc2b63febd2fb750ae810/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0009416299872100353 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0009416299872100353 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -282,6 +320,44 @@ "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_2" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_2", + "path": "/World/textured_mesh_6a8bc2b63febd2fb750ae810/Joints/joint_part_0__part_2", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_0__part_2", + "source_prim_path": "/World/textured_mesh_6a8bc2b63febd2fb750ae810/Joints/joint_part_0__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0009416299872100353 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0009416299872100353 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -423,6 +499,44 @@ "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_3" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_3", + "path": "/World/textured_mesh_6a8bc2b63febd2fb750ae810/Joints/joint_part_0__part_3", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_0__part_3", + "source_prim_path": "/World/textured_mesh_6a8bc2b63febd2fb750ae810/Joints/joint_part_0__part_3", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_3" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0009416299872100353 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0009416299872100353 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -564,52 +678,96 @@ "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_4" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_4", + "path": "/World/textured_mesh_6a8bc2b63febd2fb750ae810/Joints/joint_part_0__part_4", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_0__part_4", + "source_prim_path": "/World/textured_mesh_6a8bc2b63febd2fb750ae810/Joints/joint_part_0__part_4", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_4" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0009416299872100353 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0009416299872100353 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 5, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07549700140953064, - 0.2049376368522644, - 0.059349000453948975 - ], "min": [ -0.10738199949264526, - 0.0009916300186887383, - -0.05970900133252144 + -0.059349000453948975, + 0.0009916300186887383 + ], + "max": [ + 0.07549700140953064, + 0.05970900133252144, + 0.2049376368522644 ], "size": [ 0.1828790009021759, - 0.20394600683357567, - 0.11905800178647041 - ] + 0.11905800178647041, + 0.20394600683357567 + ], + "units": "m" }, "description": "Olive Oil Dispenser", "name": "part_0", "object_type": "rigid_bodies", - "total_mass": 0.38000000081956387 + "total_mass": 0.38000000081956387, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00565", "parts": [ { "bounds": { - "center": [ - 0.00844700075685978, - 0.09168163064168766, - -0.000180000439286232 + "min": [ + -0.049710001796483994, + -0.059349000453948975, + 0.0009916300186887383 ], "max": [ 0.06660400331020355, - 0.18237163126468658, - 0.059349000453948975 + 0.05970900133252144, + 0.18237163126468658 ], - "min": [ - -0.049710001796483994, - 0.0009916300186887383, - -0.05970900133252144 - ] + "size": [ + 0.11631400510668755, + 0.11905800178647041, + 0.18138000124599785 + ], + "units": "m" }, "center_of_mass": [ 0.007903838530182838, @@ -630,25 +788,28 @@ "source": { "object_name": "World", "part_name": "part_0" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.07211050018668175, - 0.10534762963652611, - -0.0016839997842907906 + "min": [ + -0.10738199949264526, + -0.02010899968445301, + 0.021790631115436554 ], "max": [ -0.03683900088071823, - 0.18890462815761566, - 0.02010899968445301 + 0.02347699925303459, + 0.18890462815761566 ], - "min": [ - -0.10738199949264526, - 0.021790631115436554, - -0.02347699925303459 - ] + "size": [ + 0.07054299861192703, + 0.0435859989374876, + 0.1671139970421791 + ], + "units": "m" }, "center_of_mass": [ -0.06330389529466629, @@ -669,25 +830,28 @@ "source": { "object_name": "World", "part_name": "part_1" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.05027600098401308, - 0.11246013268828392, - -0.00119050033390522 + "min": [ + 0.02505500055849552, + -0.010831999592483044, + 0.06725163012742996 ], "max": [ 0.07549700140953064, - 0.15766863524913788, - 0.010831999592483044 + 0.013213000260293484, + 0.15766863524913788 ], - "min": [ - 0.02505500055849552, - 0.06725163012742996, - -0.013213000260293484 - ] + "size": [ + 0.05044200085103512, + 0.024044999852776527, + 0.09041700512170792 + ], + "units": "m" }, "center_of_mass": [ 0.05660158395767212, @@ -708,25 +872,28 @@ "source": { "object_name": "World", "part_name": "part_2" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.010223499732092023, - 0.1939036324620247, - 0.001453000120818615 + "min": [ + -0.0041069998405873775, + -0.016044000163674355, + 0.18286962807178497 ], "max": [ 0.024553999304771423, - 0.2049376368522644, - 0.016044000163674355 + 0.013137999922037125, + 0.2049376368522644 ], - "min": [ - -0.0041069998405873775, - 0.18286962807178497, - -0.013137999922037125 - ] + "size": [ + 0.0286609991453588, + 0.02918200008571148, + 0.02206800878047943 + ], + "units": "m" }, "center_of_mass": [ 0.010182165540754795, @@ -747,25 +914,28 @@ "source": { "object_name": "World", "part_name": "part_3" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.01001000078395009, - 0.18257563561201096, - 0.0007760003209114075 + "min": [ + -0.012103999964892864, + -0.02332399971783161, + 0.17911963164806366 ], "max": [ 0.032124001532793045, - 0.18603163957595825, - 0.02332399971783161 + 0.021771999076008797, + 0.18603163957595825 ], - "min": [ - -0.012103999964892864, - 0.17911963164806366, - -0.021771999076008797 - ] + "size": [ + 0.04422800149768591, + 0.04509599879384041, + 0.006912007927894592 + ], + "units": "m" }, "center_of_mass": [ 0.009954918175935745, @@ -786,10 +956,27 @@ "source": { "object_name": "World", "part_name": "part_4" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bc2b63febd2fb750ae810/part_4", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5400ee980d96117965f80b59b358ebf97d6b964aa219df59bef960beb4be3a52" + }, + "usd_path": "batch39/D00565 Olive Oil Dispenser/IsaacSim_assets_6a8bc2b63febd2fb750ae810/IsaacSim_asset_6a8bc2b63febd2fb750ae810.usd", + "usd_sha256": "9aa90b4a7372f54a97d76e89d76b6cc6a8f64aca6e3b68c5155e13bd519acb95", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -806,24 +993,58 @@ "up_axis": "Z", "bounds_m": [ 0.1828790009021759, - 0.20394600683357567, - 0.11905800178647041 - ] + 0.11905800178647041, + 0.20394600683357567 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9aa90b4a7372f54a97d76e89d76b6cc6a8f64aca6e3b68c5155e13bd519acb95", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.38000000081956387 + "value_kg": 0.38000000081956387, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9aa90b4a7372f54a97d76e89d76b6cc6a8f64aca6e3b68c5155e13bd519acb95", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.38000000081956387, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 5 + "status": "verified", + "confidence": "high", + "shape_count": 61, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9aa90b4a7372f54a97d76e89d76b6cc6a8f64aca6e3b68c5155e13bd519acb95", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 61, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 4 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9aa90b4a7372f54a97d76e89d76b6cc6a8f64aca6e3b68c5155e13bd519acb95", + "scope": "authored_usd_joint_schema", + "joint_count": 4, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00619_Pitcher_Kettle/IsaacSim_assets_6a8bb6503febd2fb7509ad72/physics_D00619.json b/batch39/D00619_Pitcher_Kettle/IsaacSim_assets_6a8bb6503febd2fb7509ad72/physics_D00619.json index ab4eea0560a59e5454df01d179895fef2327f81c..bd2c93dde1518819e7615010994e9de929bfb9dc 100644 --- a/batch39/D00619_Pitcher_Kettle/IsaacSim_assets_6a8bb6503febd2fb7509ad72/physics_D00619.json +++ b/batch39/D00619_Pitcher_Kettle/IsaacSim_assets_6a8bb6503febd2fb7509ad72/physics_D00619.json @@ -141,6 +141,44 @@ "/World/textured_mesh_6a8bb6503febd2fb7509ad72/part_2" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_2", + "path": "/World/textured_mesh_6a8bb6503febd2fb7509ad72/Joints/joint_part_0__part_2", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_0__part_2", + "source_prim_path": "/World/textured_mesh_6a8bb6503febd2fb7509ad72/Joints/joint_part_0__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8bb6503febd2fb7509ad72/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8bb6503febd2fb7509ad72/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -282,52 +320,96 @@ "/World/textured_mesh_6a8bb6503febd2fb7509ad72/part_3" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_3", + "path": "/World/textured_mesh_6a8bb6503febd2fb7509ad72/Joints/joint_part_0__part_3", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_0__part_3", + "source_prim_path": "/World/textured_mesh_6a8bb6503febd2fb7509ad72/Joints/joint_part_0__part_3", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8bb6503febd2fb7509ad72/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8bb6503febd2fb7509ad72/part_3" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12389329795304889, - 0.18439055833117718, - 0.085232386409056 - ], "min": [ -0.11926641741987927, - -3.538828193765998e-05, - -0.08521096138704164 + -0.085232386409056, + -3.538828193765998e-05 + ], + "max": [ + 0.12389329795304889, + 0.08521096138704164, + 0.18439055833117718 ], "size": [ 0.24315971537292816, - 0.18442594661311484, - 0.17044334779609766 - ] + 0.17044334779609766, + 0.18442594661311484 + ], + "units": "m" }, "description": "Pitcher Kettle", "name": "part_0", "object_type": "rigid_bodies", - "total_mass": 0.8000000230967999 + "total_mass": 0.8000000230967999, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00619", "parts": [ { "bounds": { - "center": [ - -0.006179180268431957, - 0.07365427751833385, - 1.0712511007184011e-05 + "min": [ + -0.0925215574891343, + -0.085232386409056, + -3.538828193765998e-05 ], "max": [ 0.0801631969522704, - 0.14734394331860537, - 0.085232386409056 + 0.08521096138704164, + 0.14734394331860537 ], - "min": [ - -0.0925215574891343, - -3.538828193765998e-05, - -0.08521096138704164 - ] + "size": [ + 0.1726847544414047, + 0.17044334779609766, + 0.14737933160054303 + ], + "units": "m" }, "center_of_mass": [ -0.00508554233238101, @@ -348,25 +430,28 @@ "source": { "object_name": "World", "part_name": "part_0" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bb6503febd2fb7509ad72/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0041007792738932715, - 0.1618898010071113, - 0.00016392067280227365 + "min": [ + -0.05463600192756906, + -0.050751504123210917, + 0.13938904368304547 ], "max": [ 0.04643444337978252, - 0.18439055833117718, - 0.050751504123210917 + 0.05042366277760637, + 0.18439055833117718 ], - "min": [ - -0.05463600192756906, - 0.13938904368304547, - -0.05042366277760637 - ] + "size": [ + 0.10107044530735157, + 0.10117516690081729, + 0.04500151464813171 + ], + "units": "m" }, "center_of_mass": [ 0.029945163056254387, @@ -387,25 +472,28 @@ "source": { "object_name": "World", "part_name": "part_1" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bb6503febd2fb7509ad72/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.08878262743798354, - 0.07913602962064645, - -0.0004850017973559778 + "min": [ + 0.05367195692291818, + -0.014949686581363511, + 0.020621549859612825 ], "max": [ 0.12389329795304889, - 0.13765050938168008, - 0.014949686581363511 + 0.015919690176075467, + 0.13765050938168008 ], - "min": [ - 0.05367195692291818, - 0.020621549859612825, - -0.015919690176075467 - ] + "size": [ + 0.07022134103013071, + 0.030869376757438977, + 0.11702895952206725 + ], + "units": "m" }, "center_of_mass": [ 0.008271605707705021, @@ -426,25 +514,28 @@ "source": { "object_name": "World", "part_name": "part_2" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bb6503febd2fb7509ad72/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.0927499392878787, - 0.09518359880578355, - 0.0006864306491412876 + "min": [ + -0.11926641741987927, + -0.03001643269046567, + 0.04661164740027376 ], "max": [ -0.06623346115587814, - 0.14375555021129333, - 0.03001643269046567 + 0.028643571392183095, + 0.14375555021129333 ], - "min": [ - -0.11926641741987927, - 0.04661164740027376, - -0.028643571392183095 - ] + "size": [ + 0.05303295626400113, + 0.058660004082648765, + 0.09714390281101956 + ], + "units": "m" }, "center_of_mass": [ -0.09127558022737503, @@ -465,10 +556,27 @@ "source": { "object_name": "World", "part_name": "part_3" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bb6503febd2fb7509ad72/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "03d150fa26f4ebb1d2af11533cf9507bfec1080804151b5c4c4578a8b5532019" + }, + "usd_path": "batch39/D00619_Pitcher_Kettle/IsaacSim_assets_6a8bb6503febd2fb7509ad72/IsaacSim_asset_6a8bb6503febd2fb7509ad72.usd", + "usd_sha256": "c452ab8118de4ff6bef7b8750fc2b2a62d8667e6add25908a6443751ed2e0019", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -485,24 +593,59 @@ "up_axis": "Z", "bounds_m": [ 0.24315971537292816, - 0.18442594661311484, - 0.17044334779609766 - ] + 0.17044334779609766, + 0.18442594661311484 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c452ab8118de4ff6bef7b8750fc2b2a62d8667e6add25908a6443751ed2e0019", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8000000230967999 + "value_kg": 0.8000000230967999, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c452ab8118de4ff6bef7b8750fc2b2a62d8667e6add25908a6443751ed2e0019", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8000000230967999, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 113, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c452ab8118de4ff6bef7b8750fc2b2a62d8667e6add25908a6443751ed2e0019", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 113, + "approximations": [ + "convexHull", + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c452ab8118de4ff6bef7b8750fc2b2a62d8667e6add25908a6443751ed2e0019", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00626_Plate_Butter_Dish/IsaacSim_assets_6a8bfda63febd2fb7510541e/physics_D00626.json b/batch39/D00626_Plate_Butter_Dish/IsaacSim_assets_6a8bfda63febd2fb7510541e/physics_D00626.json index 71cc284c45662257753d31af7cdca6b967833261..a656179c1f6187f2778e0f884ffaf36d4548741f 100644 --- a/batch39/D00626_Plate_Butter_Dish/IsaacSim_assets_6a8bfda63febd2fb7510541e/physics_D00626.json +++ b/batch39/D00626_Plate_Butter_Dish/IsaacSim_assets_6a8bfda63febd2fb7510541e/physics_D00626.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07850624907587189, - 0.08688851894161015, - 0.0782571056188317 - ], "min": [ -0.07820775073196273, - -1.8562612240202725e-05, - -0.078295894592884 + -0.0782571056188317, + -1.8562612240202725e-05 + ], + "max": [ + 0.07850624907587189, + 0.078295894592884, + 0.08688851894161015 ], "size": [ 0.15671399980783463, - 0.08690708155385035, - 0.1565530002117157 - ] + 0.1565530002117157, + 0.08690708155385035 + ], + "units": "m" }, "description": "Plate Butter Dish", "name": "part_0", "object_type": "rigid_bodies", - "total_mass": 0.4000000059604645 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00626", "parts": [ { "bounds": { - "center": [ - 0.0012920152006230326, - 0.046610603623344474, - -0.0011758739210467155 + "min": [ + -0.05646631174497515, + -0.056000428635217606, + 0.0063326883050788055 ], "max": [ 0.059050342146221214, - 0.08688851894161015, - 0.056000428635217606 + 0.05835217647731104, + 0.08688851894161015 ], - "min": [ - -0.05646631174497515, - 0.0063326883050788055, - -0.05835217647731104 - ] + "size": [ + 0.11551665389119636, + 0.11435260511252865, + 0.08055583063653135 + ], + "units": "m" }, "center_of_mass": [ -8.762822835706174e-05, @@ -65,25 +71,28 @@ "source": { "object_name": "World", "part_name": "part_0" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bfda63febd2fb7510541e/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00014924917195457965, - 0.00711593732557958, - -1.9394487026147544e-05 + "min": [ + -0.07820775073196273, + -0.0782571056188317, + -1.8562612240202725e-05 ], "max": [ 0.07850624907587189, - 0.014250437263399363, - 0.0782571056188317 + 0.078295894592884, + 0.014250437263399363 ], - "min": [ - -0.07820775073196273, - -1.8562612240202725e-05, - -0.078295894592884 - ] + "size": [ + 0.15671399980783463, + 0.1565530002117157, + 0.014268999875639565 + ], + "units": "m" }, "center_of_mass": [ 0.00024350247986149043, @@ -104,10 +113,27 @@ "source": { "object_name": "World", "part_name": "part_1" - } + }, + "source_prim_path": "/World/textured_mesh_6a8bfda63febd2fb7510541e/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7b87bde466b832e5edf7c65293ec8460918b9f70f73b0cc9e9c1bed5d5aec11d" + }, + "usd_path": "batch39/D00626_Plate_Butter_Dish/IsaacSim_assets_6a8bfda63febd2fb7510541e/IsaacSim_asset_6a8bfda63febd2fb7510541e.usd", + "usd_sha256": "79639750568ed251266e7b27ba4cddc0fa804fb7520bc4107abcfb5b0bf36c16", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -124,24 +150,59 @@ "up_axis": "Z", "bounds_m": [ 0.15671399980783463, - 0.08690708155385035, - 0.1565530002117157 - ] + 0.1565530002117157, + 0.08690708155385035 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "79639750568ed251266e7b27ba4cddc0fa804fb7520bc4107abcfb5b0bf36c16", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4000000059604645 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "79639750568ed251266e7b27ba4cddc0fa804fb7520bc4107abcfb5b0bf36c16", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 36, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "79639750568ed251266e7b27ba4cddc0fa804fb7520bc4107abcfb5b0bf36c16", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 36, + "approximations": [ + "convexHull", + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "79639750568ed251266e7b27ba4cddc0fa804fb7520bc4107abcfb5b0bf36c16", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00684 Salt Bottle/IsaacSim_assets_6a8c0d573febd2fb75130c40/physics_D00684.json b/batch39/D00684 Salt Bottle/IsaacSim_assets_6a8c0d573febd2fb75130c40/physics_D00684.json index 42a2351d8873596e77194c5cb658b4a484ed0c67..a3943ba1975be8bf1df9e9c8b9677c33f52f8918 100644 --- a/batch39/D00684 Salt Bottle/IsaacSim_assets_6a8c0d573febd2fb75130c40/physics_D00684.json +++ b/batch39/D00684 Salt Bottle/IsaacSim_assets_6a8c0d573febd2fb75130c40/physics_D00684.json @@ -141,52 +141,96 @@ "/World/textured_mesh_6a8c0d573febd2fb75130c40/part_1" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a8c0d573febd2fb75130c40/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a8c0d573febd2fb75130c40/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8c0d573febd2fb75130c40/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8c0d573febd2fb75130c40/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0004384741187095642 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0004384741187095642 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.034869998693466187, - 0.17471447587013245, - 0.03437599912285805 - ], "min": [ -0.034818001091480255, - 0.00045947410399094224, - -0.034595001488924026 + -0.03437599912285805, + 0.00045947410399094224 + ], + "max": [ + 0.034869998693466187, + 0.034595001488924026, + 0.17471447587013245 ], "size": [ 0.06968799978494644, - 0.1742550017661415, - 0.06897100061178207 - ] + 0.06897100061178207, + 0.1742550017661415 + ], + "units": "m" }, "description": "Salt Bottle", "name": "part_0", "object_type": "rigid_bodies", - "total_mass": 0.21000000275671482 + "total_mass": 0.21000000275671482, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00684", "parts": [ { "bounds": { - "center": [ - 2.5998800992965698e-05, - 0.07878897179034539, - -0.0001095011830329895 + "min": [ + -0.034818001091480255, + -0.03437599912285805, + 0.00045947410399094224 ], "max": [ 0.034869998693466187, - 0.15711846947669983, - 0.03437599912285805 + 0.034595001488924026, + 0.15711846947669983 ], - "min": [ - -0.034818001091480255, - 0.00045947410399094224, - -0.034595001488924026 - ] + "size": [ + 0.06968799978494644, + 0.06897100061178207, + 0.1566589953727089 + ], + "units": "m" }, "center_of_mass": [ 1.1126087883894797e-05, @@ -207,25 +251,28 @@ "source": { "object_name": "World", "part_name": "part_0" - } + }, + "source_prim_path": "/World/textured_mesh_6a8c0d573febd2fb75130c40/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 2.800021320581436e-05, - 0.15599048137664795, - -9.750016033649445e-05 + "min": [ + -0.01832200028002262, + -0.0180479995906353, + 0.13726648688316345 ], "max": [ 0.01837800070643425, - 0.17471447587013245, - 0.0180479995906353 + 0.01824299991130829, + 0.17471447587013245 ], - "min": [ - -0.01832200028002262, - 0.13726648688316345, - -0.01824299991130829 - ] + "size": [ + 0.03670000098645687, + 0.03629099950194359, + 0.037447988986968994 + ], + "units": "m" }, "center_of_mass": [ 3.0246870664996095e-05, @@ -246,10 +293,27 @@ "source": { "object_name": "World", "part_name": "part_1" - } + }, + "source_prim_path": "/World/textured_mesh_6a8c0d573febd2fb75130c40/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "daeed782d07e738c972d76fef7fa39fae9d544004d9ff1c83e2faaf2c3cd2570" + }, + "usd_path": "batch39/D00684 Salt Bottle/IsaacSim_assets_6a8c0d573febd2fb75130c40/IsaacSim_asset_6a8c0d573febd2fb75130c40.usd", + "usd_sha256": "b50b6b0db22c4f37f8e95667e19930f7b7afa174960805ee62f0bae6a24138e4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -266,24 +330,58 @@ "up_axis": "Z", "bounds_m": [ 0.06968799978494644, - 0.1742550017661415, - 0.06897100061178207 - ] + 0.06897100061178207, + 0.1742550017661415 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b50b6b0db22c4f37f8e95667e19930f7b7afa174960805ee62f0bae6a24138e4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.21000000275671482 + "value_kg": 0.21000000275671482, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b50b6b0db22c4f37f8e95667e19930f7b7afa174960805ee62f0bae6a24138e4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.21000000275671482, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 7, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b50b6b0db22c4f37f8e95667e19930f7b7afa174960805ee62f0bae6a24138e4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 7, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b50b6b0db22c4f37f8e95667e19930f7b7afa174960805ee62f0bae6a24138e4", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00689 Salt Shaker/IsaacSim_assets_6a8c0d5b3febd2fb75130dc7/physics_D00689.json b/batch39/D00689 Salt Shaker/IsaacSim_assets_6a8c0d5b3febd2fb75130dc7/physics_D00689.json index 73b3ea01fb75ef032e4cae4db4fd474316486fdc..3463cbc81a2939a638a3dd8696ee7c5bcc43f3a2 100644 --- a/batch39/D00689 Salt Shaker/IsaacSim_assets_6a8c0d5b3febd2fb75130dc7/physics_D00689.json +++ b/batch39/D00689 Salt Shaker/IsaacSim_assets_6a8c0d5b3febd2fb75130dc7/physics_D00689.json @@ -141,52 +141,96 @@ "/World/textured_mesh_6a8c0d5b3febd2fb75130dc7/part_1" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a8c0d5b3febd2fb75130dc7/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a8c0d5b3febd2fb75130dc7/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8c0d5b3febd2fb75130dc7/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8c0d5b3febd2fb75130dc7/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.00042611989192664623 + ], + "localPos1": [ + 0.0, + 0.0, + 0.00042611989192664623 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.023130999878048897, - 0.10381912440061569, - 0.023022999987006187 - ], "min": [ -0.02339000068604946, - 0.00043011989328078926, - -0.023259000852704048 + -0.023022999987006187, + 0.00043011989328078926 + ], + "max": [ + 0.023130999878048897, + 0.023259000852704048, + 0.10381912440061569 ], "size": [ 0.04652100056409836, - 0.1033890045073349, - 0.046282000839710236 - ] + 0.046282000839710236, + 0.1033890045073349 + ], + "units": "m" }, "description": "Salt Shaker", "name": "part_0", "object_type": "rigid_bodies", - "total_mass": 0.13999999687075615 + "total_mass": 0.13999999687075615, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00689", "parts": [ { "bounds": { - "center": [ - -0.0001295004040002823, - 0.04247612027393188, - -0.00011800043284893036 + "min": [ + -0.02339000068604946, + -0.023022999987006187, + 0.00043011989328078926 ], "max": [ 0.023130999878048897, - 0.08452212065458298, - 0.023022999987006187 + 0.023259000852704048, + 0.08452212065458298 ], - "min": [ - -0.02339000068604946, - 0.00043011989328078926, - -0.023259000852704048 - ] + "size": [ + 0.04652100056409836, + 0.046282000839710236, + 0.08409200076130219 + ], + "units": "m" }, "center_of_mass": [ -0.0002098141994792968, @@ -207,25 +251,28 @@ "source": { "object_name": "World", "part_name": "part_0" - } + }, + "source_prim_path": "/World/textured_mesh_6a8c0d5b3febd2fb75130dc7/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.00014899950474500656, - 0.09286562353372574, - -9.649991989135742e-05 + "min": [ + -0.022393999621272087, + -0.02213600091636181, + 0.08191212266683578 ], "max": [ 0.022096000611782074, - 0.10381912440061569, - 0.02213600091636181 + 0.022329000756144524, + 0.10381912440061569 ], - "min": [ - -0.022393999621272087, - 0.08191212266683578, - -0.022329000756144524 - ] + "size": [ + 0.04449000023305416, + 0.04446500167250633, + 0.021907001733779907 + ], + "units": "m" }, "center_of_mass": [ -0.00015802808047737926, @@ -246,10 +293,27 @@ "source": { "object_name": "World", "part_name": "part_1" - } + }, + "source_prim_path": "/World/textured_mesh_6a8c0d5b3febd2fb75130dc7/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e92fae2b8c240451410b7e9fe3284bc2ff812b65c24dda73046728129fb78836" + }, + "usd_path": "batch39/D00689 Salt Shaker/IsaacSim_assets_6a8c0d5b3febd2fb75130dc7/IsaacSim_asset_6a8c0d5b3febd2fb75130dc7.usd", + "usd_sha256": "410554474893ae34e3dc0148b451115e2b9938281e423e12a49b0f1aab4fec6b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -266,24 +330,58 @@ "up_axis": "Z", "bounds_m": [ 0.04652100056409836, - 0.1033890045073349, - 0.046282000839710236 - ] + 0.046282000839710236, + 0.1033890045073349 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "410554474893ae34e3dc0148b451115e2b9938281e423e12a49b0f1aab4fec6b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.13999999687075615 + "value_kg": 0.13999999687075615, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "410554474893ae34e3dc0148b451115e2b9938281e423e12a49b0f1aab4fec6b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.13999999687075615, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 52, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "410554474893ae34e3dc0148b451115e2b9938281e423e12a49b0f1aab4fec6b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 52, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "410554474893ae34e3dc0148b451115e2b9938281e423e12a49b0f1aab4fec6b", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00706 Saucepan Strainer/IsaacSim_assets_6a86f461ad93f8edde80f494/physics_D00706.json b/batch39/D00706 Saucepan Strainer/IsaacSim_assets_6a86f461ad93f8edde80f494/physics_D00706.json index 17f035db65a34b853737098a032fd3b56b27930b..c9a863e29332edd592ae8d4314062b9f94f08a13 100644 --- a/batch39/D00706 Saucepan Strainer/IsaacSim_assets_6a86f461ad93f8edde80f494/physics_D00706.json +++ b/batch39/D00706 Saucepan Strainer/IsaacSim_assets_6a86f461ad93f8edde80f494/physics_D00706.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "6e75db9d05fa4f5d66c962d94f594a055031ad3463c7d8fb8576e393a2aed66c" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3b01a65a81f38577778376a0e83ffc1af9ea5d959a4666372458a73c209ba6fb" }, "usd_path": "batch39/D00706 Saucepan Strainer/IsaacSim_assets_6a86f461ad93f8edde80f494/IsaacSim_asset_6a86f461ad93f8edde80f494.usd", - "usd_sha256": "c07acdf441ecb944ce2acead57798cbfaad42861256d2c26f7c9b593fffb6d8a", + "usd_sha256": "99ff0c3699b19a2a59a076d3cf493b91821728801306cfbc0126d73872c70ba9", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -100,9 +100,9 @@ 0.16373763572478695, 0.010051102696814251 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c07acdf441ecb944ce2acead57798cbfaad42861256d2c26f7c9b593fffb6d8a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "99ff0c3699b19a2a59a076d3cf493b91821728801306cfbc0126d73872c70ba9", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -111,9 +111,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.10000000149011612, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c07acdf441ecb944ce2acead57798cbfaad42861256d2c26f7c9b593fffb6d8a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "99ff0c3699b19a2a59a076d3cf493b91821728801306cfbc0126d73872c70ba9", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.10000000149011612, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -122,9 +122,9 @@ "status": "verified", "confidence": "high", "shape_count": 4, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c07acdf441ecb944ce2acead57798cbfaad42861256d2c26f7c9b593fffb6d8a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "99ff0c3699b19a2a59a076d3cf493b91821728801306cfbc0126d73872c70ba9", "scope": "authored_usd_collision_schema", "enabled_shape_count": 4, "approximations": [ @@ -136,18 +136,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c07acdf441ecb944ce2acead57798cbfaad42861256d2c26f7c9b593fffb6d8a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "99ff0c3699b19a2a59a076d3cf493b91821728801306cfbc0126d73872c70ba9", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00893 Utensil/IsaacSim_assets_6a8bc2c13febd2fb750aeb8a/physics_D00893.json b/batch39/D00893 Utensil/IsaacSim_assets_6a8bc2c13febd2fb750aeb8a/physics_D00893.json index 89e933b948268a97055f62f7c9747f7fe41591e8..5e29f204cddc6486d50653cbe90f8efac0110dc2 100644 --- a/batch39/D00893 Utensil/IsaacSim_assets_6a8bc2c13febd2fb750aeb8a/physics_D00893.json +++ b/batch39/D00893 Utensil/IsaacSim_assets_6a8bc2c13febd2fb750aeb8a/physics_D00893.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.034026000648736954, - 0.319563090801239, - 0.005036000162363052 - ], "min": [ -0.036869000643491745, - 0.0006201108335517347, - -0.004987999796867371 + -0.005036000162363052, + 0.0006201108335517347 + ], + "max": [ + 0.034026000648736954, + 0.004987999796867371, + 0.319563090801239 ], "size": [ 0.0708950012922287, - 0.3189429799676873, - 0.010023999959230423 - ] + 0.010023999959230423, + 0.3189429799676873 + ], + "units": "m" }, "description": "Utensil", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.04259999841451645 + "total_mass": 0.04259999841451645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00893", "parts": [ { "bounds": { - "center": [ - -0.0014214999973773956, - 0.16009160081739537, - 2.400018274784088e-05 + "min": [ + -0.036869000643491745, + -0.005036000162363052, + 0.0006201108335517347 ], "max": [ 0.034026000648736954, - 0.319563090801239, - 0.005036000162363052 + 0.004987999796867371, + 0.319563090801239 ], - "min": [ - -0.036869000643491745, - 0.0006201108335517347, - -0.004987999796867371 - ] + "size": [ + 0.0708950012922287, + 0.010023999959230423, + 0.3189429799676873 + ], + "units": "m" }, "center_of_mass": [ 0.00019079085905104876, @@ -65,10 +71,27 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "40a6b3537bdf6cdb2763362ad1d194fcc7a8e17078be10bbd6380cfbf8951ee0" + }, + "usd_path": "batch39/D00893 Utensil/IsaacSim_assets_6a8bc2c13febd2fb750aeb8a/IsaacSim_asset_6a8bc2c13febd2fb750aeb8a.usd", + "usd_sha256": "6e69bfe187d922f6fd5382212f4e56a1b7d39fe53b6e6876182340a42bbcdc1b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -85,24 +108,58 @@ "up_axis": "Z", "bounds_m": [ 0.0708950012922287, - 0.3189429799676873, - 0.010023999959230423 - ] + 0.010023999959230423, + 0.3189429799676873 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e69bfe187d922f6fd5382212f4e56a1b7d39fe53b6e6876182340a42bbcdc1b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.04259999841451645 + "value_kg": 0.04259999841451645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e69bfe187d922f6fd5382212f4e56a1b7d39fe53b6e6876182340a42bbcdc1b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04259999841451645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e69bfe187d922f6fd5382212f4e56a1b7d39fe53b6e6876182340a42bbcdc1b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e69bfe187d922f6fd5382212f4e56a1b7d39fe53b6e6876182340a42bbcdc1b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00910 Vinegar Oil Bottle Spice Jar/IsaacSim_assets_6a8e8cfa3febd2fb7539a3ff/physics_D00910.json b/batch39/D00910 Vinegar Oil Bottle Spice Jar/IsaacSim_assets_6a8e8cfa3febd2fb7539a3ff/physics_D00910.json index a420049bff2e68d8f391009c94a7a3bfce2bdbf7..e303045faafeb97e78c6b78e23bc299132d0667a 100644 --- a/batch39/D00910 Vinegar Oil Bottle Spice Jar/IsaacSim_assets_6a8e8cfa3febd2fb7539a3ff/physics_D00910.json +++ b/batch39/D00910 Vinegar Oil Bottle Spice Jar/IsaacSim_assets_6a8e8cfa3febd2fb7539a3ff/physics_D00910.json @@ -141,6 +141,44 @@ "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/part_2" ], "proxyPrim": [] + }, + "id": "joint_part_1__part_2", + "path": "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/Joints/joint_part_1__part_2", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_1__part_2", + "source_prim_path": "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/Joints/joint_part_1__part_2", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/part_1" + ], + "body1": [ + "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -282,6 +320,44 @@ "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/part_3" ], "proxyPrim": [] + }, + "id": "joint_part_2__part_3", + "path": "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/Joints/joint_part_2__part_3", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_2__part_3", + "source_prim_path": "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/Joints/joint_part_2__part_3", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/part_2" + ], + "body1": [ + "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/part_3" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } }, { @@ -423,52 +499,96 @@ "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/part_1" ], "proxyPrim": [] + }, + "id": "joint_part_0__part_1", + "path": "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/Joints/joint_part_0__part_1", + "usd_type": "PhysicsFixedJoint", + "authored_usd": { + "id": "joint_part_0__part_1", + "source_prim_path": "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/Joints/joint_part_0__part_1", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/part_0" + ], + "body1": [ + "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 4, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.04451499879360199, - 0.14925000071525574, - 0.0443900004029274 - ], "min": [ -0.04447599872946739, - 0.0005489999894052744, - -0.04443100094795227 + -0.0443900004029274, + 0.0005489999894052744 + ], + "max": [ + 0.04451499879360199, + 0.04443100094795227, + 0.14925000071525574 ], "size": [ 0.08899099752306938, - 0.14870100072585046, - 0.08882100135087967 - ] + 0.08882100135087967, + 0.14870100072585046 + ], + "units": "m" }, "description": "Vinegar Oil Bottle Spice Jar", "name": "part_0", "object_type": "rigid_bodies", - "total_mass": 0.27000000327825546 + "total_mass": 0.27000000327825546, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00910", "parts": [ { "bounds": { - "center": [ - 1.950003206729889e-05, - 0.05872250173706561, - -2.0500272512435913e-05 + "min": [ + -0.04447599872946739, + -0.0443900004029274, + 0.0005489999894052744 ], "max": [ 0.04451499879360199, - 0.11689600348472595, - 0.0443900004029274 + 0.04443100094795227, + 0.11689600348472595 ], - "min": [ - -0.04447599872946739, - 0.0005489999894052744, - -0.04443100094795227 - ] + "size": [ + 0.08899099752306938, + 0.08882100135087967, + 0.11634700349532068 + ], + "units": "m" }, "center_of_mass": [ 0.00013403347111307085, @@ -489,25 +609,28 @@ "source": { "object_name": "World", "part_name": "part_0" - } + }, + "source_prim_path": "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00010449998080730438, - 0.1212330013513565, - -0.00023799994960427284 + "min": [ + -0.012612000107765198, + -0.012229000218212605, + 0.11518800258636475 ], "max": [ 0.012821000069379807, - 0.12727800011634827, - 0.012229000218212605 + 0.01270500011742115, + 0.12727800011634827 ], - "min": [ - -0.012612000107765198, - 0.11518800258636475, - -0.01270500011742115 - ] + "size": [ + 0.025433000177145004, + 0.024934000335633755, + 0.01208999752998352 + ], + "units": "m" }, "center_of_mass": [ 0.00013540191866923124, @@ -528,25 +651,28 @@ "source": { "object_name": "World", "part_name": "part_1" - } + }, + "source_prim_path": "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00018250010907649994, - 0.13802050054073334, - -0.0002204999327659607 + "min": [ + -0.008502000011503696, + -0.008503000251948833, + 0.12679100036621094 ], "max": [ 0.008867000229656696, - 0.14925000071525574, - 0.008503000251948833 + 0.008944000117480755, + 0.14925000071525574 ], - "min": [ - -0.008502000011503696, - 0.12679100036621094, - -0.008944000117480755 - ] + "size": [ + 0.017369000241160393, + 0.01744700036942959, + 0.0224590003490448 + ], + "units": "m" }, "center_of_mass": [ -8.426926069660112e-05, @@ -567,25 +693,28 @@ "source": { "object_name": "World", "part_name": "part_2" - } + }, + "source_prim_path": "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.0001224998850375414, - 0.1368504911661148, - -0.00024500000290572643 + "min": [ + -0.004441000055521727, + -0.004393000155687332, + 0.12705498933792114 ], "max": [ 0.004685999825596809, - 0.14664599299430847, - 0.004393000155687332 + 0.004883000161498785, + 0.14664599299430847 ], - "min": [ - -0.004441000055521727, - 0.12705498933792114, - -0.004883000161498785 - ] + "size": [ + 0.009126999881118536, + 0.009276000317186117, + 0.01959100365638733 + ], + "units": "m" }, "center_of_mass": [ 3.454312900430523e-05, @@ -606,10 +735,27 @@ "source": { "object_name": "World", "part_name": "part_3" - } + }, + "source_prim_path": "/World/textured_mesh_6a8e8cfa3febd2fb7539a3ff/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6c55bd15f6ca6479672aeeadb3f1c94a80746f2119fe3d5c3b9cf5f2ade7f92e" + }, + "usd_path": "batch39/D00910 Vinegar Oil Bottle Spice Jar/IsaacSim_assets_6a8e8cfa3febd2fb7539a3ff/IsaacSim_asset_6a8e8cfa3febd2fb7539a3ff.usd", + "usd_sha256": "c86fd820fcb51a8d961dc66d7ef965154950b7d1c1f763253b93025a65f33da3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -626,24 +772,58 @@ "up_axis": "Z", "bounds_m": [ 0.08899099752306938, - 0.14870100072585046, - 0.08882100135087967 - ] + 0.08882100135087967, + 0.14870100072585046 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c86fd820fcb51a8d961dc66d7ef965154950b7d1c1f763253b93025a65f33da3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.27000000327825546 + "value_kg": 0.27000000327825546, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c86fd820fcb51a8d961dc66d7ef965154950b7d1c1f763253b93025a65f33da3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.27000000327825546, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 4 + "status": "verified", + "confidence": "high", + "shape_count": 79, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c86fd820fcb51a8d961dc66d7ef965154950b7d1c1f763253b93025a65f33da3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 79, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 3 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c86fd820fcb51a8d961dc66d7ef965154950b7d1c1f763253b93025a65f33da3", + "scope": "authored_usd_joint_schema", + "joint_count": 3, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00964 Wooden Lid Storage Jar/IsaacSim_assets_6a840ca7a08484187f5d5539/physics_6a840ca7a08484187f5d5539.json b/batch39/D00964 Wooden Lid Storage Jar/IsaacSim_assets_6a840ca7a08484187f5d5539/physics_6a840ca7a08484187f5d5539.json index 1f19a2e202a8785c30fb9ecdd6dc62cc32b9fb68..958cc54a72ab59951629c773c3c65dfeffc1fcd1 100644 --- a/batch39/D00964 Wooden Lid Storage Jar/IsaacSim_assets_6a840ca7a08484187f5d5539/physics_6a840ca7a08484187f5d5539.json +++ b/batch39/D00964 Wooden Lid Storage Jar/IsaacSim_assets_6a840ca7a08484187f5d5539/physics_6a840ca7a08484187f5d5539.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10376200079917908, - 0.0998029112815857, - 0.038711000233888626 - ], "min": [ -0.050898000597953796, - 0.000527910131495446, - -0.03911599889397621 + -0.038711000233888626, + 0.000527910131495446 + ], + "max": [ + 0.10376200079917908, + 0.03911599889397621, + 0.0998029112815857 ], "size": [ 0.15466000139713287, - 0.09927500115009025, - 0.07782699912786484 - ] + 0.07782699912786484, + 0.09927500115009025 + ], + "units": "m" }, "description": "D00964 Wooden Lid Storage Jar", "name": "D00964 Wooden Lid Storage Jar", "object_type": "rigid_bodies", - "total_mass": 0.22 + "total_mass": 0.2200000025331974, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00964", "parts": [ { "bounds": { - "center": [ - -0.007426999509334564, - 0.05016541070654057, - -0.00020249933004379272 + "min": [ + -0.050898000597953796, + -0.038711000233888626, + 0.000527910131495446 ], "max": [ 0.03604400157928467, - 0.0998029112815857, - 0.038711000233888626 + 0.03911599889397621, + 0.0998029112815857 ], - "min": [ - -0.050898000597953796, - 0.000527910131495446, - -0.03911599889397621 - ] + "size": [ + 0.08694200217723846, + 0.07782699912786484, + 0.09927500115009025 + ], + "units": "m" }, "center_of_mass": [ -0.011617783457040787, @@ -59,7 +65,7 @@ 0.00023665792832616717, 0.00024294768809340894 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "ceramic_or_glass", "name": "D00964 Wooden Lid Storage Jar", "physics_type": "rigid", @@ -67,25 +73,28 @@ "object_name": "D00964 Wooden Lid Storage Jar", "part_name": "D00964 Wooden Lid Storage Jar" }, - "volume": 8.00000011920929e-05 + "volume": 8.00000011920929e-05, + "source_prim_path": "/World/textured_mesh_6a840ca7a08484187f5d5539/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.06970399990677834, - 0.004537910164799541, - -0.0001305006444454193 + "min": [ + 0.035645999014377594, + -0.03416400030255318, + 0.0005409101722761989 ], "max": [ 0.10376200079917908, - 0.008534910157322884, - 0.03416400030255318 + 0.034425001591444016, + 0.008534910157322884 ], - "min": [ - 0.035645999014377594, - 0.0005409101722761989, - -0.034425001591444016 - ] + "size": [ + 0.06811600178480148, + 0.06858900189399719, + 0.007993999985046685 + ], + "units": "m" }, "center_of_mass": [ 0.06967295706272125, @@ -100,7 +109,7 @@ 5.944814802205656e-06, 1.1640800948953256e-05 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "wood", "name": "D00964 Wooden Lid Storage Jar", "physics_type": "rigid", @@ -108,10 +117,27 @@ "object_name": "D00964 Wooden Lid Storage Jar", "part_name": "D00964 Wooden Lid Storage Jar" }, - "volume": 3.3333332588275274e-05 + "volume": 3.3333332588275274e-05, + "source_prim_path": "/World/textured_mesh_6a840ca7a08484187f5d5539/part_01", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "93cd673661e1a2e26d4a1e3347e322aabf8cd43bcc096dc33641d3e05fa014a6" + }, + "usd_path": "batch39/D00964 Wooden Lid Storage Jar/IsaacSim_assets_6a840ca7a08484187f5d5539/IsaacSim_asset_6a840ca7a08484187f5d5539.usd", + "usd_sha256": "bfe5ad11bb34f5c73bf7e18dd2558f97f4e8268aed114331e6deded5b7658eb1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": { "fix_base": false @@ -130,24 +156,58 @@ "up_axis": "Z", "bounds_m": [ 0.15466000139713287, - 0.09927500115009025, - 0.07782699912786484 - ] + 0.07782699912786484, + 0.09927500115009025 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bfe5ad11bb34f5c73bf7e18dd2558f97f4e8268aed114331e6deded5b7658eb1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.22 + "value_kg": 0.2200000025331974, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bfe5ad11bb34f5c73bf7e18dd2558f97f4e8268aed114331e6deded5b7658eb1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2200000025331974, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 31, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bfe5ad11bb34f5c73bf7e18dd2558f97f4e8268aed114331e6deded5b7658eb1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 31, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bfe5ad11bb34f5c73bf7e18dd2558f97f4e8268aed114331e6deded5b7658eb1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch39/D00970 Wooden Platter/IsaacSim_assets_6a8baf833febd2fb7508d0c8/physics_D00970.json b/batch39/D00970 Wooden Platter/IsaacSim_assets_6a8baf833febd2fb7508d0c8/physics_D00970.json index 51a2620fd6010ef3529935e484256d0cfdf84eeb..d098de7b4993e978554560a3f282e37309256b6c 100644 --- a/batch39/D00970 Wooden Platter/IsaacSim_assets_6a8baf833febd2fb7508d0c8/physics_D00970.json +++ b/batch39/D00970 Wooden Platter/IsaacSim_assets_6a8baf833febd2fb7508d0c8/physics_D00970.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.179407998919487, - 0.03851606696844101, - 0.1807360053062439 - ], "min": [ -0.1806650012731552, - 0.0017860694788396358, - -0.1791200041770935 + -0.1807360053062439, + 0.0017860694788396358 + ], + "max": [ + 0.179407998919487, + 0.1791200041770935, + 0.03851606696844101 ], "size": [ 0.3600730001926422, - 0.036729997489601374, - 0.3598560094833374 - ] + 0.3598560094833374, + 0.036729997489601374 + ], + "units": "m" }, "description": "Wooden Platter", "name": "part_00", "object_type": "rigid_bodies", - "total_mass": 0.4000000059604645 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00970", "parts": [ { "bounds": { - "center": [ - -0.0006285011768341064, - 0.020151068223640323, - 0.0008080005645751953 + "min": [ + -0.1806650012731552, + -0.1807360053062439, + 0.0017860694788396358 ], "max": [ 0.179407998919487, - 0.03851606696844101, - 0.1807360053062439 + 0.1791200041770935, + 0.03851606696844101 ], - "min": [ - -0.1806650012731552, - 0.0017860694788396358, - -0.1791200041770935 - ] + "size": [ + 0.3600730001926422, + 0.3598560094833374, + 0.036729997489601374 + ], + "units": "m" }, "center_of_mass": [ -0.0002839495427906513, @@ -65,10 +71,27 @@ "source": { "object_name": "World", "part_name": "part_00" - } + }, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ba02c0eac0f130d2e435296dea24c54b80b9a06a9093edaa0fb8a62a3537c46a" + }, + "usd_path": "batch39/D00970 Wooden Platter/IsaacSim_assets_6a8baf833febd2fb7508d0c8/IsaacSim_asset_6a8baf833febd2fb7508d0c8.usd", + "usd_sha256": "4cc720c5546e7d4a9aec77c8050225afbad72e633243b99af8eb25f4ade1e5cf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -85,24 +108,58 @@ "up_axis": "Z", "bounds_m": [ 0.3600730001926422, - 0.036729997489601374, - 0.3598560094833374 - ] + 0.3598560094833374, + 0.036729997489601374 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4cc720c5546e7d4a9aec77c8050225afbad72e633243b99af8eb25f4ade1e5cf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4000000059604645 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4cc720c5546e7d4a9aec77c8050225afbad72e633243b99af8eb25f4ade1e5cf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4cc720c5546e7d4a9aec77c8050225afbad72e633243b99af8eb25f4ade1e5cf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4cc720c5546e7d4a9aec77c8050225afbad72e633243b99af8eb25f4ade1e5cf", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00008 Bamboo Container/IsaacSim_assets_69f80eb0d09344200f0594bc/physics_69f80eb0d09344200f0594bc.json b/batch4/D00008 Bamboo Container/IsaacSim_assets_69f80eb0d09344200f0594bc/physics_69f80eb0d09344200f0594bc.json index 71d127266826c80740bb41a0ab0bbe2ae4e930ba..ce088050cc99d56cabd034c5449e92bd5aa2e65c 100644 --- a/batch4/D00008 Bamboo Container/IsaacSim_assets_69f80eb0d09344200f0594bc/physics_69f80eb0d09344200f0594bc.json +++ b/batch4/D00008 Bamboo Container/IsaacSim_assets_69f80eb0d09344200f0594bc/physics_69f80eb0d09344200f0594bc.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05637599900364876, - 0.05486400052905083, - 0.12655100226402283 - ], "min": [ - -0.07025499641895294, - -0.04840800166130066, - 3.000000106112566e-06 + -0.048983000218868256, + -0.045694999396800995, + -3.999999989900971e-06 + ], + "max": [ + 0.0579570010304451, + 0.04669300094246864, + 0.12543299794197083 ], "size": [ - 0.1266309954226017, - 0.10327200219035149, - 0.12654800226391671 - ] + 0.10694000124931335, + 0.09238800033926964, + 0.12543699794196073 + ], + "units": "m" }, "description": "A cylindrical bamboo canister with a flat round lid, small rounded knob, and a matching wooden spoon protruding through a slot. It has a light natural wood finish with visible vertical grain.", "name": "D00008 Bamboo Container", "object_type": "rigid_bodies", - "total_mass": 0.34 + "total_mass": 0.3400000035762787, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00008", "parts": [ { "bounds": { - "center": [ - 0.0007961945059461565, - -0.0011774212618152313, - 0.056886175123987755 + "min": [ + -0.048983000218868256, + -0.045694999396800995, + -3.999999989900971e-06 ], "max": [ - 0.05637599900364876, - 0.05486400052905083, - 0.12655100226402283 + 0.0579570010304451, + 0.04669300094246864, + 0.12543299794197083 ], - "min": [ - -0.07025499641895294, - -0.04840800166130066, - 3.000000106112566e-06 - ] + "size": [ + 0.10694000124931335, + 0.09238800033926964, + 0.12543699794196073 + ], + "units": "m" }, "center_of_mass": [ 0.00033974081246631113, @@ -59,7 +65,7 @@ 0.0005198290614566036, 0.0005466158777530161 ], - "mass": 0.34, + "mass": 0.3400000035762787, "material": "wood", "name": "D00008 Bamboo Container", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00008 Bamboo Container", "part_name": "D00008 Bamboo Container" }, - "volume": 0.0007513927795084987 + "volume": 0.0007513927795084987, + "source_prim_path": "/World/part_00_wood", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d75667be2a926d4a31a05eff5f0c00c2535d75ee9f14ba65772366e7f0a5e974" + }, + "usd_path": "batch4/D00008 Bamboo Container/IsaacSim_assets_69f80eb0d09344200f0594bc/IsaacSim_asset_69f80eb0d09344200f0594bc.usd", + "usd_sha256": "66ef07e9abae609f26bc33f6263eea3c435d78402e16549bab9f26e5b5ab165a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1266309954226017, - 0.10327200219035149, - 0.12654800226391671 - ] + 0.10694000124931335, + 0.09238800033926964, + 0.12543699794196073 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "66ef07e9abae609f26bc33f6263eea3c435d78402e16549bab9f26e5b5ab165a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.34 + "value_kg": 0.3400000035762787, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "66ef07e9abae609f26bc33f6263eea3c435d78402e16549bab9f26e5b5ab165a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3400000035762787, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 56, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "66ef07e9abae609f26bc33f6263eea3c435d78402e16549bab9f26e5b5ab165a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 56, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "66ef07e9abae609f26bc33f6263eea3c435d78402e16549bab9f26e5b5ab165a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "66ef07e9abae609f26bc33f6263eea3c435d78402e16549bab9f26e5b5ab165a", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:10.328910+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "9e15a744612a1882d946ec965450c6f282ca8cb685f2d14349b5ee550cbe4a62", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00010 Bamboo Steamer/IsaacSim_assets_69f1ec8e59057a9310585dfd/physics_69f1ec8e59057a9310585dfd.json b/batch4/D00010 Bamboo Steamer/IsaacSim_assets_69f1ec8e59057a9310585dfd/physics_69f1ec8e59057a9310585dfd.json index 3a394ae316716914f6b30138b31f4c45a520f5cf..5fe797f0b718173c0817075a1b3b3cab7a9f09e7 100644 --- a/batch4/D00010 Bamboo Steamer/IsaacSim_assets_69f1ec8e59057a9310585dfd/physics_69f1ec8e59057a9310585dfd.json +++ b/batch4/D00010 Bamboo Steamer/IsaacSim_assets_69f1ec8e59057a9310585dfd/physics_69f1ec8e59057a9310585dfd.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08688800036907196, - 0.08301600068807602, - 0.12725399434566498 - ], "min": [ - -0.09190099686384201, - -0.07955099642276764, - 1.1000000085914508e-05 + -0.09643600136041641, + -0.09742700308561325, + 4.999999873689376e-06 + ], + "max": [ + 0.10080800205469131, + 0.09726399928331375, + 0.10117299854755402 ], "size": [ - 0.17878899723291397, - 0.16256699711084366, - 0.12724299434557906 - ] + 0.19724400341510773, + 0.194691002368927, + 0.10116799854768033 + ], + "units": "m" }, "description": "A light tan bamboo steamer basket with stacked cylindrical bands, a woven lid, and a small loop handle. The surface shows natural bamboo grain, braided strips, and darker stitched/worn edge details.", "name": "D00010 Bamboo Steamer", "object_type": "rigid_bodies", - "total_mass": 0.55 + "total_mass": 0.550000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00010", "parts": [ { "bounds": { - "center": [ - 0.0009829334292591934, - -7.298275792118782e-05, - 0.06723152958019404 + "min": [ + -0.09643600136041641, + -0.09742700308561325, + 4.999999873689376e-06 ], "max": [ - 0.08688800036907196, - 0.08301600068807602, - 0.12725399434566498 + 0.10080800205469131, + 0.09726399928331375, + 0.10117299854755402 ], - "min": [ - -0.09190099686384201, - -0.07955099642276764, - 1.1000000085914508e-05 - ] + "size": [ + 0.19724400341510773, + 0.194691002368927, + 0.10116799854768033 + ], + "units": "m" }, "center_of_mass": [ 0.002105599751806153, @@ -59,7 +65,7 @@ 0.0016949468385268694, 0.002561406042878477 ], - "mass": 0.55, + "mass": 0.550000011920929, "material": "wood", "name": "D00010 Bamboo Steamer", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00010 Bamboo Steamer", "part_name": "D00010 Bamboo Steamer" }, - "volume": 0.002777759991253496 + "volume": 0.002777759991253496, + "source_prim_path": "/World/part_00_wood", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d77f56d238f2178663361896cea408bd8233846c9c37f252c8aebbd7899e96c2" + }, + "usd_path": "batch4/D00010 Bamboo Steamer/IsaacSim_assets_69f1ec8e59057a9310585dfd/IsaacSim_asset_69f1ec8e59057a9310585dfd.usd", + "usd_sha256": "028aa56d84136716930e79655440bbc4d293ceccc705ae83aaf8a020a38c0ea3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.17878899723291397, - 0.16256699711084366, - 0.12724299434557906 - ] + 0.19724400341510773, + 0.194691002368927, + 0.10116799854768033 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "028aa56d84136716930e79655440bbc4d293ceccc705ae83aaf8a020a38c0ea3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.55 + "value_kg": 0.550000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "028aa56d84136716930e79655440bbc4d293ceccc705ae83aaf8a020a38c0ea3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.550000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 96, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "028aa56d84136716930e79655440bbc4d293ceccc705ae83aaf8a020a38c0ea3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 96, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "028aa56d84136716930e79655440bbc4d293ceccc705ae83aaf8a020a38c0ea3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "028aa56d84136716930e79655440bbc4d293ceccc705ae83aaf8a020a38c0ea3", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:41.564636+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "0d724f43e2a177f6bec9926dc2f052d1dad59f5394635d419ae3cb49e4cf9e21", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00016 Basket/IsaacSim_assets_69f80eb7d09344200f0595e3/physics_69f80eb7d09344200f0595e3.json b/batch4/D00016 Basket/IsaacSim_assets_69f80eb7d09344200f0595e3/physics_69f80eb7d09344200f0595e3.json index 878d3748f97ad112012100f1ba8e38a743873041..99de41aee190ed54bb4be684a707ef99c65e2e27 100644 --- a/batch4/D00016 Basket/IsaacSim_assets_69f80eb7d09344200f0595e3/physics_69f80eb7d09344200f0595e3.json +++ b/batch4/D00016 Basket/IsaacSim_assets_69f80eb7d09344200f0595e3/physics_69f80eb7d09344200f0595e3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.24108611047267914, - 0.24665673077106476, - 0.1684081256389618 - ], "min": [ - -0.23580288887023926, - 6.726122592226602e-06, - -0.1707528680562973 + -0.22885799407958984, + -0.1594890058040619, + -2.099999983329326e-05 + ], + "max": [ + 0.22892500460147858, + 0.162648007273674, + 0.24102699756622314 ], "size": [ - 0.4768889993429184, - 0.24665000464847253, - 0.3391609936952591 - ] + 0.4577829986810684, + 0.3221370130777359, + 0.24104799756605644 + ], + "units": "m" }, "description": "A rectangular woven wicker basket with two loop handles and a light-colored fabric lining.", "name": "D00016 Basket", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00016", "parts": [ { "bounds": { - "center": [ - 0.0010201481915068451, - 0.07315718668426234, - -0.0005981657262002936 + "min": [ + -0.22885799407958984, + -0.1594890058040619, + -2.099999983329326e-05 ], "max": [ - 0.24108611047267914, - 0.24665673077106476, - 0.1684081256389618 + 0.22892500460147858, + 0.162648007273674, + 0.24102699756622314 ], - "min": [ - -0.23580288887023926, - 6.726122592226602e-06, - -0.1707528680562973 - ] + "size": [ + 0.4577829986810684, + 0.3221370130777359, + 0.24104799756605644 + ], + "units": "m" }, "center_of_mass": [ 0.00024921398933049017, @@ -59,7 +65,7 @@ 0.015118840382851209, 0.017717781802856124 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "wood", "name": "D00016 Basket", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00016 Basket", "part_name": "D00016 Basket" }, - "volume": 0.02811093038873641 + "volume": 0.02811093038873641, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e398b5e10c183b2122b60f8ea6121403105118de2d0021ad76a148716d670c3c" + }, + "usd_path": "batch4/D00016 Basket/IsaacSim_assets_69f80eb7d09344200f0595e3/IsaacSim_asset_69f80eb7d09344200f0595e3.usd", + "usd_sha256": "ed9b94e8859a1a40991071bb329167847d6220bbb9907d225a719550bbd2c80d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.4768889993429184, - 0.24665000464847253, - 0.3391609936952591 - ] + 0.4577829986810684, + 0.3221370130777359, + 0.24104799756605644 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ed9b94e8859a1a40991071bb329167847d6220bbb9907d225a719550bbd2c80d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ed9b94e8859a1a40991071bb329167847d6220bbb9907d225a719550bbd2c80d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 228, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ed9b94e8859a1a40991071bb329167847d6220bbb9907d225a719550bbd2c80d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 228, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ed9b94e8859a1a40991071bb329167847d6220bbb9907d225a719550bbd2c80d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "ed9b94e8859a1a40991071bb329167847d6220bbb9907d225a719550bbd2c80d", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:10.681297+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "08f4fcbd4deaf3d49b6b91fe40026e3047ce2eb2faf86cc236f1e60a69c27de3", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00034 Block/IsaacSim_assets_69f812cbd09344200f08a82f/physics_69f812cbd09344200f08a82f.json b/batch4/D00034 Block/IsaacSim_assets_69f812cbd09344200f08a82f/physics_69f812cbd09344200f08a82f.json index fd8b13f4c86218362567a74e1cb5be27f24a9ea0..9d2557c995f165e9bf30378aa46c30991b81db82 100644 --- a/batch4/D00034 Block/IsaacSim_assets_69f812cbd09344200f08a82f/physics_69f812cbd09344200f08a82f.json +++ b/batch4/D00034 Block/IsaacSim_assets_69f812cbd09344200f08a82f/physics_69f812cbd09344200f08a82f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.019794180989265442, - 0.0412709005177021, - 0.01938093639910221 - ], "min": [ - -0.019810818135738373, - 8.997095051199722e-07, - -0.019695064052939415 + -0.024880999699234962, + -0.025004999712109566, + -3.199999991920777e-05 + ], + "max": [ + 0.024862000718712807, + 0.02500299923121929, + 0.05262500047683716 ], "size": [ - 0.039604999125003815, - 0.04127000080819698, - 0.039076000452041626 - ] + 0.04974300041794777, + 0.05000799894332886, + 0.052657000476756366 + ], + "units": "m" }, "description": "A solid, light-colored wooden cube with slightly rounded edges and visible wood grain.", "name": "D00034 Wooden Toy Block", "object_type": "rigid_bodies", - "total_mass": 0.65 + "total_mass": 0.6499999761581421, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00034", "parts": [ { "bounds": { - "center": [ - -1.059537566164606e-05, - 0.02069966654696853, - -0.00015697019702425814 + "min": [ + -0.024880999699234962, + -0.025004999712109566, + -3.199999991920777e-05 ], "max": [ - 0.019794180989265442, - 0.0412709005177021, - 0.01938093639910221 + 0.024862000718712807, + 0.02500299923121929, + 0.05262500047683716 ], - "min": [ - -0.019810818135738373, - 8.997095051199722e-07, - -0.019695064052939415 - ] + "size": [ + 0.04974300041794777, + 0.05000799894332886, + 0.052657000476756366 + ], + "units": "m" }, "center_of_mass": [ -5.6148723787515645e-06, @@ -59,7 +65,7 @@ 0.0002804107228209166, 0.0002818799255863958 ], - "mass": 0.65, + "mass": 0.6499999761581421, "material": "wood", "name": "D00034 Block", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00034 Block", "part_name": "D00034 Block" }, - "volume": 0.00012910758608743436 + "volume": 0.00012910758608743436, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "214f49165c36f546aafa11b3a7b1819444be231ee76705e2a55b19619349fb2c" + }, + "usd_path": "batch4/D00034 Block/IsaacSim_assets_69f812cbd09344200f08a82f/IsaacSim_asset_69f812cbd09344200f08a82f.usd", + "usd_sha256": "8eb7cdb78bc2d0a76316dcca100a27f8e2f631b27d950fa9f7da83b36254ffc5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.039604999125003815, - 0.04127000080819698, - 0.039076000452041626 - ] + 0.04974300041794777, + 0.05000799894332886, + 0.052657000476756366 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8eb7cdb78bc2d0a76316dcca100a27f8e2f631b27d950fa9f7da83b36254ffc5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.65 + "value_kg": 0.6499999761581421, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8eb7cdb78bc2d0a76316dcca100a27f8e2f631b27d950fa9f7da83b36254ffc5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6499999761581421, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8eb7cdb78bc2d0a76316dcca100a27f8e2f631b27d950fa9f7da83b36254ffc5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8eb7cdb78bc2d0a76316dcca100a27f8e2f631b27d950fa9f7da83b36254ffc5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "8eb7cdb78bc2d0a76316dcca100a27f8e2f631b27d950fa9f7da83b36254ffc5", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:42.871556+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "a4a4d5e9e9cbc041a819aaa47962600dd636f918911874196c0cbcbb9bcaf914", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00035 Blue Bottle/IsaacSim_assets_69f1f15b59057a931058ca47/physics_69f1f15b59057a931058ca47.json b/batch4/D00035 Blue Bottle/IsaacSim_assets_69f1f15b59057a931058ca47/physics_69f1f15b59057a931058ca47.json index 2696341aff696fb6acb1a97cbdc3631a606b057a..eeadc47653c5e6f614e93b82f1ad21209b0e94cb 100644 --- a/batch4/D00035 Blue Bottle/IsaacSim_assets_69f1f15b59057a931058ca47/physics_69f1f15b59057a931058ca47.json +++ b/batch4/D00035 Blue Bottle/IsaacSim_assets_69f1f15b59057a931058ca47/physics_69f1f15b59057a931058ca47.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05716508626937866, - 0.28177592158317566, - 0.05240768566727638 - ], "min": [ - -0.06111891195178032, - -1.0067145922221243e-05, - -0.0539243146777153 + -0.05674700066447258, + -0.04951300099492073, + -5.500000042957254e-05 + ], + "max": [ + 0.05613100156188011, + 0.053665000945329666, + 0.27182498574256897 ], "size": [ - 0.11828399822115898, - 0.2817859887290979, - 0.10633200034499168 - ] + 0.11287800222635269, + 0.1031780019402504, + 0.27187998574299854 + ], + "units": "m" }, "description": "A matte blue plastic spray bottle with a white and blue trigger mechanism and a large white rectangular label.", "name": "D00035 Blue Bottle", "object_type": "rigid_bodies", - "total_mass": 0.85 + "total_mass": 0.8500000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00035", "parts": [ { "bounds": { - "center": [ - 0.001142132363770954, - 0.13116514382088582, - -0.0007516943343587555 + "min": [ + -0.05674700066447258, + -0.04951300099492073, + -5.500000042957254e-05 ], "max": [ - 0.05716508626937866, - 0.28177592158317566, - 0.05240768566727638 + 0.05613100156188011, + 0.053665000945329666, + 0.27182498574256897 ], - "min": [ - -0.06111891195178032, - -1.0067145922221243e-05, - -0.0539243146777153 - ] + "size": [ + 0.11287800222635269, + 0.1031780019402504, + 0.27187998574299854 + ], + "units": "m" }, "center_of_mass": [ 0.002010728128357303, @@ -59,7 +65,7 @@ 0.004740286365372169, 0.004865699797836916 ], - "mass": 0.85, + "mass": 0.8500000238418579, "material": "plastic", "name": "D00035 Blue Bottle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00035 Blue Bottle", "part_name": "D00035 Blue Bottle" }, - "volume": 0.0019727090195505747 + "volume": 0.0019727090195505747, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c05abaf282e8a350296c8cd022f35173fb2ee36f826cbd49c9982fc367a3dc05" + }, + "usd_path": "batch4/D00035 Blue Bottle/IsaacSim_assets_69f1f15b59057a931058ca47/IsaacSim_asset_69f1f15b59057a931058ca47.usd", + "usd_sha256": "806245622f3232b027fe18e76c6db9a2a0d76ff1cb606f145d9fa6fd4340c065", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.11828399822115898, - 0.2817859887290979, - 0.10633200034499168 - ] + 0.11287800222635269, + 0.1031780019402504, + 0.27187998574299854 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "806245622f3232b027fe18e76c6db9a2a0d76ff1cb606f145d9fa6fd4340c065", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.85 + "value_kg": 0.8500000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "806245622f3232b027fe18e76c6db9a2a0d76ff1cb606f145d9fa6fd4340c065", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8500000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "806245622f3232b027fe18e76c6db9a2a0d76ff1cb606f145d9fa6fd4340c065", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "806245622f3232b027fe18e76c6db9a2a0d76ff1cb606f145d9fa6fd4340c065", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "806245622f3232b027fe18e76c6db9a2a0d76ff1cb606f145d9fa6fd4340c065", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:41.866369+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "6ca642d18e5349eacff180c429ad321a739ae4d744806b849c704606074a592e", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00315 Fork Spatula/IsaacSim_assets_69f2d20cbee65dffd7a3fe7e/physics_69f2d20cbee65dffd7a3fe7e.json b/batch4/D00315 Fork Spatula/IsaacSim_assets_69f2d20cbee65dffd7a3fe7e/physics_69f2d20cbee65dffd7a3fe7e.json index 624c973327cd612152ddac9d6f6758a43031284d..5486898b8008e0f98a9f1cbbc9287f10752f15da 100644 --- a/batch4/D00315 Fork Spatula/IsaacSim_assets_69f2d20cbee65dffd7a3fe7e/physics_69f2d20cbee65dffd7a3fe7e.json +++ b/batch4/D00315 Fork Spatula/IsaacSim_assets_69f2d20cbee65dffd7a3fe7e/physics_69f2d20cbee65dffd7a3fe7e.json @@ -17,52 +17,103 @@ "rest_pose_state": "unknown", "score": 0.98, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_stainless_steel_fork_head_and_tang__varnished_wooden_handle_grip", + "path": "/World/textured_mesh_69f2d20cbee65dffd7a3fe7e/Joints/joint_stainless_steel_fork_head_and_tang__varnished_wooden_handle_grip", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2d20cbee65dffd7a3fe7e/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_69f2d20cbee65dffd7a3fe7e/part_1" + ], + "authored_usd": { + "id": "joint_stainless_steel_fork_head_and_tang__varnished_wooden_handle_grip", + "source_prim_path": "/World/textured_mesh_69f2d20cbee65dffd7a3fe7e/Joints/joint_stainless_steel_fork_head_and_tang__varnished_wooden_handle_grip", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2d20cbee65dffd7a3fe7e/part_0" + ], + "body1": [ + "/World/textured_mesh_69f2d20cbee65dffd7a3fe7e/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.044544, - 0.232233, - 0.04363 - ], "min": [ - -0.044601, - -0.161116, - -3.3e-05 + -0.044613998383283615, + -0.16113300621509552, + -5.0999999075429514e-05 + ], + "max": [ + 0.04453499987721443, + 0.2322240024805069, + 0.0436290018260479 ], "size": [ - 0.089145, - 0.393349, - 0.043663 - ] + 0.08914899826049805, + 0.3933570086956024, + 0.04368000182512333 + ], + "units": "m" }, "description": "Rigid serving fork with a polished stainless-steel head fixed into a varnished wooden handle. It is modeled as a single non-articulated utensil with a fixed handle-to-tang connection.", "name": "stainless steel fork head and tang", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.19999999552965164, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00315", "parts": [ { "bounds": { - "center": [ - -2.9e-05, - -0.008095, - 0.021798 + "min": [ + -0.044613998383283615, + -0.16113300621509552, + -5.0999999075429514e-05 ], "max": [ - 0.044544, - 0.144925, - 0.04363 + 0.04453499987721443, + 0.14494000375270844, + 0.0436290018260479 ], - "min": [ - -0.044601, - -0.161116, - -3.3e-05 - ] + "size": [ + 0.08914899826049805, + 0.30607300996780396, + 0.04368000182512333 + ], + "units": "m" }, "center_of_mass": [ -3.769293055029946e-05, @@ -77,7 +128,7 @@ 0.0007627057098099563, 0.0008138048992217449 ], - "mass": 0.13, + "mass": 0.12999999523162842, "material": "brushed_stainless_steel", "name": "stainless steel fork head and tang", "physics_type": "rigid", @@ -85,25 +136,28 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 5.73334587224054e-05 + "volume": 5.73334587224054e-05, + "source_prim_path": "/World/textured_mesh_69f2d20cbee65dffd7a3fe7e/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -3.7e-05, - 0.144145, - 0.013723 + "min": [ + -0.019207000732421875, + 0.056019000709056854, + 0.0008350000134669244 ], "max": [ - 0.019138, - 0.232233, - 0.026604 + 0.019139999523758888, + 0.2322240024805069, + 0.026607999578118324 ], - "min": [ - -0.019212, - 0.056056, - 0.000843 - ] + "size": [ + 0.03834700025618076, + 0.17620500177145004, + 0.0257729995646514 + ], + "units": "m" }, "center_of_mass": [ -8.133231917034854e-05, @@ -118,7 +172,7 @@ 0.00016261078623697883, 0.00016583421416329104 ], - "mass": 0.07, + "mass": 0.07000000029802322, "material": "varnished_hardwood", "name": "varnished wooden handle grip", "physics_type": "rigid", @@ -126,10 +180,27 @@ "object_name": "part_1", "part_name": "part_1" }, - "volume": 0.00011909597456427529 + "volume": 0.00011909597456427529, + "source_prim_path": "/World/textured_mesh_69f2d20cbee65dffd7a3fe7e/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4c3994078ee70a64d8420612fcb3c4252024f612ff1672728f3ad430163d2038" + }, + "usd_path": "batch4/D00315 Fork Spatula/IsaacSim_assets_69f2d20cbee65dffd7a3fe7e/IsaacSim_asset_69f2d20cbee65dffd7a3fe7e.usd", + "usd_sha256": "777ceda4ec32760f2252ffd8d21ded54c7f9f4fb4f3eb376fb36fad1003a06ef", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -145,25 +216,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.089145, - 0.393349, - 0.043663 - ] + 0.08914899826049805, + 0.3933570086956024, + 0.04368000182512333 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "777ceda4ec32760f2252ffd8d21ded54c7f9f4fb4f3eb376fb36fad1003a06ef", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.19999999552965164, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "777ceda4ec32760f2252ffd8d21ded54c7f9f4fb4f3eb376fb36fad1003a06ef", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.19999999552965164, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 28, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "777ceda4ec32760f2252ffd8d21ded54c7f9f4fb4f3eb376fb36fad1003a06ef", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 28, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "777ceda4ec32760f2252ffd8d21ded54c7f9f4fb4f3eb376fb36fad1003a06ef", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00316 Fork Spoon/IsaacSim_assets_69f2d20fbee65dffd7a3feae/physics_69f2d20fbee65dffd7a3feae.json b/batch4/D00316 Fork Spoon/IsaacSim_assets_69f2d20fbee65dffd7a3feae/physics_69f2d20fbee65dffd7a3feae.json index 873d0155430ae109aa78c94313d938c587ddeef3..f5b826cdbdc78a96efb339a3182f157bc0250d4d 100644 --- a/batch4/D00316 Fork Spoon/IsaacSim_assets_69f2d20fbee65dffd7a3feae/physics_69f2d20fbee65dffd7a3feae.json +++ b/batch4/D00316 Fork Spoon/IsaacSim_assets_69f2d20fbee65dffd7a3feae/physics_69f2d20fbee65dffd7a3feae.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12686499953269958, - 0.023082999512553215, - 0.012373999692499638 - ], "min": [ - -0.051895998418331146, - -0.022957999259233475, - -1.4999999621068127e-05 + -0.10796999931335449, + -0.020921999588608742, + -6.299999949987978e-05 + ], + "max": [ + 0.0683789998292923, + 0.02100599929690361, + 0.01558000035583973 ], "size": [ - 0.17876099795103073, - 0.04604099877178669, - 0.012388999692120706 - ] + 0.1763489991426468, + 0.04192799888551235, + 0.01564300035533961 + ], + "units": "m" }, "description": "A spoon-fork hybrid utensil with a shallow oval bowl, short fork tines, and a slender curved handle. The shown variants include polished or brushed stainless steel and natural wood finishes.", "name": "D00316 Fork Spoon", "object_type": "rigid_bodies", - "total_mass": 0.045 + "total_mass": 0.04500000178813934, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00316", "parts": [ { "bounds": { - "center": [ - 0.004703644641958138, - 5.798844232853119e-05, - 0.004324726254325758 + "min": [ + -0.10796999931335449, + -0.020921999588608742, + -6.299999949987978e-05 ], "max": [ - 0.12686499953269958, - 0.023082999512553215, - 0.012373999692499638 + 0.0683789998292923, + 0.02100599929690361, + 0.01558000035583973 ], - "min": [ - -0.051895998418331146, - -0.022957999259233475, - -1.4999999621068127e-05 - ] + "size": [ + 0.1763489991426468, + 0.04192799888551235, + 0.01564300035533961 + ], + "units": "m" }, "center_of_mass": [ -0.002711678019957575, @@ -59,7 +65,7 @@ 7.892198780896945e-05, 8.171538539370465e-05 ], - "mass": 0.045, + "mass": 0.04500000178813934, "material": "stainless_steel", "name": "D00316 Fork Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00316 Fork Spoon", "part_name": "D00316 Fork Spoon" }, - "volume": 4.286223020285779e-05 + "volume": 4.286223020285779e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f142245bbdef73f907ae2d2b0b5f3b5d41753b7c78be6fb9b50a6c9760ce88dc" + }, + "usd_path": "batch4/D00316 Fork Spoon/IsaacSim_assets_69f2d20fbee65dffd7a3feae/IsaacSim_asset_69f2d20fbee65dffd7a3feae.usd", + "usd_sha256": "596f160b7d96b6358990c404b6a9cfd87cf3258c1b60456bac6b4b3286ec01db", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.17876099795103073, - 0.04604099877178669, - 0.012388999692120706 - ] + 0.1763489991426468, + 0.04192799888551235, + 0.01564300035533961 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "596f160b7d96b6358990c404b6a9cfd87cf3258c1b60456bac6b4b3286ec01db", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.045 + "value_kg": 0.04500000178813934, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "596f160b7d96b6358990c404b6a9cfd87cf3258c1b60456bac6b4b3286ec01db", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04500000178813934, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "596f160b7d96b6358990c404b6a9cfd87cf3258c1b60456bac6b4b3286ec01db", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "596f160b7d96b6358990c404b6a9cfd87cf3258c1b60456bac6b4b3286ec01db", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00329 Frying Pan Pot/IsaacSim_assets_69f5b5ed431507ff7cec70ca/physics_69f5b5ed431507ff7cec70ca.json b/batch4/D00329 Frying Pan Pot/IsaacSim_assets_69f5b5ed431507ff7cec70ca/physics_69f5b5ed431507ff7cec70ca.json index 1db526efa38368bb2e2a14f5307ba632c765f6e9..db1535c635c1e63764cce7555b479ef6e4105525 100644 --- a/batch4/D00329 Frying Pan Pot/IsaacSim_assets_69f5b5ed431507ff7cec70ca/physics_69f5b5ed431507ff7cec70ca.json +++ b/batch4/D00329 Frying Pan Pot/IsaacSim_assets_69f5b5ed431507ff7cec70ca/physics_69f5b5ed431507ff7cec70ca.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1881529986858368, - 0.09549099951982498, - 0.14105699956417084 - ], "min": [ - -0.12027999758720398, - -0.12888599932193756, - -3.000000106112566e-06 + -0.13873399794101715, + -0.12056499719619751, + -0.0002610000083222985 + ], + "max": [ + 0.23294800519943237, + 0.12023299932479858, + 0.062098000198602676 ], "size": [ - 0.30843299627304077, - 0.22437699884176254, - 0.14105999956427695 - ] + 0.3716820031404495, + 0.2407979965209961, + 0.062359000206924975 + ], + "units": "m" }, "description": "A shallow gray nonstick-coated metal frying pan with a rounded rim, riveted side bracket, and a black molded plastic handle with a hanging hole.", "name": "D00329 Nonstick Frying Pan", "object_type": "rigid_bodies", - "total_mass": 0.95 + "total_mass": 0.949999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00329", "parts": [ { "bounds": { - "center": [ - -0.0006542382104019469, - 0.0003657999324974841, - 0.040745206867311 + "min": [ + -0.13873399794101715, + -0.12056499719619751, + -0.0002610000083222985 ], "max": [ - 0.1881529986858368, - 0.09549099951982498, - 0.14105699956417084 + 0.23294800519943237, + 0.12023299932479858, + 0.062098000198602676 ], - "min": [ - -0.12027999758720398, - -0.12888599932193756, - -3.000000106112566e-06 - ] + "size": [ + 0.3716820031404495, + 0.2407979965209961, + 0.062359000206924975 + ], + "units": "m" }, "center_of_mass": [ 0.011559467462285023, @@ -59,7 +65,7 @@ 0.005928006216500972, 0.008387203674369351 ], - "mass": 0.95, + "mass": 0.949999988079071, "material": "nonstick_coated_aluminum", "name": "D00329 Frying Pan Pot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00329 Frying Pan Pot", "part_name": "D00329 Frying Pan Pot" }, - "volume": 0.002386555972770306 + "volume": 0.002386555972770306, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b56d67759089da379ac23686b449b51a462782481ddc044d32c45c84853630e2" + }, + "usd_path": "batch4/D00329 Frying Pan Pot/IsaacSim_assets_69f5b5ed431507ff7cec70ca/IsaacSim_asset_69f5b5ed431507ff7cec70ca.usd", + "usd_sha256": "d0cc5001b6ac8a794f750eb4b0dbfb0f7ab9c80c15392574d74972f7025c37bf", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.30843299627304077, - 0.22437699884176254, - 0.14105999956427695 - ] + 0.3716820031404495, + 0.2407979965209961, + 0.062359000206924975 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d0cc5001b6ac8a794f750eb4b0dbfb0f7ab9c80c15392574d74972f7025c37bf", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.95 + "value_kg": 0.949999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d0cc5001b6ac8a794f750eb4b0dbfb0f7ab9c80c15392574d74972f7025c37bf", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.949999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 28, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d0cc5001b6ac8a794f750eb4b0dbfb0f7ab9c80c15392574d74972f7025c37bf", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 28, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d0cc5001b6ac8a794f750eb4b0dbfb0f7ab9c80c15392574d74972f7025c37bf", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00337 Gathering Bowl/IsaacSim_assets_69f5b5ff431507ff7cec72f5/physics_69f5b5ff431507ff7cec72f5.json b/batch4/D00337 Gathering Bowl/IsaacSim_assets_69f5b5ff431507ff7cec72f5/physics_69f5b5ff431507ff7cec72f5.json index 5d965a69949d9130c7837330e85538934e39625c..39a39aaae065a806c3cff0821e5564ba17f5b080 100644 --- a/batch4/D00337 Gathering Bowl/IsaacSim_assets_69f5b5ff431507ff7cec72f5/physics_69f5b5ff431507ff7cec72f5.json +++ b/batch4/D00337 Gathering Bowl/IsaacSim_assets_69f5b5ff431507ff7cec72f5/physics_69f5b5ff431507ff7cec72f5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09306400269269943, - 0.09344100207090378, - 0.0974460020661354 - ], "min": [ - -0.09410800039768219, - -0.0935320034623146, - -0.00010299999848939478 + -0.11169800162315369, + -0.11176999658346176, + -8.099999831756577e-05 + ], + "max": [ + 0.11266499757766724, + 0.11262399703264236, + 0.11813200265169144 ], "size": [ - 0.18717200309038162, - 0.18697300553321838, - 0.0975490020646248 - ] + 0.22436299920082092, + 0.22439399361610413, + 0.118213002650009 + ], + "units": "m" }, "description": "A white glazed ceramic bowl with a rounded hemispherical body, thick rolled rim, and small raised foot ring. The surface has subtle gray marbling, speckling, and handmade texture variations.", "name": "D00337 Gathering Bowl", "object_type": "rigid_bodies", - "total_mass": 0.55 + "total_mass": 0.550000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00337", "parts": [ { "bounds": { - "center": [ - -0.0005570166558248278, - 4.372362329465207e-05, - 0.04959057473400102 + "min": [ + -0.11169800162315369, + -0.11176999658346176, + -8.099999831756577e-05 ], "max": [ - 0.09306400269269943, - 0.09344100207090378, - 0.0974460020661354 + 0.11266499757766724, + 0.11262399703264236, + 0.11813200265169144 ], - "min": [ - -0.09410800039768219, - -0.0935320034623146, - -0.00010299999848939478 - ] + "size": [ + 0.22436299920082092, + 0.22439399361610413, + 0.118213002650009 + ], + "units": "m" }, "center_of_mass": [ -1.0824649496916192e-05, @@ -59,7 +65,7 @@ 0.0026925491161032215, 0.003971971078618366 ], - "mass": 0.55, + "mass": 0.550000011920929, "material": "baked_bread", "name": "D00337 Gathering Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00337 Gathering Bowl", "part_name": "D00337 Gathering Bowl" }, - "volume": 0.0007852889287726059 + "volume": 0.0007852889287726059, + "source_prim_path": "/World/part_00_baked_bread", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "429e8d4e08461c6206d54a5d9d65a8efc6f97656ab6697723e07c00e49ba749b" + }, + "usd_path": "batch4/D00337 Gathering Bowl/IsaacSim_assets_69f5b5ff431507ff7cec72f5/IsaacSim_asset_69f5b5ff431507ff7cec72f5.usd", + "usd_sha256": "c28a8eeca84876c658e39f7bf39a15cd639048f5a3fd90a088d574bb28f03f79", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.18717200309038162, - 0.18697300553321838, - 0.0975490020646248 - ] + 0.22436299920082092, + 0.22439399361610413, + 0.118213002650009 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c28a8eeca84876c658e39f7bf39a15cd639048f5a3fd90a088d574bb28f03f79", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.55 + "value_kg": 0.550000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c28a8eeca84876c658e39f7bf39a15cd639048f5a3fd90a088d574bb28f03f79", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.550000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c28a8eeca84876c658e39f7bf39a15cd639048f5a3fd90a088d574bb28f03f79", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c28a8eeca84876c658e39f7bf39a15cd639048f5a3fd90a088d574bb28f03f79", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00343 Glass Bowl/IsaacSim_assets_69f5b8fc431507ff7ced6fd1/physics_69f5b8fc431507ff7ced6fd1.json b/batch4/D00343 Glass Bowl/IsaacSim_assets_69f5b8fc431507ff7ced6fd1/physics_69f5b8fc431507ff7ced6fd1.json index 9d0df7fa0b239439ae194971afc94cc939fb0ed4..5bb76dcf34b5babe8039fe5e96e930c8b105e3de 100644 --- a/batch4/D00343 Glass Bowl/IsaacSim_assets_69f5b8fc431507ff7ced6fd1/physics_69f5b8fc431507ff7ced6fd1.json +++ b/batch4/D00343 Glass Bowl/IsaacSim_assets_69f5b8fc431507ff7ced6fd1/physics_69f5b8fc431507ff7ced6fd1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09738799929618835, - 0.09734100103378296, - 0.09878599643707275 - ], "min": [ - -0.0975940003991127, - -0.09748400002717972, - -0.00013099999341648072 + -0.07543499767780304, + -0.07542300224304199, + -6.500000017695129e-05 + ], + "max": [ + 0.07554899901151657, + 0.0755859985947609, + 0.07565200328826904 ], "size": [ - 0.19498199969530106, - 0.19482500106096268, - 0.09891699643048923 - ] + 0.1509839966893196, + 0.1510090008378029, + 0.075717003288446 + ], + "units": "m" }, "description": "A glossy white ceramic bowl with a rounded hemispherical body, thick rolled rim, and small circular foot ring.", "name": "D00343 Glass Bowl", "object_type": "rigid_bodies", - "total_mass": 0.34 + "total_mass": 0.3400000035762787, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00343", "parts": [ { "bounds": { - "center": [ - -0.00013860027551382606, - -0.00014656125823465447, - 0.05154217828658367 + "min": [ + -0.07543499767780304, + -0.07542300224304199, + -6.500000017695129e-05 ], "max": [ - 0.09738799929618835, - 0.09734100103378296, - 0.09878599643707275 + 0.07554899901151657, + 0.0755859985947609, + 0.07565200328826904 ], - "min": [ - -0.0975940003991127, - -0.09748400002717972, - -0.00013099999341648072 - ] + "size": [ + 0.1509839966893196, + 0.1510090008378029, + 0.075717003288446 + ], + "units": "m" }, "center_of_mass": [ 1.4643978884167348e-05, @@ -59,7 +65,7 @@ 0.0005127937428868817, 0.000758176727580617 ], - "mass": 0.34, + "mass": 0.3400000035762787, "material": "baked_bread", "name": "D00343 Glass Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00343 Glass Bowl", "part_name": "D00343 Glass Bowl" }, - "volume": 0.0009397058178224328 + "volume": 0.0009397058178224328, + "source_prim_path": "/World/part_00_baked_bread", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3095a45d8bf6c16a1ee76d8b2c064329d2284c173fb3b616c4721dfeace7548e" + }, + "usd_path": "batch4/D00343 Glass Bowl/IsaacSim_assets_69f5b8fc431507ff7ced6fd1/IsaacSim_asset_69f5b8fc431507ff7ced6fd1.usd", + "usd_sha256": "366fe39499550b62e66b6c1e5483087edd925d0f98dd48d8df0fdce74057dd81", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.19498199969530106, - 0.19482500106096268, - 0.09891699643048923 - ] + 0.1509839966893196, + 0.1510090008378029, + 0.075717003288446 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "366fe39499550b62e66b6c1e5483087edd925d0f98dd48d8df0fdce74057dd81", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.34 + "value_kg": 0.3400000035762787, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "366fe39499550b62e66b6c1e5483087edd925d0f98dd48d8df0fdce74057dd81", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3400000035762787, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "366fe39499550b62e66b6c1e5483087edd925d0f98dd48d8df0fdce74057dd81", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "366fe39499550b62e66b6c1e5483087edd925d0f98dd48d8df0fdce74057dd81", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00716 Scoop/IsaacSim_assets_69f653397f5104dbf26358c6/physics_69f653397f5104dbf26358c6.json b/batch4/D00716 Scoop/IsaacSim_assets_69f653397f5104dbf26358c6/physics_69f653397f5104dbf26358c6.json index f0143d3a783c12b2bddcda5c5ce80c56144ef1de..641d5b942a8d308db9a67c0face088295ca32e7d 100644 --- a/batch4/D00716 Scoop/IsaacSim_assets_69f653397f5104dbf26358c6/physics_69f653397f5104dbf26358c6.json +++ b/batch4/D00716 Scoop/IsaacSim_assets_69f653397f5104dbf26358c6/physics_69f653397f5104dbf26358c6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.22701400518417358, - 0.05964700132608414, - 0.06883200258016586 - ], "min": [ - -0.15514600276947021, - -0.05932899937033653, - -4.70000013592653e-05 + -0.1023240014910698, + -0.0401029996573925, + -9.999999974752427e-07 + ], + "max": [ + 0.1536089926958084, + 0.04040199890732765, + 0.044186998158693314 ], "size": [ - 0.3821600079536438, - 0.11897600069642067, - 0.06887900258152513 - ] + 0.2559329941868782, + 0.08050499856472015, + 0.04418799815869079 + ], + "units": "m" }, "description": "A brushed stainless-steel scoop with a deep oval bowl and rolled rim, attached to a brown wooden handle. The handle has visible metal rivets and rounded ends.", "name": "D00716 Scoop", "object_type": "rigid_bodies", - "total_mass": 0.22 + "total_mass": 0.2199999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00716", "parts": [ { "bounds": { - "center": [ - -0.0028393833972581075, - 0.00015333793456921742, - 0.034392658155679164 + "min": [ + -0.1023240014910698, + -0.0401029996573925, + -9.999999974752427e-07 ], "max": [ - 0.22701400518417358, - 0.05964700132608414, - 0.06883200258016586 + 0.1536089926958084, + 0.04040199890732765, + 0.044186998158693314 ], - "min": [ - -0.15514600276947021, - -0.05932899937033653, - -4.70000013592653e-05 - ] + "size": [ + 0.2559329941868782, + 0.08050499856472015, + 0.04418799815869079 + ], + "units": "m" }, "center_of_mass": [ 0.007924597587036985, @@ -59,7 +65,7 @@ 0.0006821821406661533, 0.0007306427718631265 ], - "mass": 0.22, + "mass": 0.2199999988079071, "material": "stainless_steel", "name": "D00716 Scoop", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00716 Scoop", "part_name": "D00716 Scoop" }, - "volume": 0.0004264324538623867 + "volume": 0.0004264324538623867, + "source_prim_path": "/World/part_00_stainless_steel", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "487b01c166af8e6098e2305b487d0f7551519ce18a38d12c170e37a1fafb6588" + }, + "usd_path": "batch4/D00716 Scoop/IsaacSim_assets_69f653397f5104dbf26358c6/IsaacSim_asset_69f653397f5104dbf26358c6.usd", + "usd_sha256": "c7baa1817a0c2adf9cae31b67d70463389a9e57b25cb93214350f5d2bed950a2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3821600079536438, - 0.11897600069642067, - 0.06887900258152513 - ] + 0.2559329941868782, + 0.08050499856472015, + 0.04418799815869079 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c7baa1817a0c2adf9cae31b67d70463389a9e57b25cb93214350f5d2bed950a2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.22 + "value_kg": 0.2199999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c7baa1817a0c2adf9cae31b67d70463389a9e57b25cb93214350f5d2bed950a2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2199999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 23, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c7baa1817a0c2adf9cae31b67d70463389a9e57b25cb93214350f5d2bed950a2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 23, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c7baa1817a0c2adf9cae31b67d70463389a9e57b25cb93214350f5d2bed950a2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00737 Small Tomato/IsaacSim_assets_69f659a17f5104dbf2675d15/physics_69f659a17f5104dbf2675d15.json b/batch4/D00737 Small Tomato/IsaacSim_assets_69f659a17f5104dbf2675d15/physics_69f659a17f5104dbf2675d15.json index d9bd68f7dc30c365dcc042cb9d074fc8ce20ded7..b2860cd2d3b187d28202ccd5093c2a70dc2e8c8c 100644 --- a/batch4/D00737 Small Tomato/IsaacSim_assets_69f659a17f5104dbf2675d15/physics_69f659a17f5104dbf2675d15.json +++ b/batch4/D00737 Small Tomato/IsaacSim_assets_69f659a17f5104dbf2675d15/physics_69f659a17f5104dbf2675d15.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.021740999072790146, - 0.02300800010561943, - 0.05086499825119972 - ], "min": [ - -0.02275799959897995, - -0.02121799997985363, - -5.0999999075429514e-05 + -0.019802000373601913, + -0.01829499937593937, + 1.8000000636675395e-05 + ], + "max": [ + 0.018900999799370766, + 0.02140600048005581, + 0.04465100169181824 ], "size": [ - 0.044498998671770096, - 0.04422600008547306, - 0.05091599825027515 - ] + 0.03870300017297268, + 0.03970099985599518, + 0.04463300169118156 + ], + "units": "m" }, "description": "A glossy red tomato with a rounded, slightly flattened fruit body and green fibrous calyx, leaves, and short stem. The surface appears smooth, thin-skinned, and moist with small natural speckles.", "name": "D00737 Small Tomato", "object_type": "rigid_bodies", - "total_mass": 0.12 + "total_mass": 0.11999999731779099, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00737", "parts": [ { "bounds": { - "center": [ - -0.00016428853450652008, - 0.00038282393515828633, - 0.024049803735782905 + "min": [ + -0.019802000373601913, + -0.01829499937593937, + 1.8000000636675395e-05 ], "max": [ - 0.021740999072790146, - 0.02300800010561943, - 0.05086499825119972 + 0.018900999799370766, + 0.02140600048005581, + 0.04465100169181824 ], - "min": [ - -0.02275799959897995, - -0.02121799997985363, - -5.0999999075429514e-05 - ] + "size": [ + 0.03870300017297268, + 0.03970099985599518, + 0.04463300169118156 + ], + "units": "m" }, "center_of_mass": [ -3.4271097541959276e-05, @@ -59,7 +65,7 @@ 2.1472024883564092e-05, 2.1605452244054736e-05 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "organic_fruit_tissue", "name": "D00737 Small Tomato", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00737 Small Tomato", "part_name": "D00737 Small Tomato" }, - "volume": 3.557417899057414e-05 + "volume": 3.557417899057414e-05, + "source_prim_path": "/World/part_00_organic_fruit_tissue", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ab11a1abc8ea12536813ee6e1fe625bdf8b6e18dd2da8d9693002d05bfeb970c" + }, + "usd_path": "batch4/D00737 Small Tomato/IsaacSim_assets_69f659a17f5104dbf2675d15/IsaacSim_asset_69f659a17f5104dbf2675d15.usd", + "usd_sha256": "0901a62fb2bce839addfc064b39c48e4725d8983d898a49d01186a76208f8846", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.044498998671770096, - 0.04422600008547306, - 0.05091599825027515 - ] + 0.03870300017297268, + 0.03970099985599518, + 0.04463300169118156 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0901a62fb2bce839addfc064b39c48e4725d8983d898a49d01186a76208f8846", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.12 + "value_kg": 0.11999999731779099, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0901a62fb2bce839addfc064b39c48e4725d8983d898a49d01186a76208f8846", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11999999731779099, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0901a62fb2bce839addfc064b39c48e4725d8983d898a49d01186a76208f8846", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0901a62fb2bce839addfc064b39c48e4725d8983d898a49d01186a76208f8846", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00755 Spatula Wooden Spoon/IsaacSim_assets_69f65d2e7f5104dbf26b8fcf/physics_69f65d2e7f5104dbf26b8fcf.json b/batch4/D00755 Spatula Wooden Spoon/IsaacSim_assets_69f65d2e7f5104dbf26b8fcf/physics_69f65d2e7f5104dbf26b8fcf.json index 98b192d3a63981e6dca3a332c9a8eb6b23612d8c..a7d8e19599515aea9029ee46c82ad418350b1556 100644 --- a/batch4/D00755 Spatula Wooden Spoon/IsaacSim_assets_69f65d2e7f5104dbf26b8fcf/physics_69f65d2e7f5104dbf26b8fcf.json +++ b/batch4/D00755 Spatula Wooden Spoon/IsaacSim_assets_69f65d2e7f5104dbf26b8fcf/physics_69f65d2e7f5104dbf26b8fcf.json @@ -124,13 +124,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "c1d8c50d23790167a13edab3c370fab2f6a2ed9af77b4eb81b8429e902011e33" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1a32f52d5aa4779d44bee1fb3aeb9fe93a258a8aa4dee90da03ec1cbbe140018" }, "usd_path": "batch4/D00755 Spatula Wooden Spoon/IsaacSim_assets_69f65d2e7f5104dbf26b8fcf/IsaacSim_asset_69f65d2e7f5104dbf26b8fcf.usd", - "usd_sha256": "37d9d5585798c5df2f22de47336e4d91e0049d506056be5945008f870f35befe", + "usd_sha256": "beba22878599bca6ecbe8ff3bc80aef58a2f7f10358a5139421be5e4c7b3db0a", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -157,9 +157,9 @@ 0.20881499350070953, 0.030789000426011626 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "37d9d5585798c5df2f22de47336e4d91e0049d506056be5945008f870f35befe", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "beba22878599bca6ecbe8ff3bc80aef58a2f7f10358a5139421be5e4c7b3db0a", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -168,9 +168,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.125, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "37d9d5585798c5df2f22de47336e4d91e0049d506056be5945008f870f35befe", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "beba22878599bca6ecbe8ff3bc80aef58a2f7f10358a5139421be5e4c7b3db0a", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.125, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -179,9 +179,9 @@ "status": "verified", "confidence": "high", "shape_count": 16, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "37d9d5585798c5df2f22de47336e4d91e0049d506056be5945008f870f35befe", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "beba22878599bca6ecbe8ff3bc80aef58a2f7f10358a5139421be5e4c7b3db0a", "scope": "authored_usd_collision_schema", "enabled_shape_count": 16, "approximations": [ @@ -193,18 +193,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "37d9d5585798c5df2f22de47336e4d91e0049d506056be5945008f870f35befe", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "beba22878599bca6ecbe8ff3bc80aef58a2f7f10358a5139421be5e4c7b3db0a", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00757 Spice/IsaacSim_assets_69f65d9d7f5104dbf26c18c2/physics_69f65d9d7f5104dbf26c18c2.json b/batch4/D00757 Spice/IsaacSim_assets_69f65d9d7f5104dbf26c18c2/physics_69f65d9d7f5104dbf26c18c2.json index a1e270091f59385de5036d942ff8e3cc819068b6..a8be9e88a45a86977f0f3bbff84e1afd5abb075a 100644 --- a/batch4/D00757 Spice/IsaacSim_assets_69f65d9d7f5104dbf26c18c2/physics_69f65d9d7f5104dbf26c18c2.json +++ b/batch4/D00757 Spice/IsaacSim_assets_69f65d9d7f5104dbf26c18c2/physics_69f65d9d7f5104dbf26c18c2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.013842999935150146, - 0.009704000316560268, - 0.01781499944627285 - ], "min": [ - -0.012082000263035297, - -0.009243999607861042, - -1.8000000636675395e-05 + -0.008700000122189522, + -0.0067460001446306705, + 9.999999747378752e-06 + ], + "max": [ + 0.009267999790608883, + 0.00711200013756752, + 0.013268000446259975 ], "size": [ - 0.025925000198185444, - 0.01894799992442131, - 0.017832999446909525 - ] + 0.017967999912798405, + 0.01385800028219819, + 0.013258000446512597 + ], + "units": "m" }, "description": "A small brown walnut with an oval hard shell and deeply wrinkled, ridged organic surface. The exterior appears dry, matte-to-satin, and woody with lighter scuffed highlights in the grooves.", "name": "D00757 Whole Spice Seed", "object_type": "rigid_bodies", - "total_mass": 0.012 + "total_mass": 0.012000000104308128, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00757", "parts": [ { "bounds": { - "center": [ - 0.0008230511281469609, - 0.0001999795213052541, - 0.008901060300531517 + "min": [ + -0.008700000122189522, + -0.0067460001446306705, + 9.999999747378752e-06 ], "max": [ - 0.013842999935150146, - 0.009704000316560268, - 0.01781499944627285 + 0.009267999790608883, + 0.00711200013756752, + 0.013268000446259975 ], - "min": [ - -0.012082000263035297, - -0.009243999607861042, - -1.8000000636675395e-05 - ] + "size": [ + 0.017967999912798405, + 0.01385800028219819, + 0.013258000446512597 + ], + "units": "m" }, "center_of_mass": [ 0.00018943818254843803, @@ -59,7 +65,7 @@ 2.875054829378225e-07, 2.9963563864356214e-07 ], - "mass": 0.012, + "mass": 0.012000000104308128, "material": "organic_leaf_tissue", "name": "D00757 Spice", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00757 Spice", "part_name": "D00757 Spice" }, - "volume": 1.6388417487845525e-06 + "volume": 1.6388417487845525e-06, + "source_prim_path": "/World/part_00_organic_leaf_tissue", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "690d02430595b488c22b123dfb234eb5d95c657bc837f7aecc0ff8f84bf10302" + }, + "usd_path": "batch4/D00757 Spice/IsaacSim_assets_69f65d9d7f5104dbf26c18c2/IsaacSim_asset_69f65d9d7f5104dbf26c18c2.usd", + "usd_sha256": "d4c714567333171d3cf6fb269893fefa5d0d8e448c0281476eb8c0af1c49be81", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.025925000198185444, - 0.01894799992442131, - 0.017832999446909525 - ] + 0.017967999912798405, + 0.01385800028219819, + 0.013258000446512597 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4c714567333171d3cf6fb269893fefa5d0d8e448c0281476eb8c0af1c49be81", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.012 + "value_kg": 0.012000000104308128, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4c714567333171d3cf6fb269893fefa5d0d8e448c0281476eb8c0af1c49be81", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.012000000104308128, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4c714567333171d3cf6fb269893fefa5d0d8e448c0281476eb8c0af1c49be81", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d4c714567333171d3cf6fb269893fefa5d0d8e448c0281476eb8c0af1c49be81", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00795 Sprig/IsaacSim_assets_69f669e37f5104dbf2786268/physics_69f669e37f5104dbf2786268.json b/batch4/D00795 Sprig/IsaacSim_assets_69f669e37f5104dbf2786268/physics_69f669e37f5104dbf2786268.json index 7948cbefa87fcc825df8afa2121b0a48ca603b35..67f5ffad824da042452c3e37b809e0526e3075e6 100644 --- a/batch4/D00795 Sprig/IsaacSim_assets_69f669e37f5104dbf2786268/physics_69f669e37f5104dbf2786268.json +++ b/batch4/D00795 Sprig/IsaacSim_assets_69f669e37f5104dbf2786268/physics_69f669e37f5104dbf2786268.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.19061200320720673, - 0.13870400190353394, - 0.1982879936695099 - ], "min": [ - -0.22469399869441986, - -0.1397940069437027, - 9.999999974752427e-07 + -0.1628129929304123, + -0.08983299881219864, + 3.000000106112566e-06 + ], + "max": [ + 0.13577499985694885, + 0.07609699666500092, + 0.14203499257564545 ], "size": [ - 0.4153060019016266, - 0.27849800884723663, - 0.1982869936695124 - ] + 0.29858799278736115, + 0.16592999547719955, + 0.14203199257553933 + ], + "units": "m" }, "description": "A natural plant branch featuring a thin, woody stem, multiple green ovate leaves, and clusters of small, dark, spherical berries.", "name": "D00795 Sprig", "object_type": "rigid_bodies", - "total_mass": 0.03 + "total_mass": 0.029999999329447746, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00795", "parts": [ { "bounds": { - "center": [ - 0.0017441328141238534, - 0.0018346777837927762, - 0.07804499460939093 + "min": [ + -0.1628129929304123, + -0.08983299881219864, + 3.000000106112566e-06 ], "max": [ - 0.19061200320720673, - 0.13870400190353394, - 0.1982879936695099 + 0.13577499985694885, + 0.07609699666500092, + 0.14203499257564545 ], - "min": [ - -0.22469399869441986, - -0.1397940069437027, - 9.999999974752427e-07 - ] + "size": [ + 0.29858799278736115, + 0.16592999547719955, + 0.14203199257553933 + ], + "units": "m" }, "center_of_mass": [ -0.00414278753484681, @@ -59,7 +65,7 @@ 0.00010028548507108902, 0.0001116135751827431 ], - "mass": 0.03, + "mass": 0.029999999329447746, "material": "plant_matter_light_wood", "name": "D00795 Sprig", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00795 Sprig", "part_name": "D00795 Sprig" }, - "volume": 7.803548390088974e-05 + "volume": 7.803548390088974e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0f66c7ff03dcfd59521a99393afee5543b34369536d1b57a0abb7066e6ac07a7" + }, + "usd_path": "batch4/D00795 Sprig/IsaacSim_assets_69f669e37f5104dbf2786268/IsaacSim_asset_69f669e37f5104dbf2786268.usd", + "usd_sha256": "998b7457787362dbe7770f2a987dcb1063d372049f72a981503d8073f1c708d9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.4153060019016266, - 0.27849800884723663, - 0.1982869936695124 - ] + 0.29858799278736115, + 0.16592999547719955, + 0.14203199257553933 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "998b7457787362dbe7770f2a987dcb1063d372049f72a981503d8073f1c708d9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.03 + "value_kg": 0.029999999329447746, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "998b7457787362dbe7770f2a987dcb1063d372049f72a981503d8073f1c708d9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.029999999329447746, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "998b7457787362dbe7770f2a987dcb1063d372049f72a981503d8073f1c708d9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "998b7457787362dbe7770f2a987dcb1063d372049f72a981503d8073f1c708d9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00829 Strainer/IsaacSim_assets_69f680ee7f5104dbf28c51d4/physics_69f680ee7f5104dbf28c51d4.json b/batch4/D00829 Strainer/IsaacSim_assets_69f680ee7f5104dbf28c51d4/physics_69f680ee7f5104dbf28c51d4.json index 7099160b964ac011d7865333052461fd9d6023e4..ab7b33839674834debb51b66987a214570a2f7cd 100644 --- a/batch4/D00829 Strainer/IsaacSim_assets_69f680ee7f5104dbf28c51d4/physics_69f680ee7f5104dbf28c51d4.json +++ b/batch4/D00829 Strainer/IsaacSim_assets_69f680ee7f5104dbf28c51d4/physics_69f680ee7f5104dbf28c51d4.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11857199668884277, - 0.08749400079250336, - 0.11571399867534637 - ], "min": [ - -0.11852800101041794, - -0.08748599886894226, - -7.000000096013537e-06 + -0.12015099823474884, + -0.09071599692106247, + -2.2000000171829015e-05 + ], + "max": [ + 0.12020000070333481, + 0.09056500345468521, + 0.11741200089454651 ], "size": [ - 0.2370999976992607, - 0.17497999966144562, - 0.11572099867544239 - ] + 0.24035099893808365, + 0.18128100037574768, + 0.11743400089471834 + ], + "units": "m" }, "description": "A cream-colored, matte ceramic colander with a bowl-shaped body covered in small drainage holes. It features two loop handles on opposite sides and a circular pedestal base with small cutout arches.", "name": "D00829 Strainer", "object_type": "rigid_bodies", - "total_mass": 1.85 + "total_mass": 1.850000023841858, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00829", "parts": [ { "bounds": { - "center": [ - 2.12698548871182e-05, - -3.3797357405088884e-05, - 0.0615351412829092 + "min": [ + -0.12015099823474884, + -0.09071599692106247, + -2.2000000171829015e-05 ], "max": [ - 0.11857199668884277, - 0.08749400079250336, - 0.11571399867534637 + 0.12020000070333481, + 0.09056500345468521, + 0.11741200089454651 ], - "min": [ - -0.11852800101041794, - -0.08748599886894226, - -7.000000096013537e-06 - ] + "size": [ + 0.24035099893808365, + 0.18128100037574768, + 0.11743400089471834 + ], + "units": "m" }, "center_of_mass": [ -2.369612941976736e-05, @@ -59,7 +65,7 @@ 0.00849509064682928, 0.009965892860334221 ], - "mass": 1.85, + "mass": 1.850000023841858, "material": "ceramic", "name": "D00829 Strainer", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00829 Strainer", "part_name": "D00829 Strainer" }, - "volume": 0.000358003263763588 + "volume": 0.000358003263763588, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "be13f1940faebf0230ca378f4f1a11104adb5c7337d113c639e424aca5166f7f" + }, + "usd_path": "batch4/D00829 Strainer/IsaacSim_assets_69f680ee7f5104dbf28c51d4/IsaacSim_asset_69f680ee7f5104dbf28c51d4.usd", + "usd_sha256": "27486228fe2f7feaa24bfd6d57aa209a4c39d1bd631b1a4c16a8c44d87a31718", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2370999976992607, - 0.17497999966144562, - 0.11572099867544239 - ] + 0.24035099893808365, + 0.18128100037574768, + 0.11743400089471834 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "27486228fe2f7feaa24bfd6d57aa209a4c39d1bd631b1a4c16a8c44d87a31718", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.85 + "value_kg": 1.850000023841858, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "27486228fe2f7feaa24bfd6d57aa209a4c39d1bd631b1a4c16a8c44d87a31718", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.850000023841858, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "27486228fe2f7feaa24bfd6d57aa209a4c39d1bd631b1a4c16a8c44d87a31718", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 224, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "27486228fe2f7feaa24bfd6d57aa209a4c39d1bd631b1a4c16a8c44d87a31718", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00832 Succulent/IsaacSim_assets_69f683ff7f5104dbf28ef65d/physics_69f683ff7f5104dbf28ef65d.json b/batch4/D00832 Succulent/IsaacSim_assets_69f683ff7f5104dbf28ef65d/physics_69f683ff7f5104dbf28ef65d.json index ffbc099cd8f45f87f820698c26be13724f36d602..f23f23716ba7cbbf98c72cb4e49b7195a60bc753 100644 --- a/batch4/D00832 Succulent/IsaacSim_assets_69f683ff7f5104dbf28ef65d/physics_69f683ff7f5104dbf28ef65d.json +++ b/batch4/D00832 Succulent/IsaacSim_assets_69f683ff7f5104dbf28ef65d/physics_69f683ff7f5104dbf28ef65d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09819299727678299, - 0.09563799947500229, - 0.17612600326538086 - ], "min": [ - -0.11055099964141846, - -0.1146790012717247, - -2.300000051036477e-05 + -0.16047100722789764, + -0.15280599892139435, + 4.999999873689376e-06 + ], + "max": [ + 0.130389004945755, + 0.13433599472045898, + 0.24157999455928802 ], "size": [ - 0.20874399691820145, - 0.210317000746727, - 0.17614900326589122 - ] + 0.29086001217365265, + 0.28714199364185333, + 0.24157499455941434 + ], + "units": "m" }, "description": "A cylindrical light grey concrete pot filled with artificial green and pink succulent plants surrounded by small pebbles.", "name": "D00832 Succulent", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00832", "parts": [ { "bounds": { - "center": [ - 0.0010183928986965463, - 0.0004880838768573476, - 0.10855079108907942 + "min": [ + -0.16047100722789764, + -0.15280599892139435, + 4.999999873689376e-06 ], "max": [ - 0.09819299727678299, - 0.09563799947500229, - 0.17612600326538086 + 0.130389004945755, + 0.13433599472045898, + 0.24157999455928802 ], - "min": [ - -0.11055099964141846, - -0.1146790012717247, - -2.300000051036477e-05 - ] + "size": [ + 0.29086001217365265, + 0.28714199364185333, + 0.24157499455941434 + ], + "units": "m" }, "center_of_mass": [ -0.005545183253161829, @@ -67,10 +73,27 @@ "object_name": "D00832 Succulent", "part_name": "D00832 Succulent" }, - "volume": 0.011093699201837103 + "volume": 0.011093699201837103, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2ded8aa0663cc6b07e7c9347ee7cf799e791f4b361339821f2f5f29b7f1fff1f" + }, + "usd_path": "batch4/D00832 Succulent/IsaacSim_assets_69f683ff7f5104dbf28ef65d/IsaacSim_asset_69f683ff7f5104dbf28ef65d.usd", + "usd_sha256": "397c522bcde99c594868af1698d0b9e80af11409b9061d33ce6bcc8edcfa52e4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.20874399691820145, - 0.210317000746727, - 0.17614900326589122 - ] + 0.29086001217365265, + 0.28714199364185333, + 0.24157499455941434 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "397c522bcde99c594868af1698d0b9e80af11409b9061d33ce6bcc8edcfa52e4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "397c522bcde99c594868af1698d0b9e80af11409b9061d33ce6bcc8edcfa52e4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "397c522bcde99c594868af1698d0b9e80af11409b9061d33ce6bcc8edcfa52e4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "397c522bcde99c594868af1698d0b9e80af11409b9061d33ce6bcc8edcfa52e4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00839 Sugar Jar Spice/IsaacSim_assets_69f68b257f5104dbf2953aed/physics_69f68b257f5104dbf2953aed.json b/batch4/D00839 Sugar Jar Spice/IsaacSim_assets_69f68b257f5104dbf2953aed/physics_69f68b257f5104dbf2953aed.json index 3b86e15cc5d5a9ea22ba5c726ad94f95d836dca7..ba5a440e08664676045cf14094d16099bc643a53 100644 --- a/batch4/D00839 Sugar Jar Spice/IsaacSim_assets_69f68b257f5104dbf2953aed/physics_69f68b257f5104dbf2953aed.json +++ b/batch4/D00839 Sugar Jar Spice/IsaacSim_assets_69f68b257f5104dbf2953aed/physics_69f68b257f5104dbf2953aed.json @@ -168,13 +168,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "da0b7680f8d0f9fa5394ac59178065383a1a6a55c467465078771755727b10a0" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c485e9e0e7a228ea848686c98810daf567873a0fdb7d278d13afd6ac84a0a6b9" }, "usd_path": "batch4/D00839 Sugar Jar Spice/IsaacSim_assets_69f68b257f5104dbf2953aed/IsaacSim_asset_69f68b257f5104dbf2953aed.usd", - "usd_sha256": "62f968a06725bc6ea6cc5671c27a2994d1556720b49b805751add989fa398343", + "usd_sha256": "2069118b1b6e3e8f62632f3aadfee4283e712b606a2887bf0e86b9e2fbae912c", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -201,9 +201,9 @@ 0.12959500402212143, 0.1384819986851653 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "62f968a06725bc6ea6cc5671c27a2994d1556720b49b805751add989fa398343", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2069118b1b6e3e8f62632f3aadfee4283e712b606a2887bf0e86b9e2fbae912c", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -212,9 +212,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.6479999795556068, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "62f968a06725bc6ea6cc5671c27a2994d1556720b49b805751add989fa398343", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2069118b1b6e3e8f62632f3aadfee4283e712b606a2887bf0e86b9e2fbae912c", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.6479999795556068, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -223,9 +223,9 @@ "status": "verified", "confidence": "high", "shape_count": 83, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "62f968a06725bc6ea6cc5671c27a2994d1556720b49b805751add989fa398343", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2069118b1b6e3e8f62632f3aadfee4283e712b606a2887bf0e86b9e2fbae912c", "scope": "authored_usd_collision_schema", "enabled_shape_count": 83, "approximations": [ @@ -237,18 +237,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "62f968a06725bc6ea6cc5671c27a2994d1556720b49b805751add989fa398343", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2069118b1b6e3e8f62632f3aadfee4283e712b606a2887bf0e86b9e2fbae912c", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00841 Sugarshaker/IsaacSim_assets_69f68c7b7f5104dbf2966abf/physics_69f68c7b7f5104dbf2966abf.json b/batch4/D00841 Sugarshaker/IsaacSim_assets_69f68c7b7f5104dbf2966abf/physics_69f68c7b7f5104dbf2966abf.json index 14980f240ddf40f1ef2010ce4a82b896fa137522..dd8532ba9d3343e0910661a3305ecf9b1f5e8f24 100644 --- a/batch4/D00841 Sugarshaker/IsaacSim_assets_69f68c7b7f5104dbf2966abf/physics_69f68c7b7f5104dbf2966abf.json +++ b/batch4/D00841 Sugarshaker/IsaacSim_assets_69f68c7b7f5104dbf2966abf/physics_69f68c7b7f5104dbf2966abf.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05304500088095665, - 0.03588800132274628, - 0.12408799678087234 - ], "min": [ - -0.03847400099039078, - -0.03599400073289871, - -3.7000001611886546e-05 + -0.035572998225688934, + -0.034963998943567276, + -2.700000004551839e-05 + ], + "max": [ + 0.03523699939250946, + 0.03590000048279762, + 0.13059599697589874 ], "size": [ - 0.09151900187134743, - 0.07188200205564499, - 0.12412499678248423 - ] + 0.0708099976181984, + 0.0708639994263649, + 0.13062299697594426 + ], + "units": "m" }, "description": "A small polished brown wooden shaker with a rounded cylindrical body and domed perforated cap. The surface has visible wood grain and a smooth varnished finish.", "name": "D00841 Sugarshaker", "object_type": "rigid_bodies", - "total_mass": 0.12 + "total_mass": 0.11999999731779099, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00841", "parts": [ { "bounds": { - "center": [ - 0.0006534912184867938, - -6.444908432673511e-05, - 0.0757935137575122 + "min": [ + -0.035572998225688934, + -0.034963998943567276, + -2.700000004551839e-05 ], "max": [ - 0.05304500088095665, - 0.03588800132274628, - 0.12408799678087234 + 0.03523699939250946, + 0.03590000048279762, + 0.13059599697589874 ], - "min": [ - -0.03847400099039078, - -0.03599400073289871, - -3.7000001611886546e-05 - ] + "size": [ + 0.0708099976181984, + 0.0708639994263649, + 0.13062299697594426 + ], + "units": "m" }, "center_of_mass": [ -0.00016384183887281542, @@ -59,7 +65,7 @@ 0.00019634891262095258, 0.00019651002109962045 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "polished_hardwood", "name": "D00841 Sugarshaker", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00841 Sugarshaker", "part_name": "D00841 Sugarshaker" }, - "volume": 0.000490847175174592 + "volume": 0.000490847175174592, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0ba0d14994bd110585dd1c1333dd08c4ad47d8794a2b3405709ab651bf443010" + }, + "usd_path": "batch4/D00841 Sugarshaker/IsaacSim_assets_69f68c7b7f5104dbf2966abf/IsaacSim_asset_69f68c7b7f5104dbf2966abf.usd", + "usd_sha256": "55f74f4111768f53c67b55483bfe895c29effca353fc7a87ec508e56404b1222", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.09151900187134743, - 0.07188200205564499, - 0.12412499678248423 - ] + 0.0708099976181984, + 0.0708639994263649, + 0.13062299697594426 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55f74f4111768f53c67b55483bfe895c29effca353fc7a87ec508e56404b1222", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.12 + "value_kg": 0.11999999731779099, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55f74f4111768f53c67b55483bfe895c29effca353fc7a87ec508e56404b1222", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11999999731779099, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55f74f4111768f53c67b55483bfe895c29effca353fc7a87ec508e56404b1222", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55f74f4111768f53c67b55483bfe895c29effca353fc7a87ec508e56404b1222", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00844 Sushi Platter/IsaacSim_assets_69f690237f5104dbf2999d73/physics_69f690237f5104dbf2999d73.json b/batch4/D00844 Sushi Platter/IsaacSim_assets_69f690237f5104dbf2999d73/physics_69f690237f5104dbf2999d73.json index e066637a43e74dfe6c8dbab89041388700d0e49a..778543b1fc21754c4cf71deb394591302a642ec6 100644 --- a/batch4/D00844 Sushi Platter/IsaacSim_assets_69f690237f5104dbf2999d73/physics_69f690237f5104dbf2999d73.json +++ b/batch4/D00844 Sushi Platter/IsaacSim_assets_69f690237f5104dbf2999d73/physics_69f690237f5104dbf2999d73.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.18697099387645721, - 0.15314899384975433, - 0.04475399851799011 - ], "min": [ - -0.15023399889469147, - -0.10223200172185898, - -0.00010299999848939478 + -0.12770499289035797, + -0.07270800322294235, + -0.00015700000221841037 + ], + "max": [ + 0.12580400705337524, + 0.07334200292825699, + 0.035576000809669495 ], "size": [ - 0.3372049927711487, - 0.2553809955716133, - 0.04485699851647951 - ] + 0.2535089999437332, + 0.14605000615119934, + 0.035733000811887905 + ], + "units": "m" }, "description": "A collection of shallow glazed ceramic serving plates and trays in rectangular, oval, square, and round forms. The pieces have glossy white, black, blue, gray, and earthy brown finishes with raised rims and slightly irregular handmade edges.", "name": "D00844 Sushi Platter", "object_type": "rigid_bodies", - "total_mass": 4.8 + "total_mass": 4.800000190734863, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00844", "parts": [ { "bounds": { - "center": [ - 0.0024193314993769957, - -0.0005091272862322175, - 0.02065451391812385 + "min": [ + -0.12770499289035797, + -0.07270800322294235, + -0.00015700000221841037 ], "max": [ - 0.18697099387645721, - 0.15314899384975433, - 0.04475399851799011 + 0.12580400705337524, + 0.07334200292825699, + 0.035576000809669495 ], - "min": [ - -0.15023399889469147, - -0.10223200172185898, - -0.00010299999848939478 - ] + "size": [ + 0.2535089999437332, + 0.14605000615119934, + 0.035733000811887905 + ], + "units": "m" }, "center_of_mass": [ -0.0009796128006835706, @@ -59,7 +65,7 @@ 0.026083184125324076, 0.034839341061734155 ], - "mass": 4.8, + "mass": 4.800000190734863, "material": "glazed_ceramic_stoneware", "name": "D00844 Sushi Platter", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00844 Sushi Platter", "part_name": "D00844 Sushi Platter" }, - "volume": 0.00047848149914649475 + "volume": 0.00047848149914649475, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a05b5bbcdac695f3bfa3a910bc0034a446a6bf3ed73b874adff506c3fa3fe87f" + }, + "usd_path": "batch4/D00844 Sushi Platter/IsaacSim_assets_69f690237f5104dbf2999d73/IsaacSim_asset_69f690237f5104dbf2999d73.usd", + "usd_sha256": "96295b0f40db802559a091ed2b51c911b8d4def8a618dc35df25700c12d1dcf6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3372049927711487, - 0.2553809955716133, - 0.04485699851647951 - ] + 0.2535089999437332, + 0.14605000615119934, + 0.035733000811887905 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "96295b0f40db802559a091ed2b51c911b8d4def8a618dc35df25700c12d1dcf6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.8 + "value_kg": 4.800000190734863, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "96295b0f40db802559a091ed2b51c911b8d4def8a618dc35df25700c12d1dcf6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.800000190734863, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 37, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "96295b0f40db802559a091ed2b51c911b8d4def8a618dc35df25700c12d1dcf6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 37, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "96295b0f40db802559a091ed2b51c911b8d4def8a618dc35df25700c12d1dcf6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00852 Tea Container/IsaacSim_assets_69f695447f5104dbf29e4900/physics_69f695447f5104dbf29e4900.json b/batch4/D00852 Tea Container/IsaacSim_assets_69f695447f5104dbf29e4900/physics_69f695447f5104dbf29e4900.json index 314107f21011dccdbff8faa502d9239d7498c46e..546b8ed81ad0eedd07aadffcc3e4bdc03d46bf1e 100644 --- a/batch4/D00852 Tea Container/IsaacSim_assets_69f695447f5104dbf29e4900/physics_69f695447f5104dbf29e4900.json +++ b/batch4/D00852 Tea Container/IsaacSim_assets_69f695447f5104dbf29e4900/physics_69f695447f5104dbf29e4900.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06976699829101562, - 0.05360899865627289, - 0.21671700477600098 - ], "min": [ - -0.07012300193309784, - -0.05435999855399132, + -0.05298500135540962, + -0.04005900025367737, 9.999999974752427e-07 ], + "max": [ + 0.05016399919986725, + 0.040608000010252, + 0.158828005194664 + ], "size": [ - 0.13989000022411346, - 0.1079689972102642, - 0.2167160047760035 - ] + 0.10314900055527687, + 0.08066700026392937, + 0.15882700519466653 + ], + "units": "m" }, "description": "A set of small countertop storage canisters with cylindrical and box-like bodies made from brushed metal, clear glass, glazed ceramic, wood, cork, and plastic lids.", "name": "D00852 Tea Container", "object_type": "rigid_bodies", - "total_mass": 4.8 + "total_mass": 4.800000190734863, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00852", "parts": [ { "bounds": { - "center": [ - -0.0005092206181521263, - 0.0002800434806228971, - 0.11758414408101933 + "min": [ + -0.05298500135540962, + -0.04005900025367737, + 9.999999974752427e-07 ], "max": [ - 0.06976699829101562, - 0.05360899865627289, - 0.21671700477600098 + 0.05016399919986725, + 0.040608000010252, + 0.158828005194664 ], - "min": [ - -0.07012300193309784, - -0.05435999855399132, - 9.999999974752427e-07 - ] + "size": [ + 0.10314900055527687, + 0.08066700026392937, + 0.15882700519466653 + ], + "units": "m" }, "center_of_mass": [ 0.00030371636461522624, @@ -59,7 +65,7 @@ 0.010331376898689291, 0.010798607453371276 ], - "mass": 4.8, + "mass": 4.800000190734863, "material": "mixed_hard_ceramic_glass_metal_surfaces", "name": "D00852 Tea Container", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00852 Tea Container", "part_name": "D00852 Tea Container" }, - "volume": 0.0008307701852091382 + "volume": 0.0008307701852091382, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c8671237389b19a9a8aa76b138bc23d7680e17b9136cb23d3d27d837a8cc5899" + }, + "usd_path": "batch4/D00852 Tea Container/IsaacSim_assets_69f695447f5104dbf29e4900/IsaacSim_asset_69f695447f5104dbf29e4900.usd", + "usd_sha256": "39af112b76dde4c11f2f8920f9913def12adaa11b3b626f90247b498c98b99c0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.13989000022411346, - 0.1079689972102642, - 0.2167160047760035 - ] + 0.10314900055527687, + 0.08066700026392937, + 0.15882700519466653 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "39af112b76dde4c11f2f8920f9913def12adaa11b3b626f90247b498c98b99c0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.8 + "value_kg": 4.800000190734863, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "39af112b76dde4c11f2f8920f9913def12adaa11b3b626f90247b498c98b99c0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.800000190734863, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "39af112b76dde4c11f2f8920f9913def12adaa11b3b626f90247b498c98b99c0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "39af112b76dde4c11f2f8920f9913def12adaa11b3b626f90247b498c98b99c0", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00877 Towel/IsaacSim_assets_69f6af927f5104dbf2b6cb8c/physics_69f6af927f5104dbf2b6cb8c.json b/batch4/D00877 Towel/IsaacSim_assets_69f6af927f5104dbf2b6cb8c/physics_69f6af927f5104dbf2b6cb8c.json index 2768f70ebb307174df8b3c4780969987a3de34ef..33bf742a2c40575daacd75a05af54417d341df22 100644 --- a/batch4/D00877 Towel/IsaacSim_assets_69f6af927f5104dbf2b6cb8c/physics_69f6af927f5104dbf2b6cb8c.json +++ b/batch4/D00877 Towel/IsaacSim_assets_69f6af927f5104dbf2b6cb8c/physics_69f6af927f5104dbf2b6cb8c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.193122997879982, - 0.21745699644088745, - 0.1029449999332428 - ], "min": [ - -0.1903820037841797, - -0.21775799989700317, - 1.4999999621068127e-05 + -0.1831810027360916, + -0.21756699681282043, + -2.300000051036477e-05 + ], + "max": [ + 0.18226400017738342, + 0.21413399279117584, + 0.10168399661779404 ], "size": [ - 0.3835050016641617, - 0.4352149963378906, - 0.10292999993362173 - ] + 0.36544500291347504, + 0.4317009896039963, + 0.1017069966183044 + ], + "units": "m" }, "description": "A neatly folded rectangular piece of light grey woven fabric with visible creases and texture.", "name": "D00877 Towel", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00877", "parts": [ { "bounds": { - "center": [ - 0.0021551556594912873, - 0.0018928984682826764, - 0.047504045061670094 + "min": [ + -0.1831810027360916, + -0.21756699681282043, + -2.300000051036477e-05 ], "max": [ - 0.193122997879982, - 0.21745699644088745, - 0.1029449999332428 + 0.18226400017738342, + 0.21413399279117584, + 0.10168399661779404 ], - "min": [ - -0.1903820037841797, - -0.21775799989700317, - 1.4999999621068127e-05 - ] + "size": [ + 0.36544500291347504, + 0.4317009896039963, + 0.1017069966183044 + ], + "units": "m" }, "center_of_mass": [ 0.0002377527462362819, @@ -67,10 +73,27 @@ "object_name": "D00877 Towel", "part_name": "D00877 Towel" }, - "volume": 0.014410897093458344 + "volume": 0.014410897093458344, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1b265f73c1b07bbcebaddb911cf689a9c623e31f697a36c6b95473035017036a" + }, + "usd_path": "batch4/D00877 Towel/IsaacSim_assets_69f6af927f5104dbf2b6cb8c/IsaacSim_asset_69f6af927f5104dbf2b6cb8c.usd", + "usd_sha256": "6861177d3c889af1e0aa0355fe37533b5303930187bbfb656a6db6a4b55394f9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3835050016641617, - 0.4352149963378906, - 0.10292999993362173 - ] + 0.36544500291347504, + 0.4317009896039963, + 0.1017069966183044 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6861177d3c889af1e0aa0355fe37533b5303930187bbfb656a6db6a4b55394f9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6861177d3c889af1e0aa0355fe37533b5303930187bbfb656a6db6a4b55394f9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 49, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6861177d3c889af1e0aa0355fe37533b5303930187bbfb656a6db6a4b55394f9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 49, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6861177d3c889af1e0aa0355fe37533b5303930187bbfb656a6db6a4b55394f9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00887 Tray Wooden Cutting Board/IsaacSim_assets_69f6bdb77f5104dbf2c4a95e/physics_69f6bdb77f5104dbf2c4a95e.json b/batch4/D00887 Tray Wooden Cutting Board/IsaacSim_assets_69f6bdb77f5104dbf2c4a95e/physics_69f6bdb77f5104dbf2c4a95e.json index 123611891897d7132a2ea58cdf3a478c7f8cc871..27154821a0dec499119653111fd9b3f90343ae50 100644 --- a/batch4/D00887 Tray Wooden Cutting Board/IsaacSim_assets_69f6bdb77f5104dbf2c4a95e/physics_69f6bdb77f5104dbf2c4a95e.json +++ b/batch4/D00887 Tray Wooden Cutting Board/IsaacSim_assets_69f6bdb77f5104dbf2c4a95e/physics_69f6bdb77f5104dbf2c4a95e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.3027209937572479, - 0.197953999042511, - 0.06584099680185318 - ], "min": [ - -0.2980929911136627, - -0.19665899872779846, - -0.00030700000934302807 + -0.3048349916934967, + -0.1961210072040558, + -0.00045200000749900937 + ], + "max": [ + 0.3056359887123108, + 0.19817900657653809, + 0.07395599782466888 ], "size": [ - 0.6008139848709106, - 0.39461299777030945, - 0.06614799681119621 - ] + 0.6104709804058075, + 0.39430001378059387, + 0.0744079978321679 + ], + "units": "m" }, "description": "A thick rectangular hardwood cutting board with rounded edges, visible light-brown wood grain, and a smooth oiled finish. Brushed stainless-steel tubular handles are mounted to the short sides with small metal plates and screws.", "name": "D00887 Tray Wooden Cutting Board", "object_type": "rigid_bodies", - "total_mass": 7.8 + "total_mass": 7.800000190734863, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00887", "parts": [ { "bounds": { - "center": [ - 0.001694232230494106, - 0.0004926936261639765, - 0.03331466770755663 + "min": [ + -0.3048349916934967, + -0.1961210072040558, + -0.00045200000749900937 ], "max": [ - 0.3027209937572479, - 0.197953999042511, - 0.06584099680185318 + 0.3056359887123108, + 0.19817900657653809, + 0.07395599782466888 ], - "min": [ - -0.2980929911136627, - -0.19665899872779846, - -0.00030700000934302807 - ] + "size": [ + 0.6104709804058075, + 0.39430001378059387, + 0.0744079978321679 + ], + "units": "m" }, "center_of_mass": [ -0.0003482845091380278, @@ -59,7 +65,7 @@ 0.1734389711586628, 0.2691834498308621 ], - "mass": 7.8, + "mass": 7.800000190734863, "material": "steel", "name": "D00887 Tray Wooden Cutting Board", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00887 Tray Wooden Cutting Board", "part_name": "D00887 Tray Wooden Cutting Board" }, - "volume": 0.014631624201326505 + "volume": 0.014631624201326505, + "source_prim_path": "/World/part_00_steel", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fd666f382040dc2e1dfcaede751a13f0b3c54da7037d3c7f9ed9965b01a827d3" + }, + "usd_path": "batch4/D00887 Tray Wooden Cutting Board/IsaacSim_assets_69f6bdb77f5104dbf2c4a95e/IsaacSim_asset_69f6bdb77f5104dbf2c4a95e.usd", + "usd_sha256": "5de80d0f285f47122f85fb210a2b73ba41fbe96fd7f2d7eb5789fa5b002c801f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.6008139848709106, - 0.39461299777030945, - 0.06614799681119621 - ] + 0.6104709804058075, + 0.39430001378059387, + 0.0744079978321679 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5de80d0f285f47122f85fb210a2b73ba41fbe96fd7f2d7eb5789fa5b002c801f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 7.8 + "value_kg": 7.800000190734863, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5de80d0f285f47122f85fb210a2b73ba41fbe96fd7f2d7eb5789fa5b002c801f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 7.800000190734863, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 27, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5de80d0f285f47122f85fb210a2b73ba41fbe96fd7f2d7eb5789fa5b002c801f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 27, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5de80d0f285f47122f85fb210a2b73ba41fbe96fd7f2d7eb5789fa5b002c801f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00896 Utensil Spoon/IsaacSim_assets_69f6c7397f5104dbf2ce0406/physics_69f6c7397f5104dbf2ce0406.json b/batch4/D00896 Utensil Spoon/IsaacSim_assets_69f6c7397f5104dbf2ce0406/physics_69f6c7397f5104dbf2ce0406.json index e35b6a5663a74ca21d76d8b69bbe7c8f2ba686ee..46cd1835d640ed3e93748682a0ab9ee60f49b6dc 100644 --- a/batch4/D00896 Utensil Spoon/IsaacSim_assets_69f6c7397f5104dbf2ce0406/physics_69f6c7397f5104dbf2ce0406.json +++ b/batch4/D00896 Utensil Spoon/IsaacSim_assets_69f6c7397f5104dbf2ce0406/physics_69f6c7397f5104dbf2ce0406.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.124749, - 0.026051, - 0.018889 - ], "min": [ - -0.071188, - -0.025923, - 3e-06 + -0.0711899995803833, + -0.025923000648617744, + 6.000000212225132e-06 + ], + "max": [ + 0.12475799769163132, + 0.026050999760627747, + 0.01888900063931942 ], "size": [ - 0.195937, - 0.051974000000000006, - 0.018886 - ] + 0.19594799727201462, + 0.05197400040924549, + 0.018883000639107195 + ], + "units": "m" }, "description": "A one-piece polished stainless-steel spoon for utensil simulation. It is modeled as a single rigid body with no articulating parts.", "name": "stainless steel spoon", "object_type": "rigid_bodies", - "total_mass": 0.052 + "total_mass": 0.052000001072883606, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00896", "parts": [ { "bounds": { - "center": [ - 0.02678, - 6.4e-05, - 0.009446 + "min": [ + -0.0711899995803833, + -0.025923000648617744, + 6.000000212225132e-06 ], "max": [ - 0.124749, - 0.026051, - 0.018889 + 0.12475799769163132, + 0.026050999760627747, + 0.01888900063931942 ], - "min": [ - -0.071188, - -0.025923, - 3e-06 - ] + "size": [ + 0.19594799727201462, + 0.05197400040924549, + 0.018883000639107195 + ], + "units": "m" }, "center_of_mass": [ 0.020934172491790116, @@ -59,7 +65,7 @@ 0.00018602703226184105, 0.0001896796422883779 ], - "mass": 0.052, + "mass": 0.052000001072883606, "material": "polished_stainless_steel", "name": "stainless steel spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 1.3225270638559865e-05 + "volume": 1.3225270638559865e-05, + "source_prim_path": "/World/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b69aed2c369ea622852cf21886e951787d71d49cbed44a6dfade6fd34eaf7dc7" + }, + "usd_path": "batch4/D00896 Utensil Spoon/IsaacSim_assets_69f6c7397f5104dbf2ce0406/IsaacSim_asset_69f6c7397f5104dbf2ce0406.usd", + "usd_sha256": "32d6de957dd8bf132b1960c24dd1e72430a34169b058a94602bce00a88a1a562", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.195937, - 0.051974000000000006, - 0.018886 - ] + 0.19594799727201462, + 0.05197400040924549, + 0.018883000639107195 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32d6de957dd8bf132b1960c24dd1e72430a34169b058a94602bce00a88a1a562", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.052 + "value_kg": 0.052000001072883606, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32d6de957dd8bf132b1960c24dd1e72430a34169b058a94602bce00a88a1a562", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.052000001072883606, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32d6de957dd8bf132b1960c24dd1e72430a34169b058a94602bce00a88a1a562", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32d6de957dd8bf132b1960c24dd1e72430a34169b058a94602bce00a88a1a562", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch4/D00904 Vegetable Bowl/IsaacSim_assets_69f6c8fe7f5104dbf2cfbc93/physics_69f6c8fe7f5104dbf2cfbc93.json b/batch4/D00904 Vegetable Bowl/IsaacSim_assets_69f6c8fe7f5104dbf2cfbc93/physics_69f6c8fe7f5104dbf2cfbc93.json index 2dec361857bc05b2668393feff93a30ee6763309..ee2842b858ad75a7e9a39da601c765f45e460e5d 100644 --- a/batch4/D00904 Vegetable Bowl/IsaacSim_assets_69f6c8fe7f5104dbf2cfbc93/physics_69f6c8fe7f5104dbf2cfbc93.json +++ b/batch4/D00904 Vegetable Bowl/IsaacSim_assets_69f6c8fe7f5104dbf2cfbc93/physics_69f6c8fe7f5104dbf2cfbc93.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10720500349998474, - 0.10678999871015549, - 0.0945729985833168 - ], "min": [ - -0.10619000345468521, - -0.10651999711990356, - -9.200000204145908e-05 + -0.11943099647760391, + -0.11927500367164612, + -9.999999974752427e-07 + ], + "max": [ + 0.11926300078630447, + 0.11922600120306015, + 0.1053519994020462 ], "size": [ - 0.21339500695466995, - 0.21330999583005905, - 0.09466499858535826 - ] + 0.2386939972639084, + 0.23850100487470627, + 0.10535299940204368 + ], + "units": "m" }, "description": "A rounded glazed ceramic bowl with a thick rim, smooth concave interior, and small circular foot ring. The surface appears glossy stoneware or porcelain in several color and finish variants, with occasional chips, speckling, or clay texture.", "name": "D00904 White Ceramic Serving Bowl", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.44999998807907104, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00904", "parts": [ { "bounds": { - "center": [ - 0.00044279118491706527, - 0.00023346274783332094, - 0.04626391961430327 + "min": [ + -0.11943099647760391, + -0.11927500367164612, + -9.999999974752427e-07 ], "max": [ - 0.10720500349998474, - 0.10678999871015549, - 0.0945729985833168 + 0.11926300078630447, + 0.11922600120306015, + 0.1053519994020462 ], - "min": [ - -0.10619000345468521, - -0.10651999711990356, - -9.200000204145908e-05 - ] + "size": [ + 0.2386939972639084, + 0.23850100487470627, + 0.10535299940204368 + ], + "units": "m" }, "center_of_mass": [ -0.00015214876145074998, @@ -59,7 +65,7 @@ 0.0022544022873965236, 0.003731982412191883 ], - "mass": 0.45, + "mass": 0.44999998807907104, "material": "glazed_ceramic_stoneware", "name": "D00904 Vegetable Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00904 Vegetable Bowl", "part_name": "D00904 Vegetable Bowl" }, - "volume": 0.0008470924099490052 + "volume": 0.0008470924099490052, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6ce8536eef11fd802a5021f8fda35a254e3826c2c639b5f98e116d1d5e75ffdf" + }, + "usd_path": "batch4/D00904 Vegetable Bowl/IsaacSim_assets_69f6c8fe7f5104dbf2cfbc93/IsaacSim_asset_69f6c8fe7f5104dbf2cfbc93.usd", + "usd_sha256": "69ed9a188c7be88064d593615b116023d1dc89d86a4ac5fa69b290ff6d742d83", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.21339500695466995, - 0.21330999583005905, - 0.09466499858535826 - ] + 0.2386939972639084, + 0.23850100487470627, + 0.10535299940204368 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "69ed9a188c7be88064d593615b116023d1dc89d86a4ac5fa69b290ff6d742d83", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.44999998807907104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "69ed9a188c7be88064d593615b116023d1dc89d86a4ac5fa69b290ff6d742d83", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.44999998807907104, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "69ed9a188c7be88064d593615b116023d1dc89d86a4ac5fa69b290ff6d742d83", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "69ed9a188c7be88064d593615b116023d1dc89d86a4ac5fa69b290ff6d742d83", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01001_Primal_Kitchen_Organic_Spicy_Brown_Mustard/IsaacSim_assets_D01001/physics_D01001.json b/batch40/D01001_Primal_Kitchen_Organic_Spicy_Brown_Mustard/IsaacSim_assets_D01001/physics_D01001.json index d88f603ee60cb299e8beb3e0647167f90e2e8da1..ba1915ca30830b13ece833a2c3941f6654849751 100644 --- a/batch40/D01001_Primal_Kitchen_Organic_Spicy_Brown_Mustard/IsaacSim_assets_D01001/physics_D01001.json +++ b/batch40/D01001_Primal_Kitchen_Organic_Spicy_Brown_Mustard/IsaacSim_assets_D01001/physics_D01001.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "5901172d34dbd8e1f0dc6e0b6fe2dbb5c5e3bb2544e5c11163c75041979ba915" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "74852abfe7290177b093df3d53bb5d102aa1fcefed611b859e0401ac931d8a9b" }, "usd_path": "batch40/D01001_Primal_Kitchen_Organic_Spicy_Brown_Mustard/IsaacSim_assets_D01001/IsaacSim_asset_D01001.usd", - "usd_sha256": "9a05e3608037e46c8cd0c2c84e339223df8ad4ecbdb80f672e078a99c5bbfdfe", + "usd_sha256": "08fb25d675f6f645a88175bab0436e7d320301ba087cea8eabbe226fa7b82f63", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9a05e3608037e46c8cd0c2c84e339223df8ad4ecbdb80f672e078a99c5bbfdfe", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "08fb25d675f6f645a88175bab0436e7d320301ba087cea8eabbe226fa7b82f63", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07238999754190445, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.375, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9a05e3608037e46c8cd0c2c84e339223df8ad4ecbdb80f672e078a99c5bbfdfe", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "08fb25d675f6f645a88175bab0436e7d320301ba087cea8eabbe226fa7b82f63", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.375, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 10, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9a05e3608037e46c8cd0c2c84e339223df8ad4ecbdb80f672e078a99c5bbfdfe", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "08fb25d675f6f645a88175bab0436e7d320301ba087cea8eabbe226fa7b82f63", "scope": "authored_usd_collision_schema", "enabled_shape_count": 10, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9a05e3608037e46c8cd0c2c84e339223df8ad4ecbdb80f672e078a99c5bbfdfe", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "08fb25d675f6f645a88175bab0436e7d320301ba087cea8eabbe226fa7b82f63", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01002_Primal_Kitchen_Cocktail_Sauce/IsaacSim_assets_D01002/physics_D01002.json b/batch40/D01002_Primal_Kitchen_Cocktail_Sauce/IsaacSim_assets_D01002/physics_D01002.json index 58eb1fb1fc25d69782b8ec79691dc0a893ab662a..b6541a8e07ca5ca4f31b57eeff19b92b5423c805 100644 --- a/batch40/D01002_Primal_Kitchen_Cocktail_Sauce/IsaacSim_assets_D01002/physics_D01002.json +++ b/batch40/D01002_Primal_Kitchen_Cocktail_Sauce/IsaacSim_assets_D01002/physics_D01002.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "07bbab27888db6b3c8e09a2c3a7e1ca2523ba894b81a3024dcc4d637d4be6590" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "13d7fd9a6d32e95ea4d5a912469cf5d537a50b15f5e0d269aa13195c3b3abf42" }, "usd_path": "batch40/D01002_Primal_Kitchen_Cocktail_Sauce/IsaacSim_assets_D01002/IsaacSim_asset_D01002.usd", - "usd_sha256": "6a23d8e6c45c755a04e630c9c58675d64b3b39a25435a9bfab9bdc5786a31ea5", + "usd_sha256": "f993fad51db6622ee2f7c2990bc5800b7640597441b7ad5458d9ac284c163267", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6a23d8e6c45c755a04e630c9c58675d64b3b39a25435a9bfab9bdc5786a31ea5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f993fad51db6622ee2f7c2990bc5800b7640597441b7ad5458d9ac284c163267", "scope": "authored_usd_dimensions", "bounds_m": [ 0.06030000001192093, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.38999998569488525, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6a23d8e6c45c755a04e630c9c58675d64b3b39a25435a9bfab9bdc5786a31ea5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f993fad51db6622ee2f7c2990bc5800b7640597441b7ad5458d9ac284c163267", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.38999998569488525, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 6, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6a23d8e6c45c755a04e630c9c58675d64b3b39a25435a9bfab9bdc5786a31ea5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f993fad51db6622ee2f7c2990bc5800b7640597441b7ad5458d9ac284c163267", "scope": "authored_usd_collision_schema", "enabled_shape_count": 6, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6a23d8e6c45c755a04e630c9c58675d64b3b39a25435a9bfab9bdc5786a31ea5", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f993fad51db6622ee2f7c2990bc5800b7640597441b7ad5458d9ac284c163267", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01003_Primal_Kitchen_Tartar_Sauce/IsaacSim_assets_D01003/physics_D01003.json b/batch40/D01003_Primal_Kitchen_Tartar_Sauce/IsaacSim_assets_D01003/physics_D01003.json index 9101eeeb974db88e5bb6620a549c3441dbc621fe..bda63f615928500f2164199e70bd2b4db3d9ed80 100644 --- a/batch40/D01003_Primal_Kitchen_Tartar_Sauce/IsaacSim_assets_D01003/physics_D01003.json +++ b/batch40/D01003_Primal_Kitchen_Tartar_Sauce/IsaacSim_assets_D01003/physics_D01003.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "9694ce42d094f02905e1219af8a8ef842d4b67f2e8c0a747d9f84a663506831e" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "19e01b47b041910189665e04a7627c8ddb16298493ecac3abd2c328a137e7363" }, "usd_path": "batch40/D01003_Primal_Kitchen_Tartar_Sauce/IsaacSim_assets_D01003/IsaacSim_asset_D01003.usd", - "usd_sha256": "c8bd0ed57a8bc3d16d33f913abfb49f8653fbf6b63a48b7a471aacf3d7aca050", + "usd_sha256": "a9cd192bb3534264dc77ae59e0b3ddcc2f03929fca2e7aba4ef45184a3b033e4", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c8bd0ed57a8bc3d16d33f913abfb49f8653fbf6b63a48b7a471aacf3d7aca050", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a9cd192bb3534264dc77ae59e0b3ddcc2f03929fca2e7aba4ef45184a3b033e4", "scope": "authored_usd_dimensions", "bounds_m": [ 0.06030000001192093, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.36000001430511475, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c8bd0ed57a8bc3d16d33f913abfb49f8653fbf6b63a48b7a471aacf3d7aca050", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a9cd192bb3534264dc77ae59e0b3ddcc2f03929fca2e7aba4ef45184a3b033e4", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.36000001430511475, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 7, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c8bd0ed57a8bc3d16d33f913abfb49f8653fbf6b63a48b7a471aacf3d7aca050", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a9cd192bb3534264dc77ae59e0b3ddcc2f03929fca2e7aba4ef45184a3b033e4", "scope": "authored_usd_collision_schema", "enabled_shape_count": 7, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c8bd0ed57a8bc3d16d33f913abfb49f8653fbf6b63a48b7a471aacf3d7aca050", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a9cd192bb3534264dc77ae59e0b3ddcc2f03929fca2e7aba4ef45184a3b033e4", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01004_Primal_Kitchen_Mayo_with_Avocado_Oil/IsaacSim_assets_D01004/physics_D01004.json b/batch40/D01004_Primal_Kitchen_Mayo_with_Avocado_Oil/IsaacSim_assets_D01004/physics_D01004.json index 995644eb4533a9e79b73395aae61992e609169ce..b52cbfa96fd947f36797093d639c329977fbb432 100644 --- a/batch40/D01004_Primal_Kitchen_Mayo_with_Avocado_Oil/IsaacSim_assets_D01004/physics_D01004.json +++ b/batch40/D01004_Primal_Kitchen_Mayo_with_Avocado_Oil/IsaacSim_assets_D01004/physics_D01004.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "ab3928396abafe342889b3ab928e5420917ef03fdb8e34202ca50dbb277947db" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "42befd3e8b9bb1c92882df6727399bb7922f2d40ab371e2529714aa943266946" }, "usd_path": "batch40/D01004_Primal_Kitchen_Mayo_with_Avocado_Oil/IsaacSim_assets_D01004/IsaacSim_asset_D01004.usd", - "usd_sha256": "01fe2374f5c99a9a5a8f9f8629ddbf374b097c93c0b6a4b1425fc1a3c8c5b0d4", + "usd_sha256": "1bc7453ae2c4521cf6dcc2d0663d5ea30ea8a989cb0829694e89b771b2303fd0", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "01fe2374f5c99a9a5a8f9f8629ddbf374b097c93c0b6a4b1425fc1a3c8c5b0d4", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1bc7453ae2c4521cf6dcc2d0663d5ea30ea8a989cb0829694e89b771b2303fd0", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07500000298023224, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.5099999904632568, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "01fe2374f5c99a9a5a8f9f8629ddbf374b097c93c0b6a4b1425fc1a3c8c5b0d4", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1bc7453ae2c4521cf6dcc2d0663d5ea30ea8a989cb0829694e89b771b2303fd0", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.5099999904632568, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 4, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "01fe2374f5c99a9a5a8f9f8629ddbf374b097c93c0b6a4b1425fc1a3c8c5b0d4", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1bc7453ae2c4521cf6dcc2d0663d5ea30ea8a989cb0829694e89b771b2303fd0", "scope": "authored_usd_collision_schema", "enabled_shape_count": 4, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "01fe2374f5c99a9a5a8f9f8629ddbf374b097c93c0b6a4b1425fc1a3c8c5b0d4", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1bc7453ae2c4521cf6dcc2d0663d5ea30ea8a989cb0829694e89b771b2303fd0", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01005_Primal_Kitchen_Chipotle_Lime_Mayo/IsaacSim_assets_D01005/physics_D01005.json b/batch40/D01005_Primal_Kitchen_Chipotle_Lime_Mayo/IsaacSim_assets_D01005/physics_D01005.json index c16b78d108b0ef9337a965959193ad11ef04d6a2..b8e66c1ed6aba611a3a1a4b3a9e3220e7736a9e9 100644 --- a/batch40/D01005_Primal_Kitchen_Chipotle_Lime_Mayo/IsaacSim_assets_D01005/physics_D01005.json +++ b/batch40/D01005_Primal_Kitchen_Chipotle_Lime_Mayo/IsaacSim_assets_D01005/physics_D01005.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "e8403765287e36f0529e5878f4f745f665663488ed3b111550ec9d9f708b9869" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7ed69c41c969cd16bbdf8fec8e6c3604e8f2a79e770d7d3e85a5517bbad10b1b" }, "usd_path": "batch40/D01005_Primal_Kitchen_Chipotle_Lime_Mayo/IsaacSim_assets_D01005/IsaacSim_asset_D01005.usd", - "usd_sha256": "7c422786529c24c024329b0c6e918f71ff43ccb6e867b0d835fb94ef56eb1a1e", + "usd_sha256": "60505fa61fffd18cc17f17cbe4b28c7d3ba252279ec0ed754c6cbee7cd6e390f", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7c422786529c24c024329b0c6e918f71ff43ccb6e867b0d835fb94ef56eb1a1e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "60505fa61fffd18cc17f17cbe4b28c7d3ba252279ec0ed754c6cbee7cd6e390f", "scope": "authored_usd_dimensions", "bounds_m": [ 0.0736600011587143, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.5099999904632568, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7c422786529c24c024329b0c6e918f71ff43ccb6e867b0d835fb94ef56eb1a1e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "60505fa61fffd18cc17f17cbe4b28c7d3ba252279ec0ed754c6cbee7cd6e390f", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.5099999904632568, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 4, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7c422786529c24c024329b0c6e918f71ff43ccb6e867b0d835fb94ef56eb1a1e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "60505fa61fffd18cc17f17cbe4b28c7d3ba252279ec0ed754c6cbee7cd6e390f", "scope": "authored_usd_collision_schema", "enabled_shape_count": 4, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7c422786529c24c024329b0c6e918f71ff43ccb6e867b0d835fb94ef56eb1a1e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "60505fa61fffd18cc17f17cbe4b28c7d3ba252279ec0ed754c6cbee7cd6e390f", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01006_Primal_Kitchen_Garlic_Aioli_Mayo/IsaacSim_assets_D01006/physics_D01006.json b/batch40/D01006_Primal_Kitchen_Garlic_Aioli_Mayo/IsaacSim_assets_D01006/physics_D01006.json index 21dd97a543e9a4ade64e40d87c244d4f55984e37..52f6438f2e1a4a1ed4ef83ae77dd09f446459cde 100644 --- a/batch40/D01006_Primal_Kitchen_Garlic_Aioli_Mayo/IsaacSim_assets_D01006/physics_D01006.json +++ b/batch40/D01006_Primal_Kitchen_Garlic_Aioli_Mayo/IsaacSim_assets_D01006/physics_D01006.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "0a1851a7580242d9703f37dcc4a0ed3f5bef26893b49e99e77b5ea43e5e0342c" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "78f7631f9109814454f1162efb79c6e5bb077eff2d2a1481ee9e3bb224e1a29a" }, "usd_path": "batch40/D01006_Primal_Kitchen_Garlic_Aioli_Mayo/IsaacSim_assets_D01006/IsaacSim_asset_D01006.usd", - "usd_sha256": "aa7eed0a64498c4cc24a648b826e92f096bda2467a6808656fd2f68760237146", + "usd_sha256": "d6b1ab1c2146802087adc187ec1183daf2501359c8f78d326abd55062a38e6ce", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "aa7eed0a64498c4cc24a648b826e92f096bda2467a6808656fd2f68760237146", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6b1ab1c2146802087adc187ec1183daf2501359c8f78d326abd55062a38e6ce", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07500000298023224, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.5099999904632568, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "aa7eed0a64498c4cc24a648b826e92f096bda2467a6808656fd2f68760237146", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6b1ab1c2146802087adc187ec1183daf2501359c8f78d326abd55062a38e6ce", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.5099999904632568, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 4, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "aa7eed0a64498c4cc24a648b826e92f096bda2467a6808656fd2f68760237146", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6b1ab1c2146802087adc187ec1183daf2501359c8f78d326abd55062a38e6ce", "scope": "authored_usd_collision_schema", "enabled_shape_count": 4, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "aa7eed0a64498c4cc24a648b826e92f096bda2467a6808656fd2f68760237146", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6b1ab1c2146802087adc187ec1183daf2501359c8f78d326abd55062a38e6ce", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01007_Primal_Kitchen_Organic_Unsweetened_Ketchup/IsaacSim_assets_D01007/physics_D01007.json b/batch40/D01007_Primal_Kitchen_Organic_Unsweetened_Ketchup/IsaacSim_assets_D01007/physics_D01007.json index a7553f6cace268be715b92861f4c9b96f0f91e69..92aa63d3d86ad117c0b548d06fc122ee80f7f03f 100644 --- a/batch40/D01007_Primal_Kitchen_Organic_Unsweetened_Ketchup/IsaacSim_assets_D01007/physics_D01007.json +++ b/batch40/D01007_Primal_Kitchen_Organic_Unsweetened_Ketchup/IsaacSim_assets_D01007/physics_D01007.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "c92c71277c81c97d514592047a8779ef551c700f2e1f3f9cf4d33600d389bf83" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0c4bd6dee54b21420efe40cc1eb3f4759c8f5589c72a3bb3357386c2af07d99c" }, "usd_path": "batch40/D01007_Primal_Kitchen_Organic_Unsweetened_Ketchup/IsaacSim_assets_D01007/IsaacSim_asset_D01007.usd", - "usd_sha256": "c95dbedd7f10f4e2f7d779fbcb0e5c21d4d29a65479cfc23538c4f0bbfe5d0e1", + "usd_sha256": "140add523d758dba90fd0c4aa78b1b0c8366b880512368879977cbc41e1d9d59", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c95dbedd7f10f4e2f7d779fbcb0e5c21d4d29a65479cfc23538c4f0bbfe5d0e1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "140add523d758dba90fd0c4aa78b1b0c8366b880512368879977cbc41e1d9d59", "scope": "authored_usd_dimensions", "bounds_m": [ 0.059689998626708984, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.47999998927116394, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c95dbedd7f10f4e2f7d779fbcb0e5c21d4d29a65479cfc23538c4f0bbfe5d0e1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "140add523d758dba90fd0c4aa78b1b0c8366b880512368879977cbc41e1d9d59", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.47999998927116394, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 6, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c95dbedd7f10f4e2f7d779fbcb0e5c21d4d29a65479cfc23538c4f0bbfe5d0e1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "140add523d758dba90fd0c4aa78b1b0c8366b880512368879977cbc41e1d9d59", "scope": "authored_usd_collision_schema", "enabled_shape_count": 6, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c95dbedd7f10f4e2f7d779fbcb0e5c21d4d29a65479cfc23538c4f0bbfe5d0e1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "140add523d758dba90fd0c4aa78b1b0c8366b880512368879977cbc41e1d9d59", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01008_Caplansky's_Deli_Ballpark_Mustard/IsaacSim_assets_D01008/physics_D01008.json b/batch40/D01008_Caplansky's_Deli_Ballpark_Mustard/IsaacSim_assets_D01008/physics_D01008.json index dc61e2ef46673e55a541510c7cf930a2537817c0..73007d99104e6ea1289e0ad59abfc8f7b0ddb01f 100644 --- a/batch40/D01008_Caplansky's_Deli_Ballpark_Mustard/IsaacSim_assets_D01008/physics_D01008.json +++ b/batch40/D01008_Caplansky's_Deli_Ballpark_Mustard/IsaacSim_assets_D01008/physics_D01008.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "df183afdad34469408e15f10bc7ceee357dbc733e8b933b0a025bc2db770668e" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "979601f56459dbd94fa82dcc262c338012de43753bfb858475addfee725ea386" }, "usd_path": "batch40/D01008_Caplansky's_Deli_Ballpark_Mustard/IsaacSim_assets_D01008/IsaacSim_asset_D01008.usd", - "usd_sha256": "cb1afadfb890b58c4fb9de0d346853c72eea2916438d4d7162534bf5648b1999", + "usd_sha256": "d9327282a7ba43b0b60831a122796c2c6eb74581b2c65322179851da16584a9d", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb1afadfb890b58c4fb9de0d346853c72eea2916438d4d7162534bf5648b1999", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9327282a7ba43b0b60831a122796c2c6eb74581b2c65322179851da16584a9d", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07039999961853027, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.3700000047683716, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb1afadfb890b58c4fb9de0d346853c72eea2916438d4d7162534bf5648b1999", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9327282a7ba43b0b60831a122796c2c6eb74581b2c65322179851da16584a9d", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.3700000047683716, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 108, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb1afadfb890b58c4fb9de0d346853c72eea2916438d4d7162534bf5648b1999", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9327282a7ba43b0b60831a122796c2c6eb74581b2c65322179851da16584a9d", "scope": "authored_usd_collision_schema", "enabled_shape_count": 108, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb1afadfb890b58c4fb9de0d346853c72eea2916438d4d7162534bf5648b1999", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d9327282a7ba43b0b60831a122796c2c6eb74581b2c65322179851da16584a9d", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01009_Caplansky's_Deli_Old_Fashioned_Mustard/IsaacSim_assets_D01009/physics_D01009.json b/batch40/D01009_Caplansky's_Deli_Old_Fashioned_Mustard/IsaacSim_assets_D01009/physics_D01009.json index 87d59cd0d8368ef6819baa627d49cbe58c2d0364..ada856717dc82dce2a8d58076d7be75cced6e769 100644 --- a/batch40/D01009_Caplansky's_Deli_Old_Fashioned_Mustard/IsaacSim_assets_D01009/physics_D01009.json +++ b/batch40/D01009_Caplansky's_Deli_Old_Fashioned_Mustard/IsaacSim_assets_D01009/physics_D01009.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "d715ff9c688efdc4b5cbd9d643980a1ecf9d824367b1fbaacf51f484b93f8102" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "964432908b79093ed5b1d5d673471b2e7d7a171bffedbb85d05fa1ac2c49588f" }, "usd_path": "batch40/D01009_Caplansky's_Deli_Old_Fashioned_Mustard/IsaacSim_assets_D01009/IsaacSim_asset_D01009.usd", - "usd_sha256": "b93844381300fdd0fd8a2e5ffadd6d105e5658d29f7562973ef1e433e7372032", + "usd_sha256": "a784fdbec2c9e13181802802b7f05f4265ca6c58561f6f8c1237f6bdc42fadd6", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b93844381300fdd0fd8a2e5ffadd6d105e5658d29f7562973ef1e433e7372032", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a784fdbec2c9e13181802802b7f05f4265ca6c58561f6f8c1237f6bdc42fadd6", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07039999961853027, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.3700000047683716, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b93844381300fdd0fd8a2e5ffadd6d105e5658d29f7562973ef1e433e7372032", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a784fdbec2c9e13181802802b7f05f4265ca6c58561f6f8c1237f6bdc42fadd6", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.3700000047683716, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 108, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b93844381300fdd0fd8a2e5ffadd6d105e5658d29f7562973ef1e433e7372032", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a784fdbec2c9e13181802802b7f05f4265ca6c58561f6f8c1237f6bdc42fadd6", "scope": "authored_usd_collision_schema", "enabled_shape_count": 108, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b93844381300fdd0fd8a2e5ffadd6d105e5658d29f7562973ef1e433e7372032", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a784fdbec2c9e13181802802b7f05f4265ca6c58561f6f8c1237f6bdc42fadd6", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01010_Caplansky's_Deli_Horseradish_Mustard/IsaacSim_assets_D01010/physics_D01010.json b/batch40/D01010_Caplansky's_Deli_Horseradish_Mustard/IsaacSim_assets_D01010/physics_D01010.json index 088143289e1842a2f005605602102eeec2dac800..3d1739ecc8a22ba2b6d892833bfe2d20dbd5785b 100644 --- a/batch40/D01010_Caplansky's_Deli_Horseradish_Mustard/IsaacSim_assets_D01010/physics_D01010.json +++ b/batch40/D01010_Caplansky's_Deli_Horseradish_Mustard/IsaacSim_assets_D01010/physics_D01010.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "31f15081d93ebcf8d5953791412d45160246d1f26fef6c733612d901b6cefc0f" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "00b39f26e966a9dfc48aa2359cddd46c157c7f02c5ce156a579e5167f4bfee10" }, "usd_path": "batch40/D01010_Caplansky's_Deli_Horseradish_Mustard/IsaacSim_assets_D01010/IsaacSim_asset_D01010.usd", - "usd_sha256": "dfd7b70779a3e7a789316d2cf73c5e3aaf172a8fa7c5d68a09d504fb80658b78", + "usd_sha256": "85da0afda50e18c88c97d2f915e05f12b7d2bc8a7561338009effe9c37525fcd", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "dfd7b70779a3e7a789316d2cf73c5e3aaf172a8fa7c5d68a09d504fb80658b78", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85da0afda50e18c88c97d2f915e05f12b7d2bc8a7561338009effe9c37525fcd", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07039999961853027, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.3700000047683716, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "dfd7b70779a3e7a789316d2cf73c5e3aaf172a8fa7c5d68a09d504fb80658b78", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85da0afda50e18c88c97d2f915e05f12b7d2bc8a7561338009effe9c37525fcd", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.3700000047683716, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 108, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "dfd7b70779a3e7a789316d2cf73c5e3aaf172a8fa7c5d68a09d504fb80658b78", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85da0afda50e18c88c97d2f915e05f12b7d2bc8a7561338009effe9c37525fcd", "scope": "authored_usd_collision_schema", "enabled_shape_count": 108, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "dfd7b70779a3e7a789316d2cf73c5e3aaf172a8fa7c5d68a09d504fb80658b78", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85da0afda50e18c88c97d2f915e05f12b7d2bc8a7561338009effe9c37525fcd", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01011_Caplansky's_Deli_Spicy_Mustard/IsaacSim_assets_D01011/physics_D01011.json b/batch40/D01011_Caplansky's_Deli_Spicy_Mustard/IsaacSim_assets_D01011/physics_D01011.json index 3ff4e7709615ceabcef601fbd13eb249f525f3c8..7528776c72bf9ef17196d948a9fbde3bff525476 100644 --- a/batch40/D01011_Caplansky's_Deli_Spicy_Mustard/IsaacSim_assets_D01011/physics_D01011.json +++ b/batch40/D01011_Caplansky's_Deli_Spicy_Mustard/IsaacSim_assets_D01011/physics_D01011.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "74776c52843d877f3317b2f1dda58461cc03a89a34757e0c1181267c9e6decc5" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b7b94952fb1903465bd0d9308bcc1c01d003a92083d6eda38eeedfe7e4b0ce1c" }, "usd_path": "batch40/D01011_Caplansky's_Deli_Spicy_Mustard/IsaacSim_assets_D01011/IsaacSim_asset_D01011.usd", - "usd_sha256": "36b73a5c7f5934554875fb988bb798dc4425ae3aaaa959bf7736381445a1f694", + "usd_sha256": "715d974e5e728ba326d63c0958d34e3ea1bedc9da1dba44e76adfa0af855a073", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "36b73a5c7f5934554875fb988bb798dc4425ae3aaaa959bf7736381445a1f694", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "715d974e5e728ba326d63c0958d34e3ea1bedc9da1dba44e76adfa0af855a073", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07039999961853027, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.3700000047683716, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "36b73a5c7f5934554875fb988bb798dc4425ae3aaaa959bf7736381445a1f694", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "715d974e5e728ba326d63c0958d34e3ea1bedc9da1dba44e76adfa0af855a073", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.3700000047683716, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 108, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "36b73a5c7f5934554875fb988bb798dc4425ae3aaaa959bf7736381445a1f694", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "715d974e5e728ba326d63c0958d34e3ea1bedc9da1dba44e76adfa0af855a073", "scope": "authored_usd_collision_schema", "enabled_shape_count": 108, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "36b73a5c7f5934554875fb988bb798dc4425ae3aaaa959bf7736381445a1f694", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "715d974e5e728ba326d63c0958d34e3ea1bedc9da1dba44e76adfa0af855a073", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01012_Mustard_Girl_American_Dijon_Mustard/IsaacSim_assets_D01012/physics_D01012.json b/batch40/D01012_Mustard_Girl_American_Dijon_Mustard/IsaacSim_assets_D01012/physics_D01012.json index 05cc44f1811c4401dc79b7965d8bece25a4c45dd..e9b58da0f86480e510c96e1e06de8d81359dce00 100644 --- a/batch40/D01012_Mustard_Girl_American_Dijon_Mustard/IsaacSim_assets_D01012/physics_D01012.json +++ b/batch40/D01012_Mustard_Girl_American_Dijon_Mustard/IsaacSim_assets_D01012/physics_D01012.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "ca9812d44524d9f633e065a0f3ba4ccabcb997f198c0503b70f68eb124e67f60" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8c3468ececf7bac6c23b08b7ad3122083c4429154f95d3328b003eadff529683" }, "usd_path": "batch40/D01012_Mustard_Girl_American_Dijon_Mustard/IsaacSim_assets_D01012/IsaacSim_asset_D01012.usd", - "usd_sha256": "3673ca30e539f50c1fa60b5d9426351051caa4c4ca83c03df41ea24b637a04e8", + "usd_sha256": "14733fe04c3b4e3714a187569e9b04704fbd1624b47c7a18dd28dbf392f9280a", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3673ca30e539f50c1fa60b5d9426351051caa4c4ca83c03df41ea24b637a04e8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14733fe04c3b4e3714a187569e9b04704fbd1624b47c7a18dd28dbf392f9280a", "scope": "authored_usd_dimensions", "bounds_m": [ 0.06651744991540909, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.37599998712539673, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3673ca30e539f50c1fa60b5d9426351051caa4c4ca83c03df41ea24b637a04e8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14733fe04c3b4e3714a187569e9b04704fbd1624b47c7a18dd28dbf392f9280a", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.37599998712539673, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 82, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3673ca30e539f50c1fa60b5d9426351051caa4c4ca83c03df41ea24b637a04e8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14733fe04c3b4e3714a187569e9b04704fbd1624b47c7a18dd28dbf392f9280a", "scope": "authored_usd_collision_schema", "enabled_shape_count": 82, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3673ca30e539f50c1fa60b5d9426351051caa4c4ca83c03df41ea24b637a04e8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "14733fe04c3b4e3714a187569e9b04704fbd1624b47c7a18dd28dbf392f9280a", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01013_Mustard_Girl_Stoneground_Deli_Mustard/IsaacSim_assets_D01013/physics_D01013.json b/batch40/D01013_Mustard_Girl_Stoneground_Deli_Mustard/IsaacSim_assets_D01013/physics_D01013.json index 39f13ed5a9a7bb402637a0c4482a8c2738d70702..3126a04a9b3eb43729cfc103287348a2b861af7a 100644 --- a/batch40/D01013_Mustard_Girl_Stoneground_Deli_Mustard/IsaacSim_assets_D01013/physics_D01013.json +++ b/batch40/D01013_Mustard_Girl_Stoneground_Deli_Mustard/IsaacSim_assets_D01013/physics_D01013.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "52b7f3cafd45d77c908feac5c85e0e49586829b8e49c7eba599f7017134c492c" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e0ae572cfeab3d7ea00e955bdbdf6230a5ef1e3ae7883837587af5374b55bd92" }, "usd_path": "batch40/D01013_Mustard_Girl_Stoneground_Deli_Mustard/IsaacSim_assets_D01013/IsaacSim_asset_D01013.usd", - "usd_sha256": "9277060d864accbd2bf408ba5011038c887f2f3a0c6c84f45d44abb4fe628e7f", + "usd_sha256": "9f8a345dbe00ba86a21da770959b4fbc9de87b51512603aec31b49c7e710e8d1", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9277060d864accbd2bf408ba5011038c887f2f3a0c6c84f45d44abb4fe628e7f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f8a345dbe00ba86a21da770959b4fbc9de87b51512603aec31b49c7e710e8d1", "scope": "authored_usd_dimensions", "bounds_m": [ 0.06651744991540909, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.37599998712539673, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9277060d864accbd2bf408ba5011038c887f2f3a0c6c84f45d44abb4fe628e7f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f8a345dbe00ba86a21da770959b4fbc9de87b51512603aec31b49c7e710e8d1", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.37599998712539673, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 82, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9277060d864accbd2bf408ba5011038c887f2f3a0c6c84f45d44abb4fe628e7f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f8a345dbe00ba86a21da770959b4fbc9de87b51512603aec31b49c7e710e8d1", "scope": "authored_usd_collision_schema", "enabled_shape_count": 82, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9277060d864accbd2bf408ba5011038c887f2f3a0c6c84f45d44abb4fe628e7f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f8a345dbe00ba86a21da770959b4fbc9de87b51512603aec31b49c7e710e8d1", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01014_Eden_Foods_Organic_Brown_Mustard/IsaacSim_assets_D01014/physics_D01014.json b/batch40/D01014_Eden_Foods_Organic_Brown_Mustard/IsaacSim_assets_D01014/physics_D01014.json index ad259955104dec458b552e469f2856e5e9ea659d..7f283048e1ca177413210f5adf3e2d0892ef9f04 100644 --- a/batch40/D01014_Eden_Foods_Organic_Brown_Mustard/IsaacSim_assets_D01014/physics_D01014.json +++ b/batch40/D01014_Eden_Foods_Organic_Brown_Mustard/IsaacSim_assets_D01014/physics_D01014.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "236210cfff6cb5da9f253c0fc0217d96a7c8826749e102d86044b71921a22fe8" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "2b3c6b5014eb89ff534b36fa8465c5e306b07b018c12886b2b95a9909bdc4551" }, "usd_path": "batch40/D01014_Eden_Foods_Organic_Brown_Mustard/IsaacSim_assets_D01014/IsaacSim_asset_D01014.usd", - "usd_sha256": "0098d88afd116cf2cdacbd301b35435d32a154821139a851049c16f37fa09f5c", + "usd_sha256": "8c260400f9873db14cc670711e787f77e762b9b6fa5dac427d95e6498a6f2078", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0098d88afd116cf2cdacbd301b35435d32a154821139a851049c16f37fa09f5c", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8c260400f9873db14cc670711e787f77e762b9b6fa5dac427d95e6498a6f2078", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07406000047922134, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.4050000011920929, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0098d88afd116cf2cdacbd301b35435d32a154821139a851049c16f37fa09f5c", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8c260400f9873db14cc670711e787f77e762b9b6fa5dac427d95e6498a6f2078", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.4050000011920929, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 86, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0098d88afd116cf2cdacbd301b35435d32a154821139a851049c16f37fa09f5c", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8c260400f9873db14cc670711e787f77e762b9b6fa5dac427d95e6498a6f2078", "scope": "authored_usd_collision_schema", "enabled_shape_count": 86, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0098d88afd116cf2cdacbd301b35435d32a154821139a851049c16f37fa09f5c", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8c260400f9873db14cc670711e787f77e762b9b6fa5dac427d95e6498a6f2078", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01015_Red_Duck_Organic_Cocktail_Sauce/IsaacSim_assets_D01015/physics_D01015.json b/batch40/D01015_Red_Duck_Organic_Cocktail_Sauce/IsaacSim_assets_D01015/physics_D01015.json index 68b42df25fe9f4586b2441f41547f226fe4d1608..f82bef8b98a1d16aadc25f41f111e19a5009fc58 100644 --- a/batch40/D01015_Red_Duck_Organic_Cocktail_Sauce/IsaacSim_assets_D01015/physics_D01015.json +++ b/batch40/D01015_Red_Duck_Organic_Cocktail_Sauce/IsaacSim_assets_D01015/physics_D01015.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "dffdc42b65dc50057fa7e0a4a99ebe3a8ee1d1d885d9c81f8456ebabbd7ddc93" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "cfdb22b615ea61c99b1cd7e3804b0a587def034f5bb5e4c84b16a150f03d5d51" }, "usd_path": "batch40/D01015_Red_Duck_Organic_Cocktail_Sauce/IsaacSim_assets_D01015/IsaacSim_asset_D01015.usd", - "usd_sha256": "1d242150f4c7bef4d67869f3c0385f516061a5d77934dac92cb6ab8f386c9d6d", + "usd_sha256": "fd6729cc7b3e5095116b21e72e408fdf29da4026c687bcb9fe9783e87caaba1e", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "1d242150f4c7bef4d67869f3c0385f516061a5d77934dac92cb6ab8f386c9d6d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fd6729cc7b3e5095116b21e72e408fdf29da4026c687bcb9fe9783e87caaba1e", "scope": "authored_usd_dimensions", "bounds_m": [ 0.05714999884366989, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.38999998569488525, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "1d242150f4c7bef4d67869f3c0385f516061a5d77934dac92cb6ab8f386c9d6d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fd6729cc7b3e5095116b21e72e408fdf29da4026c687bcb9fe9783e87caaba1e", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.38999998569488525, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 5, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "1d242150f4c7bef4d67869f3c0385f516061a5d77934dac92cb6ab8f386c9d6d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fd6729cc7b3e5095116b21e72e408fdf29da4026c687bcb9fe9783e87caaba1e", "scope": "authored_usd_collision_schema", "enabled_shape_count": 5, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "1d242150f4c7bef4d67869f3c0385f516061a5d77934dac92cb6ab8f386c9d6d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "fd6729cc7b3e5095116b21e72e408fdf29da4026c687bcb9fe9783e87caaba1e", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01016_Chosen_Foods_Classic_Avocado_Oil_Mayo/IsaacSim_assets_D01016/physics_D01016.json b/batch40/D01016_Chosen_Foods_Classic_Avocado_Oil_Mayo/IsaacSim_assets_D01016/physics_D01016.json index ba6d7581b98cd5bb6b2d2ff2d7dbdb2c6d01c87e..d546424fdfbbb10c478e62937d7d156b0ba6d935 100644 --- a/batch40/D01016_Chosen_Foods_Classic_Avocado_Oil_Mayo/IsaacSim_assets_D01016/physics_D01016.json +++ b/batch40/D01016_Chosen_Foods_Classic_Avocado_Oil_Mayo/IsaacSim_assets_D01016/physics_D01016.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "3a3118ae46de6582300d338e5f7411c3df67911de662b6c199ac32e4cea43ae4" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "49d818e494e368444d3fcf77575837e5d74c225acc4ce74c68144f675321566e" }, "usd_path": "batch40/D01016_Chosen_Foods_Classic_Avocado_Oil_Mayo/IsaacSim_assets_D01016/IsaacSim_asset_D01016.usd", - "usd_sha256": "2807ce2c3e69133c51275133aafe8ddaeea5848000a6e3bc43b3b5c9f2893aee", + "usd_sha256": "8586f02fb70ec93376f81f2e8ab41bf41719f79b86b87f576d609b31fef18b90", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2807ce2c3e69133c51275133aafe8ddaeea5848000a6e3bc43b3b5c9f2893aee", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8586f02fb70ec93376f81f2e8ab41bf41719f79b86b87f576d609b31fef18b90", "scope": "authored_usd_dimensions", "bounds_m": [ 0.0729999989271164, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.5699999928474426, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2807ce2c3e69133c51275133aafe8ddaeea5848000a6e3bc43b3b5c9f2893aee", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8586f02fb70ec93376f81f2e8ab41bf41719f79b86b87f576d609b31fef18b90", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.5699999928474426, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 3, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2807ce2c3e69133c51275133aafe8ddaeea5848000a6e3bc43b3b5c9f2893aee", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8586f02fb70ec93376f81f2e8ab41bf41719f79b86b87f576d609b31fef18b90", "scope": "authored_usd_collision_schema", "enabled_shape_count": 3, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2807ce2c3e69133c51275133aafe8ddaeea5848000a6e3bc43b3b5c9f2893aee", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8586f02fb70ec93376f81f2e8ab41bf41719f79b86b87f576d609b31fef18b90", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01017_Chosen_Foods_Chipotle_Avocado_Oil_Mayo/IsaacSim_assets_D01017/physics_D01017.json b/batch40/D01017_Chosen_Foods_Chipotle_Avocado_Oil_Mayo/IsaacSim_assets_D01017/physics_D01017.json index 550e7f6d55211867a94059aaba42ad0170917f3f..13baaf6b0a33c5cb65a76c7b80c7b21a6c1bf8c1 100644 --- a/batch40/D01017_Chosen_Foods_Chipotle_Avocado_Oil_Mayo/IsaacSim_assets_D01017/physics_D01017.json +++ b/batch40/D01017_Chosen_Foods_Chipotle_Avocado_Oil_Mayo/IsaacSim_assets_D01017/physics_D01017.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "612e1e97c6a528591078eafb64b1ee1b0776044540c46970d36ed13436c7afac" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "adc7cf6ad477256cf0f53a475eeafdcf50a187a0e54f80e39ddbe768a22a2839" }, "usd_path": "batch40/D01017_Chosen_Foods_Chipotle_Avocado_Oil_Mayo/IsaacSim_assets_D01017/IsaacSim_asset_D01017.usd", - "usd_sha256": "4552d9d97abe5df1e10bdb69a321ff82e3eea6bbb6bf18232b4cd3528fcfc991", + "usd_sha256": "4056df63ef03a6cfd1802e76f8afcc8a5dd38c397a3fda4441df47b5638185bd", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4552d9d97abe5df1e10bdb69a321ff82e3eea6bbb6bf18232b4cd3528fcfc991", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4056df63ef03a6cfd1802e76f8afcc8a5dd38c397a3fda4441df47b5638185bd", "scope": "authored_usd_dimensions", "bounds_m": [ 0.0729999989271164, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.5699999928474426, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4552d9d97abe5df1e10bdb69a321ff82e3eea6bbb6bf18232b4cd3528fcfc991", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4056df63ef03a6cfd1802e76f8afcc8a5dd38c397a3fda4441df47b5638185bd", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.5699999928474426, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 4, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4552d9d97abe5df1e10bdb69a321ff82e3eea6bbb6bf18232b4cd3528fcfc991", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4056df63ef03a6cfd1802e76f8afcc8a5dd38c397a3fda4441df47b5638185bd", "scope": "authored_usd_collision_schema", "enabled_shape_count": 4, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4552d9d97abe5df1e10bdb69a321ff82e3eea6bbb6bf18232b4cd3528fcfc991", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4056df63ef03a6cfd1802e76f8afcc8a5dd38c397a3fda4441df47b5638185bd", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01018_Chosen_Foods_Roasted_Garlic_Mayo/IsaacSim_assets_D01018/physics_D01018.json b/batch40/D01018_Chosen_Foods_Roasted_Garlic_Mayo/IsaacSim_assets_D01018/physics_D01018.json index 18ea8f0a00cbfbdf80357881b39a9f7ed1820b32..4abdc90882fda81d1ebbc53d7b66c148cfc6eb9e 100644 --- a/batch40/D01018_Chosen_Foods_Roasted_Garlic_Mayo/IsaacSim_assets_D01018/physics_D01018.json +++ b/batch40/D01018_Chosen_Foods_Roasted_Garlic_Mayo/IsaacSim_assets_D01018/physics_D01018.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "522d07fd2d4b7f2d56d173f8ec85ad4d5a7653c37a5269f2006aa9c8bf3896c3" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "51c8c45f2f5968536f3f5b7dbcfe5e226852817c7d4db03c842dc5195635809a" }, "usd_path": "batch40/D01018_Chosen_Foods_Roasted_Garlic_Mayo/IsaacSim_assets_D01018/IsaacSim_asset_D01018.usd", - "usd_sha256": "898b3238dcad6472aa254708d8bc068953f417219576fc543cbb984ad7b67fb1", + "usd_sha256": "d98bf480ab381bd044f5288fadb9141a40ee0b865e4771183281df48bbad8e79", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "898b3238dcad6472aa254708d8bc068953f417219576fc543cbb984ad7b67fb1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d98bf480ab381bd044f5288fadb9141a40ee0b865e4771183281df48bbad8e79", "scope": "authored_usd_dimensions", "bounds_m": [ 0.0729999989271164, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.5699999928474426, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "898b3238dcad6472aa254708d8bc068953f417219576fc543cbb984ad7b67fb1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d98bf480ab381bd044f5288fadb9141a40ee0b865e4771183281df48bbad8e79", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.5699999928474426, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 4, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "898b3238dcad6472aa254708d8bc068953f417219576fc543cbb984ad7b67fb1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d98bf480ab381bd044f5288fadb9141a40ee0b865e4771183281df48bbad8e79", "scope": "authored_usd_collision_schema", "enabled_shape_count": 4, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "898b3238dcad6472aa254708d8bc068953f417219576fc543cbb984ad7b67fb1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d98bf480ab381bd044f5288fadb9141a40ee0b865e4771183281df48bbad8e79", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01019_Sir_Kensington's_Classic_Mayonnaise/IsaacSim_assets_D01019/physics_D01019.json b/batch40/D01019_Sir_Kensington's_Classic_Mayonnaise/IsaacSim_assets_D01019/physics_D01019.json index b6c510d448e76fdcf9573c0c40930980929bcf7f..091e7a6f882b753bc31a0f0affe6f4caa1417055 100644 --- a/batch40/D01019_Sir_Kensington's_Classic_Mayonnaise/IsaacSim_assets_D01019/physics_D01019.json +++ b/batch40/D01019_Sir_Kensington's_Classic_Mayonnaise/IsaacSim_assets_D01019/physics_D01019.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "a078eda1a9a6656dda1696ecd2cda1d46564650ccaf281bb8ece9ca375dc5888" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bf7a72e8f82dbe686105f6b588c5d6e4e8ca1e2969b7af4755b93fe61799d3dc" }, "usd_path": "batch40/D01019_Sir_Kensington's_Classic_Mayonnaise/IsaacSim_assets_D01019/IsaacSim_asset_D01019.usd", - "usd_sha256": "cf60238fd1b81e5be470a5b78bd74a4ffc9685088b22ab5263b84e8168f04492", + "usd_sha256": "49502608ad3d521a50874877ffa2f331204b828481cd315cdcca04e58c20f3b2", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cf60238fd1b81e5be470a5b78bd74a4ffc9685088b22ab5263b84e8168f04492", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49502608ad3d521a50874877ffa2f331204b828481cd315cdcca04e58c20f3b2", "scope": "authored_usd_dimensions", "bounds_m": [ 0.08299999684095383, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.38999998569488525, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cf60238fd1b81e5be470a5b78bd74a4ffc9685088b22ab5263b84e8168f04492", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49502608ad3d521a50874877ffa2f331204b828481cd315cdcca04e58c20f3b2", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.38999998569488525, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 9, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cf60238fd1b81e5be470a5b78bd74a4ffc9685088b22ab5263b84e8168f04492", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49502608ad3d521a50874877ffa2f331204b828481cd315cdcca04e58c20f3b2", "scope": "authored_usd_collision_schema", "enabled_shape_count": 9, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cf60238fd1b81e5be470a5b78bd74a4ffc9685088b22ab5263b84e8168f04492", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49502608ad3d521a50874877ffa2f331204b828481cd315cdcca04e58c20f3b2", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01020_Sir_Kensington's_Avocado_Oil_Mayonnaise/IsaacSim_assets_D01020/physics_D01020.json b/batch40/D01020_Sir_Kensington's_Avocado_Oil_Mayonnaise/IsaacSim_assets_D01020/physics_D01020.json index 3ab50349a03060beaaab25e45c5f4c664abaa4c3..14f1196e89626ce8edd5498c6b738e9f067b0a8f 100644 --- a/batch40/D01020_Sir_Kensington's_Avocado_Oil_Mayonnaise/IsaacSim_assets_D01020/physics_D01020.json +++ b/batch40/D01020_Sir_Kensington's_Avocado_Oil_Mayonnaise/IsaacSim_assets_D01020/physics_D01020.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "c250b1cbcc70ce4eb7ffd8d0e39c639408d983f94a00a07c6930020a27ceba89" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7af98afaa41b655fbc0b9650395cc8db9989e7d625270a38ce32d9719b79c50e" }, "usd_path": "batch40/D01020_Sir_Kensington's_Avocado_Oil_Mayonnaise/IsaacSim_assets_D01020/IsaacSim_asset_D01020.usd", - "usd_sha256": "335b0dfd3bdd14fec0bf431a5ee3760cd75a432439ec10b93c32a8fcdb910f2e", + "usd_sha256": "9fc6d65989cbec7224f4c0d2addede4f09d054b9293a80c10e071964df982ea7", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "335b0dfd3bdd14fec0bf431a5ee3760cd75a432439ec10b93c32a8fcdb910f2e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9fc6d65989cbec7224f4c0d2addede4f09d054b9293a80c10e071964df982ea7", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07400000095367432, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.5699999928474426, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "335b0dfd3bdd14fec0bf431a5ee3760cd75a432439ec10b93c32a8fcdb910f2e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9fc6d65989cbec7224f4c0d2addede4f09d054b9293a80c10e071964df982ea7", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.5699999928474426, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 4, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "335b0dfd3bdd14fec0bf431a5ee3760cd75a432439ec10b93c32a8fcdb910f2e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9fc6d65989cbec7224f4c0d2addede4f09d054b9293a80c10e071964df982ea7", "scope": "authored_usd_collision_schema", "enabled_shape_count": 4, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "335b0dfd3bdd14fec0bf431a5ee3760cd75a432439ec10b93c32a8fcdb910f2e", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9fc6d65989cbec7224f4c0d2addede4f09d054b9293a80c10e071964df982ea7", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01021_Sir_Kensington's_Chipotle_Mayonnaise/IsaacSim_assets_D01021/physics_D01021.json b/batch40/D01021_Sir_Kensington's_Chipotle_Mayonnaise/IsaacSim_assets_D01021/physics_D01021.json index d21c52c76549fbb45860c52e466f13316d920b0c..f4b2c7ae1ebb03c2c28798a4f8401204a6bb62b8 100644 --- a/batch40/D01021_Sir_Kensington's_Chipotle_Mayonnaise/IsaacSim_assets_D01021/physics_D01021.json +++ b/batch40/D01021_Sir_Kensington's_Chipotle_Mayonnaise/IsaacSim_assets_D01021/physics_D01021.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "fc7203d6189adb52cdcc2cebf7c2d946d50f24f578d84d4bcb24eed1d52a0a81" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8fd9958340250f626c1c383629ed8c7635292b674e57f71f57bce8faf618b6c7" }, "usd_path": "batch40/D01021_Sir_Kensington's_Chipotle_Mayonnaise/IsaacSim_assets_D01021/IsaacSim_asset_D01021.usd", - "usd_sha256": "9ca02235f3811d8181eac99141568874729aaf1d05b269571c0cf1830038f30d", + "usd_sha256": "778ae7b66aa04db22fd629c591568c23ec17c0931e15949086c0238633455429", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9ca02235f3811d8181eac99141568874729aaf1d05b269571c0cf1830038f30d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "778ae7b66aa04db22fd629c591568c23ec17c0931e15949086c0238633455429", "scope": "authored_usd_dimensions", "bounds_m": [ 0.08299999684095383, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.38999998569488525, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9ca02235f3811d8181eac99141568874729aaf1d05b269571c0cf1830038f30d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "778ae7b66aa04db22fd629c591568c23ec17c0931e15949086c0238633455429", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.38999998569488525, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 9, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9ca02235f3811d8181eac99141568874729aaf1d05b269571c0cf1830038f30d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "778ae7b66aa04db22fd629c591568c23ec17c0931e15949086c0238633455429", "scope": "authored_usd_collision_schema", "enabled_shape_count": 9, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9ca02235f3811d8181eac99141568874729aaf1d05b269571c0cf1830038f30d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "778ae7b66aa04db22fd629c591568c23ec17c0931e15949086c0238633455429", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01022_Sir_Kensington's_Special_Sauce/IsaacSim_assets_D01022/physics_D01022.json b/batch40/D01022_Sir_Kensington's_Special_Sauce/IsaacSim_assets_D01022/physics_D01022.json index 00d316923dd8531a980c026d4573e7870bdababc..d16f44cf1d9d428249707aaf869ca97c95400a6b 100644 --- a/batch40/D01022_Sir_Kensington's_Special_Sauce/IsaacSim_assets_D01022/physics_D01022.json +++ b/batch40/D01022_Sir_Kensington's_Special_Sauce/IsaacSim_assets_D01022/physics_D01022.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "5f6337a9ff921b739fa952d486f910a5b16839ce0203191332281822ea561d51" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "14f72c836ed9832d013f2d7bf1dead52f2571d0d495930071c8e490c7c09f06f" }, "usd_path": "batch40/D01022_Sir_Kensington's_Special_Sauce/IsaacSim_assets_D01022/IsaacSim_asset_D01022.usd", - "usd_sha256": "4b4ff7b18213d3510a087f7290a5da25e3cea5c5afb6a29e14714886a49fb1dc", + "usd_sha256": "df75ddc8d2c55e0b0ba3c7b27e8bcc56bc19a40c11b3813817a35a46165aee79", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4b4ff7b18213d3510a087f7290a5da25e3cea5c5afb6a29e14714886a49fb1dc", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df75ddc8d2c55e0b0ba3c7b27e8bcc56bc19a40c11b3813817a35a46165aee79", "scope": "authored_usd_dimensions", "bounds_m": [ 0.08299999684095383, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.38999998569488525, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4b4ff7b18213d3510a087f7290a5da25e3cea5c5afb6a29e14714886a49fb1dc", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df75ddc8d2c55e0b0ba3c7b27e8bcc56bc19a40c11b3813817a35a46165aee79", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.38999998569488525, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 9, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4b4ff7b18213d3510a087f7290a5da25e3cea5c5afb6a29e14714886a49fb1dc", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df75ddc8d2c55e0b0ba3c7b27e8bcc56bc19a40c11b3813817a35a46165aee79", "scope": "authored_usd_collision_schema", "enabled_shape_count": 9, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "4b4ff7b18213d3510a087f7290a5da25e3cea5c5afb6a29e14714886a49fb1dc", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df75ddc8d2c55e0b0ba3c7b27e8bcc56bc19a40c11b3813817a35a46165aee79", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01023_Woodstock_Foods_Organic_Mayonnaise_with_Organic_Soybean_Oil/IsaacSim_assets_D01023/physics_D01023.json b/batch40/D01023_Woodstock_Foods_Organic_Mayonnaise_with_Organic_Soybean_Oil/IsaacSim_assets_D01023/physics_D01023.json index a4cda2372cbfc511903ac1a6718b1f766c0e4f36..f8c5ff31969d3224442fec661fbabb8c70154655 100644 --- a/batch40/D01023_Woodstock_Foods_Organic_Mayonnaise_with_Organic_Soybean_Oil/IsaacSim_assets_D01023/physics_D01023.json +++ b/batch40/D01023_Woodstock_Foods_Organic_Mayonnaise_with_Organic_Soybean_Oil/IsaacSim_assets_D01023/physics_D01023.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "927bc1339caf792f330e56ab7b4af504872a737c619e4797e3009f74e5edd000" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "104949d1c4c576acfea99aa90994bcfb638936ede6085aaaac6ee9cf98e3353a" }, "usd_path": "batch40/D01023_Woodstock_Foods_Organic_Mayonnaise_with_Organic_Soybean_Oil/IsaacSim_assets_D01023/IsaacSim_asset_D01023.usd", - "usd_sha256": "1022d42b0adf56eb94b63b5b904c5b06396329a866103420deeabf55d7fe13a8", + "usd_sha256": "95bfc66093d2bb9ebc5d1028d31bf7f964b6b4c9431bece5ee14d9d6165549e0", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "1022d42b0adf56eb94b63b5b904c5b06396329a866103420deeabf55d7fe13a8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "95bfc66093d2bb9ebc5d1028d31bf7f964b6b4c9431bece5ee14d9d6165549e0", "scope": "authored_usd_dimensions", "bounds_m": [ 0.0820000022649765, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.3799999952316284, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "1022d42b0adf56eb94b63b5b904c5b06396329a866103420deeabf55d7fe13a8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "95bfc66093d2bb9ebc5d1028d31bf7f964b6b4c9431bece5ee14d9d6165549e0", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.3799999952316284, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 5, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "1022d42b0adf56eb94b63b5b904c5b06396329a866103420deeabf55d7fe13a8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "95bfc66093d2bb9ebc5d1028d31bf7f964b6b4c9431bece5ee14d9d6165549e0", "scope": "authored_usd_collision_schema", "enabled_shape_count": 5, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "1022d42b0adf56eb94b63b5b904c5b06396329a866103420deeabf55d7fe13a8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "95bfc66093d2bb9ebc5d1028d31bf7f964b6b4c9431bece5ee14d9d6165549e0", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01024_The_Ojai_Cook_Lemonaise/IsaacSim_assets_D01024/physics_D01024.json b/batch40/D01024_The_Ojai_Cook_Lemonaise/IsaacSim_assets_D01024/physics_D01024.json index 19c075c1037a3751cb5f61687f6fc7bebdaa225a..f9c7ea3e50415288fab1d052bb7a5debf8c0a7ad 100644 --- a/batch40/D01024_The_Ojai_Cook_Lemonaise/IsaacSim_assets_D01024/physics_D01024.json +++ b/batch40/D01024_The_Ojai_Cook_Lemonaise/IsaacSim_assets_D01024/physics_D01024.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "b425c18eca66bbde43f1e3e7ae55130e5f5405a67a4ef1a51462915d2c426617" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "aa48b5710ba475139e32d059f847becbc2cebc441689af7f688cd251b3d6e5de" }, "usd_path": "batch40/D01024_The_Ojai_Cook_Lemonaise/IsaacSim_assets_D01024/IsaacSim_asset_D01024.usd", - "usd_sha256": "bd819181a2de6930497df05271e1c26902a50fb6a09632ff5b4244323aa4127d", + "usd_sha256": "6fe685ee5a6502b7275b1049ccc6602de8ccc50eeaf4c426cfae75b9376eedc2", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "bd819181a2de6930497df05271e1c26902a50fb6a09632ff5b4244323aa4127d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6fe685ee5a6502b7275b1049ccc6602de8ccc50eeaf4c426cfae75b9376eedc2", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07400000095367432, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.5699999928474426, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "bd819181a2de6930497df05271e1c26902a50fb6a09632ff5b4244323aa4127d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6fe685ee5a6502b7275b1049ccc6602de8ccc50eeaf4c426cfae75b9376eedc2", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.5699999928474426, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 5, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "bd819181a2de6930497df05271e1c26902a50fb6a09632ff5b4244323aa4127d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6fe685ee5a6502b7275b1049ccc6602de8ccc50eeaf4c426cfae75b9376eedc2", "scope": "authored_usd_collision_schema", "enabled_shape_count": 5, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "bd819181a2de6930497df05271e1c26902a50fb6a09632ff5b4244323aa4127d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6fe685ee5a6502b7275b1049ccc6602de8ccc50eeaf4c426cfae75b9376eedc2", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01025_The_Ojai_Cook_Lemonaise_Light/IsaacSim_assets_D01025/physics_D01025.json b/batch40/D01025_The_Ojai_Cook_Lemonaise_Light/IsaacSim_assets_D01025/physics_D01025.json index d015d2e310d2a61811b1c270edb9ce167818b096..b91cb20bf236170cb9cee2d460aa5a4abb76d55d 100644 --- a/batch40/D01025_The_Ojai_Cook_Lemonaise_Light/IsaacSim_assets_D01025/physics_D01025.json +++ b/batch40/D01025_The_Ojai_Cook_Lemonaise_Light/IsaacSim_assets_D01025/physics_D01025.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "050b8b4790c6a08c4e6688ca85a21beeeb823ccedd2b7ac5bfaaa6ce7133e23a" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "88b06dcb2d29ce16f049993ff7ed1bfc2d8e8e96de6d7548688794da27862f23" }, "usd_path": "batch40/D01025_The_Ojai_Cook_Lemonaise_Light/IsaacSim_assets_D01025/IsaacSim_asset_D01025.usd", - "usd_sha256": "910a767e1615241aa16fd296a0f6953c831b4d7676a8d447d6e4a242086c2c9f", + "usd_sha256": "864776566463c1c85731557e3962e87e3ded6961ca10cae80a944f7aa2530ce6", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "910a767e1615241aa16fd296a0f6953c831b4d7676a8d447d6e4a242086c2c9f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "864776566463c1c85731557e3962e87e3ded6961ca10cae80a944f7aa2530ce6", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07348611205816269, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.5699999928474426, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "910a767e1615241aa16fd296a0f6953c831b4d7676a8d447d6e4a242086c2c9f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "864776566463c1c85731557e3962e87e3ded6961ca10cae80a944f7aa2530ce6", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.5699999928474426, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 5, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "910a767e1615241aa16fd296a0f6953c831b4d7676a8d447d6e4a242086c2c9f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "864776566463c1c85731557e3962e87e3ded6961ca10cae80a944f7aa2530ce6", "scope": "authored_usd_collision_schema", "enabled_shape_count": 5, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "910a767e1615241aa16fd296a0f6953c831b4d7676a8d447d6e4a242086c2c9f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "864776566463c1c85731557e3962e87e3ded6961ca10cae80a944f7aa2530ce6", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01026_Stubb's_Hickory_Bourbon_Bar-B-Q_Sauce/IsaacSim_assets_D01026/physics_D01026.json b/batch40/D01026_Stubb's_Hickory_Bourbon_Bar-B-Q_Sauce/IsaacSim_assets_D01026/physics_D01026.json index 0597d300f8c6923483b98337134fc9f496f93a27..f14c81f32b11cbcdb7a35a92e57b388b5c2659f4 100644 --- a/batch40/D01026_Stubb's_Hickory_Bourbon_Bar-B-Q_Sauce/IsaacSim_assets_D01026/physics_D01026.json +++ b/batch40/D01026_Stubb's_Hickory_Bourbon_Bar-B-Q_Sauce/IsaacSim_assets_D01026/physics_D01026.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "82c48da9e6f511a9d796ead6e65930e8ed7d80f7959e48d8da1491600fdc335f" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a4addea2c99a464a8831f1101054164a321c42c608e850cce2907cad76411cb3" }, "usd_path": "batch40/D01026_Stubb's_Hickory_Bourbon_Bar-B-Q_Sauce/IsaacSim_assets_D01026/IsaacSim_asset_D01026.usd", - "usd_sha256": "385b0ef1ab45ef08a2bc624b92b26e055b359543958bf7fe4864abb13e73cf2b", + "usd_sha256": "af13240ea3e437c82bed2201b074349635e3e209341bc52550f72cbc44bd27bc", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "385b0ef1ab45ef08a2bc624b92b26e055b359543958bf7fe4864abb13e73cf2b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af13240ea3e437c82bed2201b074349635e3e209341bc52550f72cbc44bd27bc", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07482142746448517, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.75, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "385b0ef1ab45ef08a2bc624b92b26e055b359543958bf7fe4864abb13e73cf2b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af13240ea3e437c82bed2201b074349635e3e209341bc52550f72cbc44bd27bc", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.75, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 10, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "385b0ef1ab45ef08a2bc624b92b26e055b359543958bf7fe4864abb13e73cf2b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af13240ea3e437c82bed2201b074349635e3e209341bc52550f72cbc44bd27bc", "scope": "authored_usd_collision_schema", "enabled_shape_count": 10, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "385b0ef1ab45ef08a2bc624b92b26e055b359543958bf7fe4864abb13e73cf2b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af13240ea3e437c82bed2201b074349635e3e209341bc52550f72cbc44bd27bc", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch40/D01027_Stubb's_Original_Bar-B-Q_Sauce/IsaacSim_assets_D01027/physics_D01027.json b/batch40/D01027_Stubb's_Original_Bar-B-Q_Sauce/IsaacSim_assets_D01027/physics_D01027.json index 7590b440d3236b883e38a693651b4747c0e2d696..1e5090eb082b58a77666a9d1e3d3e616a1d2d59f 100644 --- a/batch40/D01027_Stubb's_Original_Bar-B-Q_Sauce/IsaacSim_assets_D01027/physics_D01027.json +++ b/batch40/D01027_Stubb's_Original_Bar-B-Q_Sauce/IsaacSim_assets_D01027/physics_D01027.json @@ -67,13 +67,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "c82cc5396aeaf2d29d14e193959b323523e0b10d2bf15d833a0c21fafe2a2d85" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3f018e710491e5016682cd489e9ed5584e5ecb5c06117d02e2b20cf45221b8bd" }, "usd_path": "batch40/D01027_Stubb's_Original_Bar-B-Q_Sauce/IsaacSim_assets_D01027/IsaacSim_asset_D01027.usd", - "usd_sha256": "0458f5cf8d1a7f08b6773bfa530dab9e08cdc60b4a9a8b6d81872399fa976067", + "usd_sha256": "a0dc4235c10af05776b517928e1337fee72e5db9aa1bb08e865e7d9b4433c4b5", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -97,9 +97,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0458f5cf8d1a7f08b6773bfa530dab9e08cdc60b4a9a8b6d81872399fa976067", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a0dc4235c10af05776b517928e1337fee72e5db9aa1bb08e865e7d9b4433c4b5", "scope": "authored_usd_dimensions", "bounds_m": [ 0.07462406158447266, @@ -113,9 +113,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.75, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0458f5cf8d1a7f08b6773bfa530dab9e08cdc60b4a9a8b6d81872399fa976067", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a0dc4235c10af05776b517928e1337fee72e5db9aa1bb08e865e7d9b4433c4b5", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.75, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -124,9 +124,9 @@ "status": "verified", "confidence": "high", "shape_count": 9, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0458f5cf8d1a7f08b6773bfa530dab9e08cdc60b4a9a8b6d81872399fa976067", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a0dc4235c10af05776b517928e1337fee72e5db9aa1bb08e865e7d9b4433c4b5", "scope": "authored_usd_collision_schema", "enabled_shape_count": 9, "approximations": [ @@ -138,18 +138,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0458f5cf8d1a7f08b6773bfa530dab9e08cdc60b4a9a8b6d81872399fa976067", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a0dc4235c10af05776b517928e1337fee72e5db9aa1bb08e865e7d9b4433c4b5", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01028 Manual Can Opener/physics_D01028.json b/batch41/D01028 Manual Can Opener/physics_D01028.json index 485dad8773198aa9f785445270ce3d5743fb1f33..276cfb38dc273a38d5013957ccab80757b9bde9b 100644 --- a/batch41/D01028 Manual Can Opener/physics_D01028.json +++ b/batch41/D01028 Manual Can Opener/physics_D01028.json @@ -140,7 +140,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01028 Manual Can Opener/D01028 Manual Can Opener.usd", - "usd_sha256": "3421e17ebfe5cae7220435454f95b9be676775d2a36a6702088711cefd196deb", + "usd_sha256": "9fa518bcbb9b55c4e5aa347f429c61d9901a35e8458abebc2f11cf311d93a4a3", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -148,10 +148,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "efede144ea429d29c59bf058ccf372861fb788f48da34bf2225abe70a47cefd0" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c1e3ac991e8db102ef1b3d9f86198d8310a649821420afd9b541091a42113f24" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -167,9 +167,9 @@ 0.04310484603047371, 0.013421731535345316 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3421e17ebfe5cae7220435454f95b9be676775d2a36a6702088711cefd196deb", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9fa518bcbb9b55c4e5aa347f429c61d9901a35e8458abebc2f11cf311d93a4a3", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -178,9 +178,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.055000001564621925, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3421e17ebfe5cae7220435454f95b9be676775d2a36a6702088711cefd196deb", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9fa518bcbb9b55c4e5aa347f429c61d9901a35e8458abebc2f11cf311d93a4a3", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.055000001564621925, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -192,9 +192,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3421e17ebfe5cae7220435454f95b9be676775d2a36a6702088711cefd196deb", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9fa518bcbb9b55c4e5aa347f429c61d9901a35e8458abebc2f11cf311d93a4a3", "scope": "authored_usd_collision_schema", "enabled_shape_count": 82, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -203,18 +203,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3421e17ebfe5cae7220435454f95b9be676775d2a36a6702088711cefd196deb", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9fa518bcbb9b55c4e5aa347f429c61d9901a35e8458abebc2f11cf311d93a4a3", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01029 Salad Spinner/physics_D01029.json b/batch41/D01029 Salad Spinner/physics_D01029.json index d8f3badf1408294f849f7325c2537c4635fe201c..07402190ad48a4333d6c98c0829dfb0a951fdaf1 100644 --- a/batch41/D01029 Salad Spinner/physics_D01029.json +++ b/batch41/D01029 Salad Spinner/physics_D01029.json @@ -612,7 +612,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01029 Salad Spinner/D01029 Salad Spinner.usd", - "usd_sha256": "3a0c80cdbd2a0e34aaaebdad0cc60735cdbec50a7c1784da5538ddb6880cf198", + "usd_sha256": "e070e14b757f12df2fa616fe433ddcaf43d87991617edecdfe62d7114922f0c2", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -620,10 +620,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "ccd4f13b27eec109c43148c53005d2923d90d9c9a35fbf6846ea9d189182e74f" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6ca6a0fe4fac54c1ecee713649e77512d8bffb674eddb005dee96cd0ba70f5b8" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -639,9 +639,9 @@ 0.2660095030412895, 0.19538529837060242 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3a0c80cdbd2a0e34aaaebdad0cc60735cdbec50a7c1784da5538ddb6880cf198", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e070e14b757f12df2fa616fe433ddcaf43d87991617edecdfe62d7114922f0c2", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -650,9 +650,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.9869999969378114, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3a0c80cdbd2a0e34aaaebdad0cc60735cdbec50a7c1784da5538ddb6880cf198", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e070e14b757f12df2fa616fe433ddcaf43d87991617edecdfe62d7114922f0c2", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.9869999969378114, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -664,9 +664,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3a0c80cdbd2a0e34aaaebdad0cc60735cdbec50a7c1784da5538ddb6880cf198", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e070e14b757f12df2fa616fe433ddcaf43d87991617edecdfe62d7114922f0c2", "scope": "authored_usd_collision_schema", "enabled_shape_count": 99, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -675,18 +675,19 @@ "status": "verified", "confidence": "high", "moving_joints": 4, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3a0c80cdbd2a0e34aaaebdad0cc60735cdbec50a7c1784da5538ddb6880cf198", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e070e14b757f12df2fa616fe433ddcaf43d87991617edecdfe62d7114922f0c2", "scope": "authored_usd_joint_schema", "joint_count": 4, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01030 Mandoline Slicer/physics_D01030.json b/batch41/D01030 Mandoline Slicer/physics_D01030.json index c8423663ca8cfdc6a49f1bfd003a133920ca5bbc..9cddae0cf331538c80dc6cc2308de4f5b5f86b8a 100644 --- a/batch41/D01030 Mandoline Slicer/physics_D01030.json +++ b/batch41/D01030 Mandoline Slicer/physics_D01030.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01030 Mandoline Slicer/D01030 Mandoline Slicer.usd", - "usd_sha256": "f34311ab1200423615db3e71246372eccfde0f40574bff6a01ea93a145a2d5e7", + "usd_sha256": "25919285c0ed8b0c39dc80dddd617ee50af6aeb2f2736d9757ce4702c50ad3a2", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "1b2bdd6800cd4062b43733e4f7dd065ab43ea5d1dd338442fcdcd9d8aab25d17" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1eb53ee698d968bc408dc32aa84750166ee7c58bef0a2180a1a0fa670fa6de72" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.15000000596046448, 0.019999999552965164 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f34311ab1200423615db3e71246372eccfde0f40574bff6a01ea93a145a2d5e7", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25919285c0ed8b0c39dc80dddd617ee50af6aeb2f2736d9757ce4702c50ad3a2", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.2848649024963379, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f34311ab1200423615db3e71246372eccfde0f40574bff6a01ea93a145a2d5e7", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25919285c0ed8b0c39dc80dddd617ee50af6aeb2f2736d9757ce4702c50ad3a2", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.2848649024963379, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f34311ab1200423615db3e71246372eccfde0f40574bff6a01ea93a145a2d5e7", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25919285c0ed8b0c39dc80dddd617ee50af6aeb2f2736d9757ce4702c50ad3a2", "scope": "authored_usd_collision_schema", "enabled_shape_count": 89, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "f34311ab1200423615db3e71246372eccfde0f40574bff6a01ea93a145a2d5e7", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "25919285c0ed8b0c39dc80dddd617ee50af6aeb2f2736d9757ce4702c50ad3a2", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01031 Potato Ricer/physics_D01031.json b/batch41/D01031 Potato Ricer/physics_D01031.json index 467afd0070422cda909e1aabedaa0033a246d1a1..b2311d6456d5d3081cc0e9f4dbb43b5d334b8189 100644 --- a/batch41/D01031 Potato Ricer/physics_D01031.json +++ b/batch41/D01031 Potato Ricer/physics_D01031.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01031 Potato Ricer/D01031 Potato Ricer.usd", - "usd_sha256": "612b8ee4a93248904296a737aa4e5f2eefaac082873329b86d961b06b8da156c", + "usd_sha256": "16513c9bc033b76cce1f227d3642237454b808d4d667e96f267d15ca78f710af", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "4425b2c68afc0b0e39fb26df0e8a8b3d7606f820e80d03b9344f71db0f16a420" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "82c341c2e5deed90b4cf999ae7610894284cc9ed541cf5f7fd7893fea88735b8" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.07999999821186066, 0.2529999911785126 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "612b8ee4a93248904296a737aa4e5f2eefaac082873329b86d961b06b8da156c", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16513c9bc033b76cce1f227d3642237454b808d4d667e96f267d15ca78f710af", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.09386151283979416, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "612b8ee4a93248904296a737aa4e5f2eefaac082873329b86d961b06b8da156c", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16513c9bc033b76cce1f227d3642237454b808d4d667e96f267d15ca78f710af", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.09386151283979416, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "612b8ee4a93248904296a737aa4e5f2eefaac082873329b86d961b06b8da156c", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16513c9bc033b76cce1f227d3642237454b808d4d667e96f267d15ca78f710af", "scope": "authored_usd_collision_schema", "enabled_shape_count": 453, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "612b8ee4a93248904296a737aa4e5f2eefaac082873329b86d961b06b8da156c", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16513c9bc033b76cce1f227d3642237454b808d4d667e96f267d15ca78f710af", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01032 Cherry Pitter/physics_D01032.json b/batch41/D01032 Cherry Pitter/physics_D01032.json index 65ebadaefb001483b739129fe182d8356701507f..04e408a2967908039f65594a0e9c13a3386e2f24 100644 --- a/batch41/D01032 Cherry Pitter/physics_D01032.json +++ b/batch41/D01032 Cherry Pitter/physics_D01032.json @@ -306,7 +306,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01032 Cherry Pitter/D01032 Cherry Pitter.usd", - "usd_sha256": "6c9087d6313559d4c5636589d7052615c9f9805180dac2a8f4e07b6d103d2db3", + "usd_sha256": "df3ec64766ac6c15f916ecf1de92ab84dfdd2caef69621e341f0c1c413356d11", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -314,10 +314,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "ee126f108e8938dad6431cbc42ac6e6b98a2369729f385ecf0d630c31824015c" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "094d3bd676a8c95bc0c8d87ad4b27e6457dca46400792bf0071fc3ed1a64de1b" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -333,9 +333,9 @@ 0.03359999880194664, 0.14233371590680224 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6c9087d6313559d4c5636589d7052615c9f9805180dac2a8f4e07b6d103d2db3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df3ec64766ac6c15f916ecf1de92ab84dfdd2caef69621e341f0c1c413356d11", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -344,9 +344,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.07500000222353265, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6c9087d6313559d4c5636589d7052615c9f9805180dac2a8f4e07b6d103d2db3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df3ec64766ac6c15f916ecf1de92ab84dfdd2caef69621e341f0c1c413356d11", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.07500000222353265, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -358,9 +358,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6c9087d6313559d4c5636589d7052615c9f9805180dac2a8f4e07b6d103d2db3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df3ec64766ac6c15f916ecf1de92ab84dfdd2caef69621e341f0c1c413356d11", "scope": "authored_usd_collision_schema", "enabled_shape_count": 354, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -369,18 +369,19 @@ "status": "verified", "confidence": "high", "moving_joints": 2, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6c9087d6313559d4c5636589d7052615c9f9805180dac2a8f4e07b6d103d2db3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "df3ec64766ac6c15f916ecf1de92ab84dfdd2caef69621e341f0c1c413356d11", "scope": "authored_usd_joint_schema", "joint_count": 2, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01033 Apple Corer/physics_D01033.json b/batch41/D01033 Apple Corer/physics_D01033.json index d961832281f9565b794445e21319059dc5552633..8f4d9d8ba8a1568ae0c1fa9ec5b5bd31ff638b00 100644 --- a/batch41/D01033 Apple Corer/physics_D01033.json +++ b/batch41/D01033 Apple Corer/physics_D01033.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01033 Apple Corer/D01033 Apple Corer.usd", - "usd_sha256": "0834c1a6f9ae1e51bc0c856e40f5e649ab5c680ba1d9f48f4e72e39232f4a7d7", + "usd_sha256": "52972f9704509cb26f5c5fb5d81d34e26ac31ddea23930eb918c4a4cd62caa32", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "182798fcca1034ba972aa2b3810fd1d3e55670e112ecc6f3874424a08bb55f49" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a46afe6cea589fb1bc8784e8d58c205bf4074b931fc95718674346db60b5133d" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.02364799939095974, 0.023600000888109207 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0834c1a6f9ae1e51bc0c856e40f5e649ab5c680ba1d9f48f4e72e39232f4a7d7", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52972f9704509cb26f5c5fb5d81d34e26ac31ddea23930eb918c4a4cd62caa32", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.03500000014901161, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0834c1a6f9ae1e51bc0c856e40f5e649ab5c680ba1d9f48f4e72e39232f4a7d7", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52972f9704509cb26f5c5fb5d81d34e26ac31ddea23930eb918c4a4cd62caa32", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.03500000014901161, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0834c1a6f9ae1e51bc0c856e40f5e649ab5c680ba1d9f48f4e72e39232f4a7d7", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52972f9704509cb26f5c5fb5d81d34e26ac31ddea23930eb918c4a4cd62caa32", "scope": "authored_usd_collision_schema", "enabled_shape_count": 83, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0834c1a6f9ae1e51bc0c856e40f5e649ab5c680ba1d9f48f4e72e39232f4a7d7", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52972f9704509cb26f5c5fb5d81d34e26ac31ddea23930eb918c4a4cd62caa32", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01034 Egg Separator/physics_D01034.json b/batch41/D01034 Egg Separator/physics_D01034.json index 76efc25b8d44e7863e1271c7658d2665e354cf33..1fd8816d4073426c7b972e1ebcd6d0bc471853af 100644 --- a/batch41/D01034 Egg Separator/physics_D01034.json +++ b/batch41/D01034 Egg Separator/physics_D01034.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01034 Egg Separator/D01034 Egg Separator.usd", - "usd_sha256": "11e9d77eed8a5ba74b3fbb2b9ff43fd78013fadc1ccf78c600cabf15b0f79295", + "usd_sha256": "a43212ef88c9525183c867ef66e0ee3aa1a7b4e79203b90b8dec3203f1be02f2", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "84e66e91fc19313f3b3fc07f1ca1a655b9056e4badfbec831e32e2dae6c9c7c7" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d7263cd905a8965f300dafb5b3d827a9c639f8997a08b3ef31da68317372e448" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.08999999612569809, 0.02499426738359034 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "11e9d77eed8a5ba74b3fbb2b9ff43fd78013fadc1ccf78c600cabf15b0f79295", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a43212ef88c9525183c867ef66e0ee3aa1a7b4e79203b90b8dec3203f1be02f2", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.0393122062087059, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "11e9d77eed8a5ba74b3fbb2b9ff43fd78013fadc1ccf78c600cabf15b0f79295", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a43212ef88c9525183c867ef66e0ee3aa1a7b4e79203b90b8dec3203f1be02f2", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.0393122062087059, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "11e9d77eed8a5ba74b3fbb2b9ff43fd78013fadc1ccf78c600cabf15b0f79295", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a43212ef88c9525183c867ef66e0ee3aa1a7b4e79203b90b8dec3203f1be02f2", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "11e9d77eed8a5ba74b3fbb2b9ff43fd78013fadc1ccf78c600cabf15b0f79295", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a43212ef88c9525183c867ef66e0ee3aa1a7b4e79203b90b8dec3203f1be02f2", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01035 Egg Slicer/physics_D01035.json b/batch41/D01035 Egg Slicer/physics_D01035.json index c5f8940304718badd6b21893020d749a9c9d23ed..b6328ab1d4fba4648a31173d8deb1a83e4fb11b0 100644 --- a/batch41/D01035 Egg Slicer/physics_D01035.json +++ b/batch41/D01035 Egg Slicer/physics_D01035.json @@ -200,7 +200,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01035 Egg Slicer/D01035 Egg Slicer.usd", - "usd_sha256": "d60fe3e454c980b8c68b38fcbcf80d8bd02e566fd25ee10ecff015289df809da", + "usd_sha256": "6e0050dfdc87cf8d910780f4582e39b1a7d3dcbd2690a64a721714a538350021", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -208,10 +208,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "6b425124afc32d3ddcaf8718a1c1d1bb39fb5549424ddb42f697d78a090b0368" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7abaf9848d057c58d49a9f91f7aa69e6635c55f32c655889abdb7c5f94f85671" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -227,9 +227,9 @@ 0.09998680651187897, 0.057999998331069946 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d60fe3e454c980b8c68b38fcbcf80d8bd02e566fd25ee10ecff015289df809da", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e0050dfdc87cf8d910780f4582e39b1a7d3dcbd2690a64a721714a538350021", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -238,9 +238,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.22500430420041084, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d60fe3e454c980b8c68b38fcbcf80d8bd02e566fd25ee10ecff015289df809da", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e0050dfdc87cf8d910780f4582e39b1a7d3dcbd2690a64a721714a538350021", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.22500430420041084, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -252,9 +252,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d60fe3e454c980b8c68b38fcbcf80d8bd02e566fd25ee10ecff015289df809da", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e0050dfdc87cf8d910780f4582e39b1a7d3dcbd2690a64a721714a538350021", "scope": "authored_usd_collision_schema", "enabled_shape_count": 409, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -263,18 +263,19 @@ "status": "verified", "confidence": "high", "moving_joints": 1, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d60fe3e454c980b8c68b38fcbcf80d8bd02e566fd25ee10ecff015289df809da", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e0050dfdc87cf8d910780f4582e39b1a7d3dcbd2690a64a721714a538350021", "scope": "authored_usd_joint_schema", "joint_count": 1, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01036 Hinged Nutcracker/physics_D01036.json b/batch41/D01036 Hinged Nutcracker/physics_D01036.json index 008191551803a8ab3a71996225f197765e5d7dba..01d48ddb344fbeaeec0f3fd85fecca049b5a98b1 100644 --- a/batch41/D01036 Hinged Nutcracker/physics_D01036.json +++ b/batch41/D01036 Hinged Nutcracker/physics_D01036.json @@ -200,7 +200,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01036 Hinged Nutcracker/D01036 Hinged Nutcracker.usd", - "usd_sha256": "0be6e5822de50bdd7f7f2c98bb44538f17555663395015b3732074b5e8a1d77a", + "usd_sha256": "55c0a722575284e0efec4f2f6890fd6ce0230ca2c0027db6ecc5abff7fcd8493", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -208,10 +208,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "3c39b17c95fa8f85640b4d02e0eb1fd4b8bb6c989ca702bae9e3d20e13d3340a" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6a18fd4e43aacdce04a0406b8bea2a9229c19552a1d9c9c217feb82e679cef85" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -227,9 +227,9 @@ 0.05067393342000128, 0.011692372246738423 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0be6e5822de50bdd7f7f2c98bb44538f17555663395015b3732074b5e8a1d77a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55c0a722575284e0efec4f2f6890fd6ce0230ca2c0027db6ecc5abff7fcd8493", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -238,9 +238,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.17999999970197678, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0be6e5822de50bdd7f7f2c98bb44538f17555663395015b3732074b5e8a1d77a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55c0a722575284e0efec4f2f6890fd6ce0230ca2c0027db6ecc5abff7fcd8493", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.17999999970197678, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -252,9 +252,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0be6e5822de50bdd7f7f2c98bb44538f17555663395015b3732074b5e8a1d77a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55c0a722575284e0efec4f2f6890fd6ce0230ca2c0027db6ecc5abff7fcd8493", "scope": "authored_usd_collision_schema", "enabled_shape_count": 286, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -263,18 +263,19 @@ "status": "verified", "confidence": "high", "moving_joints": 1, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "0be6e5822de50bdd7f7f2c98bb44538f17555663395015b3732074b5e8a1d77a", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55c0a722575284e0efec4f2f6890fd6ce0230ca2c0027db6ecc5abff7fcd8493", "scope": "authored_usd_joint_schema", "joint_count": 1, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01037 Meat Tenderizer Mallet/sim-asset/IsaacSim/physics_6aaa3097f44cf8edfad9bf37.json b/batch41/D01037 Meat Tenderizer Mallet/sim-asset/IsaacSim/physics_6aaa3097f44cf8edfad9bf37.json index 58bf453408d8dcd46771b6750ed096e1aa184c3c..002c11a800c3d57f276fca01e5c4798bacaecde6 100644 --- a/batch41/D01037 Meat Tenderizer Mallet/sim-asset/IsaacSim/physics_6aaa3097f44cf8edfad9bf37.json +++ b/batch41/D01037 Meat Tenderizer Mallet/sim-asset/IsaacSim/physics_6aaa3097f44cf8edfad9bf37.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01037 Meat Tenderizer Mallet/sim-asset/IsaacSim/IsaacSim_asset_6aaa3097f44cf8edfad9bf37.usd", - "usd_sha256": "21ace1391dd96d5b3f3f20e5ee2e5c32b008bdc52d1485bf4ff05395c811bbcd", + "usd_sha256": "55c0d0b7745147620ec974f3a8614bdbf49703a9d356207a61291a0112ef4269", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "9a681f1b9eeb72ea2d3ba85b6ed06d9a0b6e015752ff0d17ff9995a08510b577" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ad038d8051de084aff5ddff9e54a71347b1df16f13568c0a3f7dbbe238892e93" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.28009600937366486, 0.08732199927271722 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "21ace1391dd96d5b3f3f20e5ee2e5c32b008bdc52d1485bf4ff05395c811bbcd", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55c0d0b7745147620ec974f3a8614bdbf49703a9d356207a61291a0112ef4269", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.4000000059604645, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "21ace1391dd96d5b3f3f20e5ee2e5c32b008bdc52d1485bf4ff05395c811bbcd", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55c0d0b7745147620ec974f3a8614bdbf49703a9d356207a61291a0112ef4269", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.4000000059604645, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "21ace1391dd96d5b3f3f20e5ee2e5c32b008bdc52d1485bf4ff05395c811bbcd", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55c0d0b7745147620ec974f3a8614bdbf49703a9d356207a61291a0112ef4269", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "21ace1391dd96d5b3f3f20e5ee2e5c32b008bdc52d1485bf4ff05395c811bbcd", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "55c0d0b7745147620ec974f3a8614bdbf49703a9d356207a61291a0112ef4269", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01038 Fish Scaler/sim-asset/IsaacSim/physics_6aaa3099f44cf8edfad9c3b0.json b/batch41/D01038 Fish Scaler/sim-asset/IsaacSim/physics_6aaa3099f44cf8edfad9c3b0.json index 6346d0f13ae333c0cb70c36b0c5d3e097f9f9eba..f85849c6d6630116624a0cc06ec7171fb94d9660 100644 --- a/batch41/D01038 Fish Scaler/sim-asset/IsaacSim/physics_6aaa3099f44cf8edfad9c3b0.json +++ b/batch41/D01038 Fish Scaler/sim-asset/IsaacSim/physics_6aaa3099f44cf8edfad9c3b0.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01038 Fish Scaler/sim-asset/IsaacSim/IsaacSim_asset_6aaa3099f44cf8edfad9c3b0.usd", - "usd_sha256": "94b023a7f25ade406f14fdd798f5dead0602bab3a5c314b21061cb803ea814ee", + "usd_sha256": "a0ef701639f96229d24f20cbc9da6774a8cd5c11ab2bc7db3220905965e32a3a", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "2016305831d04386fdbdaba4fa746df8da1f05e6856b1214020c36023374e6aa" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d51156d7ea86dc829e55e3f962961ad8175fe0283b72418657b10fbd78350737" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.22517000138759613, 0.02155599922843976 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "94b023a7f25ade406f14fdd798f5dead0602bab3a5c314b21061cb803ea814ee", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a0ef701639f96229d24f20cbc9da6774a8cd5c11ab2bc7db3220905965e32a3a", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.20000000298023224, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "94b023a7f25ade406f14fdd798f5dead0602bab3a5c314b21061cb803ea814ee", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a0ef701639f96229d24f20cbc9da6774a8cd5c11ab2bc7db3220905965e32a3a", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.20000000298023224, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "94b023a7f25ade406f14fdd798f5dead0602bab3a5c314b21061cb803ea814ee", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a0ef701639f96229d24f20cbc9da6774a8cd5c11ab2bc7db3220905965e32a3a", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "94b023a7f25ade406f14fdd798f5dead0602bab3a5c314b21061cb803ea814ee", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a0ef701639f96229d24f20cbc9da6774a8cd5c11ab2bc7db3220905965e32a3a", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01039_Digital_Probe_Thermometer_simready/physics_D01039.json b/batch41/D01039_Digital_Probe_Thermometer_simready/physics_D01039.json index be0313e8eef2c9c706a4414ee5371fe976542ad8..9bd9afcb74845ea31cb40f96122acf07f6193f24 100644 --- a/batch41/D01039_Digital_Probe_Thermometer_simready/physics_D01039.json +++ b/batch41/D01039_Digital_Probe_Thermometer_simready/physics_D01039.json @@ -85,7 +85,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01039_Digital_Probe_Thermometer_simready/D01039_Digital_Probe_Thermometer.usd", - "usd_sha256": "3392f476f9f9bd0b192d496f95169e2ca402dde32032d6757ee7ec3470e47a82", + "usd_sha256": "8f52ff5b55f71a41d73e9c0da29eb0273d7279bfcd8ebdfa6080c5be606df8d8", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -93,10 +93,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "56059f3ab116964118f3204437122aacc761de619d4c2326a9728fe59a73535c" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "45b4ed4a52aa7514f1582eee91579c390bcc98c8590bf1e95f71dd3dab217cca" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -112,9 +112,9 @@ 0.03044999949634075, 0.016315000131726265 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3392f476f9f9bd0b192d496f95169e2ca402dde32032d6757ee7ec3470e47a82", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8f52ff5b55f71a41d73e9c0da29eb0273d7279bfcd8ebdfa6080c5be606df8d8", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -123,9 +123,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.06499999761581421, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3392f476f9f9bd0b192d496f95169e2ca402dde32032d6757ee7ec3470e47a82", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8f52ff5b55f71a41d73e9c0da29eb0273d7279bfcd8ebdfa6080c5be606df8d8", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.06499999761581421, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3392f476f9f9bd0b192d496f95169e2ca402dde32032d6757ee7ec3470e47a82", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8f52ff5b55f71a41d73e9c0da29eb0273d7279bfcd8ebdfa6080c5be606df8d8", "scope": "authored_usd_collision_schema", "enabled_shape_count": 46, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -148,18 +148,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3392f476f9f9bd0b192d496f95169e2ca402dde32032d6757ee7ec3470e47a82", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8f52ff5b55f71a41d73e9c0da29eb0273d7279bfcd8ebdfa6080c5be606df8d8", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01040 Kitchen Funnel/sim-asset/IsaacSim/physics_6aa9fdfbf44cf8edfad44d8c.json b/batch41/D01040 Kitchen Funnel/sim-asset/IsaacSim/physics_6aa9fdfbf44cf8edfad44d8c.json index 52b48fa4001a317ef3b648d18c0f8ca796f58ab8..31f0c21cc3ad11d008e40df256223cfc8f184f57 100644 --- a/batch41/D01040 Kitchen Funnel/sim-asset/IsaacSim/physics_6aa9fdfbf44cf8edfad44d8c.json +++ b/batch41/D01040 Kitchen Funnel/sim-asset/IsaacSim/physics_6aa9fdfbf44cf8edfad44d8c.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01040 Kitchen Funnel/sim-asset/IsaacSim/IsaacSim_asset_6aa9fdfbf44cf8edfad44d8c.usd", - "usd_sha256": "e87ebf2b680b9aa1063f74fc81726076b78d5db5638573bdb3d5df021077765b", + "usd_sha256": "18f5a1fb0637fa88caef4237e7074ddd86144ad38c8b13aaadf5c03d835bcacd", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "0701e790c037fc504145357425a1458479b5033892be48ca5a27f6da85885564" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f3ef23040cdbb337fbc83e4343ba62a0644d1d64f7f8cf3253555431000b45c2" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.14174900203943253, 0.1848180071101524 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e87ebf2b680b9aa1063f74fc81726076b78d5db5638573bdb3d5df021077765b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18f5a1fb0637fa88caef4237e7074ddd86144ad38c8b13aaadf5c03d835bcacd", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.10000000149011612, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e87ebf2b680b9aa1063f74fc81726076b78d5db5638573bdb3d5df021077765b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18f5a1fb0637fa88caef4237e7074ddd86144ad38c8b13aaadf5c03d835bcacd", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.10000000149011612, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e87ebf2b680b9aa1063f74fc81726076b78d5db5638573bdb3d5df021077765b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18f5a1fb0637fa88caef4237e7074ddd86144ad38c8b13aaadf5c03d835bcacd", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e87ebf2b680b9aa1063f74fc81726076b78d5db5638573bdb3d5df021077765b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "18f5a1fb0637fa88caef4237e7074ddd86144ad38c8b13aaadf5c03d835bcacd", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01041_Kitchen_Blowtorch/physics_D01041.json b/batch41/D01041_Kitchen_Blowtorch/physics_D01041.json index 4d7bb455c010147e89468620948357b9926052b8..bcf6d9d73923860e89083c10d6469cfdabcdf9a4 100644 --- a/batch41/D01041_Kitchen_Blowtorch/physics_D01041.json +++ b/batch41/D01041_Kitchen_Blowtorch/physics_D01041.json @@ -380,7 +380,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01041_Kitchen_Blowtorch/D01041_Kitchen_Blowtorch.usd", - "usd_sha256": "d52bc7814da1d5b311a856f5447e8a39edaa764296ff8816c4925a14dea68219", + "usd_sha256": "92b85259d6baa6ae9a63c9f2fa79ceca032e28733add09134e6f4f94dab75a2c", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -388,10 +388,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "3aa99eb202e3ad9d23b3de7cd79ffc571f9b22e6f9f90e2cf3523158ae8ca330" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fda3f3039a04ae476b05b52a15a9e09cfcbefa96cada30c71a93286e2d946acc" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -407,9 +407,9 @@ 0.06400000303983688, 0.19009999930858612 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d52bc7814da1d5b311a856f5447e8a39edaa764296ff8816c4925a14dea68219", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "92b85259d6baa6ae9a63c9f2fa79ceca032e28733add09134e6f4f94dab75a2c", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -418,9 +418,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.1799999929498881, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d52bc7814da1d5b311a856f5447e8a39edaa764296ff8816c4925a14dea68219", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "92b85259d6baa6ae9a63c9f2fa79ceca032e28733add09134e6f4f94dab75a2c", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.1799999929498881, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -428,33 +428,34 @@ "collision": { "status": "verified", "confidence": "high", - "shape_count": 551, + "shape_count": 548, "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d52bc7814da1d5b311a856f5447e8a39edaa764296ff8816c4925a14dea68219", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "92b85259d6baa6ae9a63c9f2fa79ceca032e28733add09134e6f4f94dab75a2c", "scope": "authored_usd_collision_schema", - "enabled_shape_count": 551, + "enabled_shape_count": 548, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", "moving_joints": 3, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "d52bc7814da1d5b311a856f5447e8a39edaa764296ff8816c4925a14dea68219", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "92b85259d6baa6ae9a63c9f2fa79ceca032e28733add09134e6f4f94dab75a2c", "scope": "authored_usd_joint_schema", "joint_count": 3, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01042_Dough_Docker_simready/physics_D01042.json b/batch41/D01042_Dough_Docker_simready/physics_D01042.json index da43b9c931f1ce576fe0c4dd2e5b6e9876776483..6f3bac2d791fb028421564571591003a786c11e7 100644 --- a/batch41/D01042_Dough_Docker_simready/physics_D01042.json +++ b/batch41/D01042_Dough_Docker_simready/physics_D01042.json @@ -184,7 +184,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01042_Dough_Docker_simready/D01042_Dough_Docker.usd", - "usd_sha256": "b52a777275502259160e5e9281195652cd2fec210a8c57a967003c22092241fc", + "usd_sha256": "93819c1fee13c3a63118f4a99d275dfea4cb3377551dda584183ac2c99f979da", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -192,10 +192,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "33ab4ef28aac32a470bfc0fe89bd406f93f66d9e3ad2174caac17a7007f1ec2a" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "04ec80c37e1ff56d26a7743659b7cb300516522ab32fb40dbbdf146697ed5365" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -211,9 +211,9 @@ 0.2600000910460949, 0.05896550416946411 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b52a777275502259160e5e9281195652cd2fec210a8c57a967003c22092241fc", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "93819c1fee13c3a63118f4a99d275dfea4cb3377551dda584183ac2c99f979da", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -222,9 +222,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.369999997317791, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b52a777275502259160e5e9281195652cd2fec210a8c57a967003c22092241fc", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "93819c1fee13c3a63118f4a99d275dfea4cb3377551dda584183ac2c99f979da", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.369999997317791, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -236,9 +236,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b52a777275502259160e5e9281195652cd2fec210a8c57a967003c22092241fc", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "93819c1fee13c3a63118f4a99d275dfea4cb3377551dda584183ac2c99f979da", "scope": "authored_usd_collision_schema", "enabled_shape_count": 117, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -247,18 +247,19 @@ "status": "verified", "confidence": "high", "moving_joints": 1, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b52a777275502259160e5e9281195652cd2fec210a8c57a967003c22092241fc", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "93819c1fee13c3a63118f4a99d275dfea4cb3377551dda584183ac2c99f979da", "scope": "authored_usd_joint_schema", "joint_count": 1, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01043 Honey Dipper/sim-asset/IsaacSim/physics_6aa9ff8cf44cf8edfad4961a.json b/batch41/D01043 Honey Dipper/sim-asset/IsaacSim/physics_6aa9ff8cf44cf8edfad4961a.json index ddbd77c630dbea927cf3075a9c5868a375bc3098..40ca53d503b3232bc0037e51819e82e684bf6a86 100644 --- a/batch41/D01043 Honey Dipper/sim-asset/IsaacSim/physics_6aa9ff8cf44cf8edfad4961a.json +++ b/batch41/D01043 Honey Dipper/sim-asset/IsaacSim/physics_6aa9ff8cf44cf8edfad4961a.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01043 Honey Dipper/sim-asset/IsaacSim/IsaacSim_asset_6aa9ff8cf44cf8edfad4961a.usd", - "usd_sha256": "fb869ebc1dbeda6dedcc243719480390bba62c7f972364030c8aac98a6a35eb1", + "usd_sha256": "a7cde8d55c6965800e430d151782adc485a44b5750bc779fea7ab59f273769e2", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "ccaba91935399bfe1bbab887788ef8ad4eba93f5113a00a516fef86f36b59e76" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ce9fc51b0c6331b51c8bf6ac8b8a77f839b806403baf44577d042314a0852d4b" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.17490100115537643, 0.026425999680213863 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "fb869ebc1dbeda6dedcc243719480390bba62c7f972364030c8aac98a6a35eb1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a7cde8d55c6965800e430d151782adc485a44b5750bc779fea7ab59f273769e2", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.019999999552965164, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "fb869ebc1dbeda6dedcc243719480390bba62c7f972364030c8aac98a6a35eb1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a7cde8d55c6965800e430d151782adc485a44b5750bc779fea7ab59f273769e2", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.019999999552965164, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "fb869ebc1dbeda6dedcc243719480390bba62c7f972364030c8aac98a6a35eb1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a7cde8d55c6965800e430d151782adc485a44b5750bc779fea7ab59f273769e2", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "fb869ebc1dbeda6dedcc243719480390bba62c7f972364030c8aac98a6a35eb1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a7cde8d55c6965800e430d151782adc485a44b5750bc779fea7ab59f273769e2", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01044 Coffee Tamper/sim-asset/IsaacSim/physics_6aaa4b5ff44cf8edfadd8a1c.json b/batch41/D01044 Coffee Tamper/sim-asset/IsaacSim/physics_6aaa4b5ff44cf8edfadd8a1c.json index 19ad8784ec8619f03fd53bb25de8bbeb8f640dce..f0e755afd06708278804ab69f0729d01494b8c26 100644 --- a/batch41/D01044 Coffee Tamper/sim-asset/IsaacSim/physics_6aaa4b5ff44cf8edfadd8a1c.json +++ b/batch41/D01044 Coffee Tamper/sim-asset/IsaacSim/physics_6aaa4b5ff44cf8edfadd8a1c.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01044 Coffee Tamper/sim-asset/IsaacSim/IsaacSim_asset_6aaa4b5ff44cf8edfadd8a1c.usd", - "usd_sha256": "9a57253bb3d69106bea8a9a45008a0e1f12f14d68bee0974c9dc6cf3fd17e893", + "usd_sha256": "c22b3dbe166b01b08086fffdd11a5d8a1737c5e31be62e5701b7a23b75184d2e", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "08bb0ebbdd773666f5129368d97f040c58ff05bb0a51b0a5f290bced4d21bd1a" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "55279b5bef907972ed2e3c02adf09311e0d49ef5e4de841681fa7caa3e10deab" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.06082499958574772, 0.090313998261081 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9a57253bb3d69106bea8a9a45008a0e1f12f14d68bee0974c9dc6cf3fd17e893", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c22b3dbe166b01b08086fffdd11a5d8a1737c5e31be62e5701b7a23b75184d2e", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.4000000059604645, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9a57253bb3d69106bea8a9a45008a0e1f12f14d68bee0974c9dc6cf3fd17e893", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c22b3dbe166b01b08086fffdd11a5d8a1737c5e31be62e5701b7a23b75184d2e", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.4000000059604645, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9a57253bb3d69106bea8a9a45008a0e1f12f14d68bee0974c9dc6cf3fd17e893", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c22b3dbe166b01b08086fffdd11a5d8a1737c5e31be62e5701b7a23b75184d2e", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9a57253bb3d69106bea8a9a45008a0e1f12f14d68bee0974c9dc6cf3fd17e893", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c22b3dbe166b01b08086fffdd11a5d8a1737c5e31be62e5701b7a23b75184d2e", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01045 Espresso Knock Box/sim-asset/IsaacSim/physics_6aaa05b2f44cf8edfad5761c.json b/batch41/D01045 Espresso Knock Box/sim-asset/IsaacSim/physics_6aaa05b2f44cf8edfad5761c.json index fb7197e91f8b51fd569b49f89b8dec5ab12da704..36a7a306fa89f70f23ea8984e0f08750410b207c 100644 --- a/batch41/D01045 Espresso Knock Box/sim-asset/IsaacSim/physics_6aaa05b2f44cf8edfad5761c.json +++ b/batch41/D01045 Espresso Knock Box/sim-asset/IsaacSim/physics_6aaa05b2f44cf8edfad5761c.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01045 Espresso Knock Box/sim-asset/IsaacSim/IsaacSim_asset_6aaa05b2f44cf8edfad5761c.usd", - "usd_sha256": "2e73a7e6697b5a4985d911483f0e1df655e5ccb4534374e5471e4b4360ef7d06", + "usd_sha256": "e0ad6836df8aae944d0d27078e89536f8e1371e647372d5c6f2e85390cd5aa9d", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "5b867535eb85dba58f1d8f02947546014ea46479169073fa589dab63d8f7ce10" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4233758066b7dd6f04a245e2f8431780b5f042a31eb769dcf2816207dc3dfdcd" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.18015500158071518, 0.10976799739694343 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2e73a7e6697b5a4985d911483f0e1df655e5ccb4534374e5471e4b4360ef7d06", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0ad6836df8aae944d0d27078e89536f8e1371e647372d5c6f2e85390cd5aa9d", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.44999998807907104, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2e73a7e6697b5a4985d911483f0e1df655e5ccb4534374e5471e4b4360ef7d06", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0ad6836df8aae944d0d27078e89536f8e1371e647372d5c6f2e85390cd5aa9d", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.44999998807907104, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2e73a7e6697b5a4985d911483f0e1df655e5ccb4534374e5471e4b4360ef7d06", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0ad6836df8aae944d0d27078e89536f8e1371e647372d5c6f2e85390cd5aa9d", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "2e73a7e6697b5a4985d911483f0e1df655e5ccb4534374e5471e4b4360ef7d06", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e0ad6836df8aae944d0d27078e89536f8e1371e647372d5c6f2e85390cd5aa9d", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01046 Pizza Peel/sim-asset/IsaacSim/physics_6aa9ffdcf44cf8edfad4a9b6.json b/batch41/D01046 Pizza Peel/sim-asset/IsaacSim/physics_6aa9ffdcf44cf8edfad4a9b6.json index 1770f1ee0a482d78cc1b2892d6f0a3811019216e..763818276c1d20dff44ab10e27948e68fc2c940e 100644 --- a/batch41/D01046 Pizza Peel/sim-asset/IsaacSim/physics_6aa9ffdcf44cf8edfad4a9b6.json +++ b/batch41/D01046 Pizza Peel/sim-asset/IsaacSim/physics_6aa9ffdcf44cf8edfad4a9b6.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01046 Pizza Peel/sim-asset/IsaacSim/IsaacSim_asset_6aa9ffdcf44cf8edfad4a9b6.usd", - "usd_sha256": "6bf7e3ce54d36c7c330450a21cb696e40d124f567ebf4895bd343d57694bfbc2", + "usd_sha256": "1d30a6d61107fad0f14aaece2e4e163ab632adb84b8d901d446ebb73c9c4b7be", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "13b62485577b205907cfcaefd7b5d1dd74f738985d051290b8c25b9d23b22715" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0657188db759f751c0e2ef3708065a6c84c506e520c90fd060ff3f2102abf9a1" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.6126270145177841, 0.04674800019711256 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6bf7e3ce54d36c7c330450a21cb696e40d124f567ebf4895bd343d57694bfbc2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d30a6d61107fad0f14aaece2e4e163ab632adb84b8d901d446ebb73c9c4b7be", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.800000011920929, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6bf7e3ce54d36c7c330450a21cb696e40d124f567ebf4895bd343d57694bfbc2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d30a6d61107fad0f14aaece2e4e163ab632adb84b8d901d446ebb73c9c4b7be", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.800000011920929, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6bf7e3ce54d36c7c330450a21cb696e40d124f567ebf4895bd343d57694bfbc2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d30a6d61107fad0f14aaece2e4e163ab632adb84b8d901d446ebb73c9c4b7be", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6bf7e3ce54d36c7c330450a21cb696e40d124f567ebf4895bd343d57694bfbc2", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1d30a6d61107fad0f14aaece2e4e163ab632adb84b8d901d446ebb73c9c4b7be", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01047_Tortilla_Press/sim-asset/IsaacSim/physics_6aa9fff0f44cf8edfad4afcb.json b/batch41/D01047_Tortilla_Press/sim-asset/IsaacSim/physics_6aa9fff0f44cf8edfad4afcb.json index 05a39a509839e31f028f69ac24427a08c9fe5a02..33242e69f161b813cc2c199507780697c90a5c99 100644 --- a/batch41/D01047_Tortilla_Press/sim-asset/IsaacSim/physics_6aa9fff0f44cf8edfad4afcb.json +++ b/batch41/D01047_Tortilla_Press/sim-asset/IsaacSim/physics_6aa9fff0f44cf8edfad4afcb.json @@ -409,7 +409,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01047_Tortilla_Press/sim-asset/IsaacSim/IsaacSim_asset_6aa9fff0f44cf8edfad4afcb.usd", - "usd_sha256": "6f38241af3ee81899913b3f52b7271e5e4589c70e9a84c4c71349a6989bc2fb0", + "usd_sha256": "68e94c51162bd32807e93c24532b0e2f974bace7c889e6d94f354569e28faadb", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -417,10 +417,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "1704618920cfa3430cdb2388fe4ab30f8f1d2c6dec463a8ef214a509df0d5bc7" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "101313bec68e60105b4e4a65e12414df553b028b46b826bb0639b39d452787a3" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -436,9 +436,9 @@ 0.2538599967956543, 0.2641320043767337 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6f38241af3ee81899913b3f52b7271e5e4589c70e9a84c4c71349a6989bc2fb0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "68e94c51162bd32807e93c24532b0e2f974bace7c889e6d94f354569e28faadb", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -447,9 +447,9 @@ "status": "verified", "confidence": "high", "value_kg": 3.5000000596046448, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6f38241af3ee81899913b3f52b7271e5e4589c70e9a84c4c71349a6989bc2fb0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "68e94c51162bd32807e93c24532b0e2f974bace7c889e6d94f354569e28faadb", "scope": "authored_usd_mass_consistency", "part_sum_kg": 3.5000000596046448, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -461,9 +461,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6f38241af3ee81899913b3f52b7271e5e4589c70e9a84c4c71349a6989bc2fb0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "68e94c51162bd32807e93c24532b0e2f974bace7c889e6d94f354569e28faadb", "scope": "authored_usd_collision_schema", "enabled_shape_count": 4, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -472,18 +472,19 @@ "status": "verified", "confidence": "high", "moving_joints": 2, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6f38241af3ee81899913b3f52b7271e5e4589c70e9a84c4c71349a6989bc2fb0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "68e94c51162bd32807e93c24532b0e2f974bace7c889e6d94f354569e28faadb", "scope": "authored_usd_joint_schema", "joint_count": 3, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01048_Burger_Patty_Press/physics_D01048.json b/batch41/D01048_Burger_Patty_Press/physics_D01048.json index 5fda16c3cfac8fdbaaf626162c6b6ff340f27b0e..e775eb80cf9f165cf92834c2c3ed0fea45c69528 100644 --- a/batch41/D01048_Burger_Patty_Press/physics_D01048.json +++ b/batch41/D01048_Burger_Patty_Press/physics_D01048.json @@ -184,7 +184,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01048_Burger_Patty_Press/D01048_Burger_Patty_Press.usd", - "usd_sha256": "eaff5e93e32b68ae30bffede2251429a60d60bc6ba34bb8c160d757eb9447c63", + "usd_sha256": "9f332cefc4a31b430c765a4a0219cd5dc75c428fc660ff73b1e95e441db14b76", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -192,10 +192,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "f98342dc9d5327fe880da63b2c84d29f05c1010ec56e97371e6449c92b87ca86" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "94cf76ad1c5aefa259bf2ab03e155914d4347f9c545952ce0f19c7fff323162d" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -211,9 +211,9 @@ 0.12000004202127457, 0.11998193711042404 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "eaff5e93e32b68ae30bffede2251429a60d60bc6ba34bb8c160d757eb9447c63", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f332cefc4a31b430c765a4a0219cd5dc75c428fc660ff73b1e95e441db14b76", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -222,9 +222,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.569999985396862, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "eaff5e93e32b68ae30bffede2251429a60d60bc6ba34bb8c160d757eb9447c63", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f332cefc4a31b430c765a4a0219cd5dc75c428fc660ff73b1e95e441db14b76", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.569999985396862, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -236,9 +236,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "eaff5e93e32b68ae30bffede2251429a60d60bc6ba34bb8c160d757eb9447c63", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f332cefc4a31b430c765a4a0219cd5dc75c428fc660ff73b1e95e441db14b76", "scope": "authored_usd_collision_schema", "enabled_shape_count": 146, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -247,18 +247,19 @@ "status": "verified", "confidence": "high", "moving_joints": 1, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "eaff5e93e32b68ae30bffede2251429a60d60bc6ba34bb8c160d757eb9447c63", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9f332cefc4a31b430c765a4a0219cd5dc75c428fc660ff73b1e95e441db14b76", "scope": "authored_usd_joint_schema", "joint_count": 1, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01049 Vacuum Wine Stopper Pump/sim-asset/IsaacSim/physics_6aaa9f34f44cf8edfae4759b.json b/batch41/D01049 Vacuum Wine Stopper Pump/sim-asset/IsaacSim/physics_6aaa9f34f44cf8edfae4759b.json index 51d9a1de7add131f8d71c048cab7fa09abd4ff7f..34be5dd01747190c12ff15a0dad185c99bf280af 100644 --- a/batch41/D01049 Vacuum Wine Stopper Pump/sim-asset/IsaacSim/physics_6aaa9f34f44cf8edfae4759b.json +++ b/batch41/D01049 Vacuum Wine Stopper Pump/sim-asset/IsaacSim/physics_6aaa9f34f44cf8edfae4759b.json @@ -403,7 +403,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01049 Vacuum Wine Stopper Pump/sim-asset/IsaacSim/IsaacSim_asset_6aaa9f34f44cf8edfae4759b.usd", - "usd_sha256": "9e6f7837d1b8de79a3e97c7c9be5ae5233a5f858659748e1d5a88103b158552d", + "usd_sha256": "d6d4566dfec9e0c1ca952e844c25fc74ebc3c58898961ab260fd5e13067d920a", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -411,10 +411,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "d8463a4c04b5cd48ad01972817344e90a9fffebcc6b22e6110ae747e06477ac3" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "30d6319170fb59725ae6d756bd103cb58d222eef59608084c3281c6f0a94b8d3" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -430,9 +430,9 @@ 0.058414001017808914, 0.23880499397637323 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9e6f7837d1b8de79a3e97c7c9be5ae5233a5f858659748e1d5a88103b158552d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6d4566dfec9e0c1ca952e844c25fc74ebc3c58898961ab260fd5e13067d920a", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -441,9 +441,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.11999999918043613, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9e6f7837d1b8de79a3e97c7c9be5ae5233a5f858659748e1d5a88103b158552d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6d4566dfec9e0c1ca952e844c25fc74ebc3c58898961ab260fd5e13067d920a", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.11999999918043613, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -455,9 +455,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9e6f7837d1b8de79a3e97c7c9be5ae5233a5f858659748e1d5a88103b158552d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6d4566dfec9e0c1ca952e844c25fc74ebc3c58898961ab260fd5e13067d920a", "scope": "authored_usd_collision_schema", "enabled_shape_count": 4, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -466,18 +466,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "9e6f7837d1b8de79a3e97c7c9be5ae5233a5f858659748e1d5a88103b158552d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6d4566dfec9e0c1ca952e844c25fc74ebc3c58898961ab260fd5e13067d920a", "scope": "authored_usd_joint_schema", "joint_count": 3, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01050_Manual_Vegetable_Spiralizer/physics_D01050.json b/batch41/D01050_Manual_Vegetable_Spiralizer/physics_D01050.json index e0e32e779584a19d332b01bb8bc5e782b743c880..a1a3312b027409d6dcb846eaa8862fe79ff49ea3 100644 --- a/batch41/D01050_Manual_Vegetable_Spiralizer/physics_D01050.json +++ b/batch41/D01050_Manual_Vegetable_Spiralizer/physics_D01050.json @@ -380,7 +380,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01050_Manual_Vegetable_Spiralizer/D01050_Manual_Vegetable_Spiralizer.usd", - "usd_sha256": "cb162db94f0eb7e1e686576b227f1af4de885b35f3962d0448e5bab7d88c416b", + "usd_sha256": "7dbf71669631cb5ab78bc2f3710190033289317d6a119e1c6fc42871d31d9704", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -388,10 +388,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "05ce74e27a45693929dd564212bdde28393677525347979b31438faa849e4eab" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "65ddfad370e072f37b3d31f5b650699229a49b24c1de3da24b8ca7949e28810d" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -407,9 +407,9 @@ 0.10505000129342079, 0.08640000224113464 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb162db94f0eb7e1e686576b227f1af4de885b35f3962d0448e5bab7d88c416b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7dbf71669631cb5ab78bc2f3710190033289317d6a119e1c6fc42871d31d9704", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -418,9 +418,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.2499999962747097, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb162db94f0eb7e1e686576b227f1af4de885b35f3962d0448e5bab7d88c416b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7dbf71669631cb5ab78bc2f3710190033289317d6a119e1c6fc42871d31d9704", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.2499999962747097, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -432,9 +432,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb162db94f0eb7e1e686576b227f1af4de885b35f3962d0448e5bab7d88c416b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7dbf71669631cb5ab78bc2f3710190033289317d6a119e1c6fc42871d31d9704", "scope": "authored_usd_collision_schema", "enabled_shape_count": 728, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -443,18 +443,19 @@ "status": "verified", "confidence": "high", "moving_joints": 3, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "cb162db94f0eb7e1e686576b227f1af4de885b35f3962d0448e5bab7d88c416b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7dbf71669631cb5ab78bc2f3710190033289317d6a119e1c6fc42871d31d9704", "scope": "authored_usd_joint_schema", "joint_count": 3, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01051_Dumpling_Press/sim-asset/IsaacSim/physics_6aa9fdb953bec71eee284b59.json b/batch41/D01051_Dumpling_Press/sim-asset/IsaacSim/physics_6aa9fdb953bec71eee284b59.json index 3dc3c2acfa39b65ea688d7e32fdf160f034f92a5..62485f0dfa462346238c5690b57a283348acf982 100644 --- a/batch41/D01051_Dumpling_Press/sim-asset/IsaacSim/physics_6aa9fdb953bec71eee284b59.json +++ b/batch41/D01051_Dumpling_Press/sim-asset/IsaacSim/physics_6aa9fdb953bec71eee284b59.json @@ -200,7 +200,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01051_Dumpling_Press/sim-asset/IsaacSim/IsaacSim_asset_6aa9fdb953bec71eee284b59.usd", - "usd_sha256": "40bc08b024bb147e7adc100660f9c67c95de9a7c353a0e1a67d928e514cf6bf1", + "usd_sha256": "2daa38c392eddf1b345d7003f21d8ad4abac6baf095b03790c7a0f20e300f6f6", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -208,10 +208,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "eddb43f0beb10e0cf6f3ab4998715bdef756e8dbdb17ad919e59793406505d49" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "dacf480974765991263a22f88a8fb1c18b966656ba01ed6eff75f1b7796ceb15" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -227,9 +227,9 @@ 0.17428800463676453, 0.10477100312709808 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "40bc08b024bb147e7adc100660f9c67c95de9a7c353a0e1a67d928e514cf6bf1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2daa38c392eddf1b345d7003f21d8ad4abac6baf095b03790c7a0f20e300f6f6", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -238,9 +238,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.28999999910593033, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "40bc08b024bb147e7adc100660f9c67c95de9a7c353a0e1a67d928e514cf6bf1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2daa38c392eddf1b345d7003f21d8ad4abac6baf095b03790c7a0f20e300f6f6", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.28999999910593033, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -253,9 +253,9 @@ "convexDecomposition", "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "40bc08b024bb147e7adc100660f9c67c95de9a7c353a0e1a67d928e514cf6bf1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2daa38c392eddf1b345d7003f21d8ad4abac6baf095b03790c7a0f20e300f6f6", "scope": "authored_usd_collision_schema", "enabled_shape_count": 68, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -264,18 +264,19 @@ "status": "verified", "confidence": "high", "moving_joints": 1, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "40bc08b024bb147e7adc100660f9c67c95de9a7c353a0e1a67d928e514cf6bf1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2daa38c392eddf1b345d7003f21d8ad4abac6baf095b03790c7a0f20e300f6f6", "scope": "authored_usd_joint_schema", "joint_count": 1, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01052_Knife_Sharpening_Steel/sim-asset/IsaacSim/physics_6aa9fffccfc529e04f67414f.json b/batch41/D01052_Knife_Sharpening_Steel/sim-asset/IsaacSim/physics_6aa9fffccfc529e04f67414f.json index 904e33ca223fd195716f5a87850d89cf90e99b54..1ebdcaaf0e7d512e69bef353154b7f2aa3391679 100644 --- a/batch41/D01052_Knife_Sharpening_Steel/sim-asset/IsaacSim/physics_6aa9fffccfc529e04f67414f.json +++ b/batch41/D01052_Knife_Sharpening_Steel/sim-asset/IsaacSim/physics_6aa9fffccfc529e04f67414f.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01052_Knife_Sharpening_Steel/sim-asset/IsaacSim/IsaacSim_asset_6aa9fffccfc529e04f67414f.usd", - "usd_sha256": "89bb10619015169f753a017f3837f7476a55f8e5b647515606b9b2630ace10ef", + "usd_sha256": "cd6f1e50fcd919eb2f7f430383af9497741e0113777368bd5b65d6f2a2c8886c", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "761a5ce7961bb42ef4768039384f099cb5cfce65c404c53aa95f2fdbdd3e2bbe" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f34c4cf5585e589b3a033225989f05efd03b9fbcc05b3067dd81dc1760047b3d" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.04600000008940697, 0.031029000878334045 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "89bb10619015169f753a017f3837f7476a55f8e5b647515606b9b2630ace10ef", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cd6f1e50fcd919eb2f7f430383af9497741e0113777368bd5b65d6f2a2c8886c", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.2849999964237213, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "89bb10619015169f753a017f3837f7476a55f8e5b647515606b9b2630ace10ef", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cd6f1e50fcd919eb2f7f430383af9497741e0113777368bd5b65d6f2a2c8886c", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.2849999964237213, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "89bb10619015169f753a017f3837f7476a55f8e5b647515606b9b2630ace10ef", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cd6f1e50fcd919eb2f7f430383af9497741e0113777368bd5b65d6f2a2c8886c", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "89bb10619015169f753a017f3837f7476a55f8e5b647515606b9b2630ace10ef", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cd6f1e50fcd919eb2f7f430383af9497741e0113777368bd5b65d6f2a2c8886c", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01053_Fat_Separator_Jug/sim-asset/IsaacSim/physics_6aaa00ddcfc529e04f67d26c.json b/batch41/D01053_Fat_Separator_Jug/sim-asset/IsaacSim/physics_6aaa00ddcfc529e04f67d26c.json index f04533bb8eb349d00f18ec36952de1657ee4fd7a..055465b827a5613d6965c592cb708629b82ce28a 100644 --- a/batch41/D01053_Fat_Separator_Jug/sim-asset/IsaacSim/physics_6aaa00ddcfc529e04f67d26c.json +++ b/batch41/D01053_Fat_Separator_Jug/sim-asset/IsaacSim/physics_6aaa00ddcfc529e04f67d26c.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01053_Fat_Separator_Jug/sim-asset/IsaacSim/IsaacSim_asset_6aaa00ddcfc529e04f67d26c.usd", - "usd_sha256": "26ea3ba6c3232e5e198e9e29529a6a5043f9b7da4faa3c27baf43e0a58859b12", + "usd_sha256": "e05d62bc6fa485bfeaa796e4ddbcb2e335636f09f58a49265b87d9467f6bc58f", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "deb5f5eec4f96e30f3b7203ccb7ae213ac9e3eb74462f5b44a706ed33be70135" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "cf88e16c82507416e644135944365b0d38607c41f4496681455506709056451c" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.11999999731779099, 0.17499999701976776 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "26ea3ba6c3232e5e198e9e29529a6a5043f9b7da4faa3c27baf43e0a58859b12", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e05d62bc6fa485bfeaa796e4ddbcb2e335636f09f58a49265b87d9467f6bc58f", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.47999998927116394, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "26ea3ba6c3232e5e198e9e29529a6a5043f9b7da4faa3c27baf43e0a58859b12", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e05d62bc6fa485bfeaa796e4ddbcb2e335636f09f58a49265b87d9467f6bc58f", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.47999998927116394, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "convexDecomposition" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "26ea3ba6c3232e5e198e9e29529a6a5043f9b7da4faa3c27baf43e0a58859b12", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e05d62bc6fa485bfeaa796e4ddbcb2e335636f09f58a49265b87d9467f6bc58f", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "26ea3ba6c3232e5e198e9e29529a6a5043f9b7da4faa3c27baf43e0a58859b12", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e05d62bc6fa485bfeaa796e4ddbcb2e335636f09f58a49265b87d9467f6bc58f", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01054_Spaghetti_Portion_Gauge/sim-asset/IsaacSim/physics_6aaa85a2b78e390b7d96d7b7.json b/batch41/D01054_Spaghetti_Portion_Gauge/sim-asset/IsaacSim/physics_6aaa85a2b78e390b7d96d7b7.json index a837fb285c6722bf1c25edd10b4ccd2af31a8c69..a3b78d88d1bcaf4ceb50d6345f6983a601c5b04d 100644 --- a/batch41/D01054_Spaghetti_Portion_Gauge/sim-asset/IsaacSim/physics_6aaa85a2b78e390b7d96d7b7.json +++ b/batch41/D01054_Spaghetti_Portion_Gauge/sim-asset/IsaacSim/physics_6aaa85a2b78e390b7d96d7b7.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01054_Spaghetti_Portion_Gauge/sim-asset/IsaacSim/IsaacSim_asset_6aaa85a2b78e390b7d96d7b7.usd", - "usd_sha256": "55d5ab7b343d33b219b178f1600f338e5a5c353ffeda17d30203e2875c69518f", + "usd_sha256": "ecc2c7d29f3eda5750141392460056a911dc88322d14206f675bac834edef38b", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "ac7a19950d93ae0cf6da5e9b2e2de95fcee9fa1d8f4cb09d29fc7610a6d6e107" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8c2fa9f914af00718d2d51bfa864c890ef5ba4b2e33a13aebb1696190e2e7220" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.08900000154972076, 0.003000000026077037 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "55d5ab7b343d33b219b178f1600f338e5a5c353ffeda17d30203e2875c69518f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ecc2c7d29f3eda5750141392460056a911dc88322d14206f675bac834edef38b", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.0430000014603138, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "55d5ab7b343d33b219b178f1600f338e5a5c353ffeda17d30203e2875c69518f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ecc2c7d29f3eda5750141392460056a911dc88322d14206f675bac834edef38b", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.0430000014603138, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "sdf" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "55d5ab7b343d33b219b178f1600f338e5a5c353ffeda17d30203e2875c69518f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ecc2c7d29f3eda5750141392460056a911dc88322d14206f675bac834edef38b", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "55d5ab7b343d33b219b178f1600f338e5a5c353ffeda17d30203e2875c69518f", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ecc2c7d29f3eda5750141392460056a911dc88322d14206f675bac834edef38b", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01055_Corn_Kernel_Stripper/sim-asset/IsaacSim/physics_6aaa02d0cfc529e04f69136d.json b/batch41/D01055_Corn_Kernel_Stripper/sim-asset/IsaacSim/physics_6aaa02d0cfc529e04f69136d.json index 3ded136eda860c0644bfd4da65c3b42f0bd5d8dd..6bb3c09a319a78bcf0d082c2f404d0eaf3edc361 100644 --- a/batch41/D01055_Corn_Kernel_Stripper/sim-asset/IsaacSim/physics_6aaa02d0cfc529e04f69136d.json +++ b/batch41/D01055_Corn_Kernel_Stripper/sim-asset/IsaacSim/physics_6aaa02d0cfc529e04f69136d.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01055_Corn_Kernel_Stripper/sim-asset/IsaacSim/IsaacSim_asset_6aaa02d0cfc529e04f69136d.usd", - "usd_sha256": "fc06a2381ec25b8f238127dc8e6172d92ec572ceac6fa718b20c4ca053d8eda3", + "usd_sha256": "49ecf3b5c2b8651a475e676926b276aa9ee57bd586856d7f71574fb90cdd483f", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "02ef721f982c99ed4afdba5105dd377414a720bd8ccb6eb6bdb8c2ddd62856ac" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "98193f3fcfbf27ebda6e4d77b8a5a4a45fed59cdddb6a0ccbbd040e322542777" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.12012799829244614, 0.02945099957287312 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "fc06a2381ec25b8f238127dc8e6172d92ec572ceac6fa718b20c4ca053d8eda3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49ecf3b5c2b8651a475e676926b276aa9ee57bd586856d7f71574fb90cdd483f", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.07500000298023224, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "fc06a2381ec25b8f238127dc8e6172d92ec572ceac6fa718b20c4ca053d8eda3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49ecf3b5c2b8651a475e676926b276aa9ee57bd586856d7f71574fb90cdd483f", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.07500000298023224, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "fc06a2381ec25b8f238127dc8e6172d92ec572ceac6fa718b20c4ca053d8eda3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49ecf3b5c2b8651a475e676926b276aa9ee57bd586856d7f71574fb90cdd483f", "scope": "authored_usd_collision_schema", "enabled_shape_count": 20, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "fc06a2381ec25b8f238127dc8e6172d92ec572ceac6fa718b20c4ca053d8eda3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "49ecf3b5c2b8651a475e676926b276aa9ee57bd586856d7f71574fb90cdd483f", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01056_Poultry_Baster/sim-asset/IsaacSim/physics_6aaa57a1f7c7a1db5a19c318.json b/batch41/D01056_Poultry_Baster/sim-asset/IsaacSim/physics_6aaa57a1f7c7a1db5a19c318.json index d273c6c2efe5c3e2bd8a61597530eb5229d129f6..ac914cfb060303c23f0ba48d7168820b1667c533 100644 --- a/batch41/D01056_Poultry_Baster/sim-asset/IsaacSim/physics_6aaa57a1f7c7a1db5a19c318.json +++ b/batch41/D01056_Poultry_Baster/sim-asset/IsaacSim/physics_6aaa57a1f7c7a1db5a19c318.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01056_Poultry_Baster/sim-asset/IsaacSim/IsaacSim_asset_6aaa57a1f7c7a1db5a19c318.usd", - "usd_sha256": "fb9356c690538d7adaac41986393dcb8149cb63fe54d505973f95721db47e68d", + "usd_sha256": "b0be34cf78fb9e2b56beeac7886bdce3ce747ba7f17aa376a8a926bff75ba468", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "affaf3544f89deea7c95418767a8e52c1bdfe76be819886bf784090aeb28c9fe" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "639be2c92b253abfcac9abe5b789883ddb32373323417427c6f7ee83b0d5e3f9" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.06804800033569336, 0.06767699867486954 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "fb9356c690538d7adaac41986393dcb8149cb63fe54d505973f95721db47e68d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b0be34cf78fb9e2b56beeac7886bdce3ce747ba7f17aa376a8a926bff75ba468", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.07199999690055847, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "fb9356c690538d7adaac41986393dcb8149cb63fe54d505973f95721db47e68d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b0be34cf78fb9e2b56beeac7886bdce3ce747ba7f17aa376a8a926bff75ba468", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.07199999690055847, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "convexDecomposition" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "fb9356c690538d7adaac41986393dcb8149cb63fe54d505973f95721db47e68d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b0be34cf78fb9e2b56beeac7886bdce3ce747ba7f17aa376a8a926bff75ba468", "scope": "authored_usd_collision_schema", "enabled_shape_count": 1, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "fb9356c690538d7adaac41986393dcb8149cb63fe54d505973f95721db47e68d", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b0be34cf78fb9e2b56beeac7886bdce3ce747ba7f17aa376a8a926bff75ba468", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01057_Sous_Vide_Immersion_Circulator/sim-asset/IsaacSim/physics_6aaa0429cfc529e04f6a3d90.json b/batch41/D01057_Sous_Vide_Immersion_Circulator/sim-asset/IsaacSim/physics_6aaa0429cfc529e04f6a3d90.json index 9679e072dea5f660c24e07b1bf41ef5be3e6354e..44510ecbb4db549ac5664c8671cb45e0ab8ea421 100644 --- a/batch41/D01057_Sous_Vide_Immersion_Circulator/sim-asset/IsaacSim/physics_6aaa0429cfc529e04f6a3d90.json +++ b/batch41/D01057_Sous_Vide_Immersion_Circulator/sim-asset/IsaacSim/physics_6aaa0429cfc529e04f6a3d90.json @@ -93,7 +93,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01057_Sous_Vide_Immersion_Circulator/sim-asset/IsaacSim/IsaacSim_asset_6aaa0429cfc529e04f6a3d90.usd", - "usd_sha256": "3599c035f463c62d018d02b430bbe9a58e65869c3a8145e82200abada2600e09", + "usd_sha256": "37c47f0fadc8f7efd6823b7dd3ec640cb7012bfa5cd09e89a7e5b160f546aaa8", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -101,10 +101,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "45c01c918ea5d203faff2c5eded5e1cd3d51aeb325bb46ebf772654f56d42485" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ffe9bae3b2c0a8aec8d86927beae6357ac063a6a8f6384cdaf5d6c1b69d4023e" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -120,9 +120,9 @@ 0.10576500371098518, 0.3331089913845062 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3599c035f463c62d018d02b430bbe9a58e65869c3a8145e82200abada2600e09", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "37c47f0fadc8f7efd6823b7dd3ec640cb7012bfa5cd09e89a7e5b160f546aaa8", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -131,9 +131,9 @@ "status": "verified", "confidence": "high", "value_kg": 1.0800000429153442, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3599c035f463c62d018d02b430bbe9a58e65869c3a8145e82200abada2600e09", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "37c47f0fadc8f7efd6823b7dd3ec640cb7012bfa5cd09e89a7e5b160f546aaa8", "scope": "authored_usd_mass_consistency", "part_sum_kg": 1.0800000429153442, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -145,9 +145,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3599c035f463c62d018d02b430bbe9a58e65869c3a8145e82200abada2600e09", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "37c47f0fadc8f7efd6823b7dd3ec640cb7012bfa5cd09e89a7e5b160f546aaa8", "scope": "authored_usd_collision_schema", "enabled_shape_count": 34, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -156,18 +156,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "3599c035f463c62d018d02b430bbe9a58e65869c3a8145e82200abada2600e09", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "37c47f0fadc8f7efd6823b7dd3ec640cb7012bfa5cd09e89a7e5b160f546aaa8", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01058_Countertop_Vacuum_Sealer/D01058_Countertop_Vacuum_Sealer/physics_D01058.json b/batch41/D01058_Countertop_Vacuum_Sealer/D01058_Countertop_Vacuum_Sealer/physics_D01058.json index f7ec0d73a0a289789724ba91c907335ecc214a7e..7554606c4ee9af331184fa87efb5fcd7ef1b4ff6 100644 --- a/batch41/D01058_Countertop_Vacuum_Sealer/D01058_Countertop_Vacuum_Sealer/physics_D01058.json +++ b/batch41/D01058_Countertop_Vacuum_Sealer/D01058_Countertop_Vacuum_Sealer/physics_D01058.json @@ -800,7 +800,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01058_Countertop_Vacuum_Sealer/D01058_Countertop_Vacuum_Sealer/D01058_Countertop_Vacuum_Sealer.usd", - "usd_sha256": "e2ed2bb9e46a8f58f278a8d2de7763121f038b03d574238e78b4f912558799e4", + "usd_sha256": "8afea92110d18278a8f70cde4030ebf320681f4ef897e696b2ea3ea09987a6fc", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -808,10 +808,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "e7b9deeaffa8ef66170c63cfbee477e37da0b42ae754c96a593f79114a8f5499" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d0b169b68de2285b97553ebd7ecf25eb6d38f0485f60bca09c73bd1bcb9b2beb" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -827,9 +827,9 @@ 0.4000000059604645, 0.1899999976158142 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e2ed2bb9e46a8f58f278a8d2de7763121f038b03d574238e78b4f912558799e4", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8afea92110d18278a8f70cde4030ebf320681f4ef897e696b2ea3ea09987a6fc", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -838,9 +838,9 @@ "status": "verified", "confidence": "high", "value_kg": 30.000000022351742, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e2ed2bb9e46a8f58f278a8d2de7763121f038b03d574238e78b4f912558799e4", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8afea92110d18278a8f70cde4030ebf320681f4ef897e696b2ea3ea09987a6fc", "scope": "authored_usd_mass_consistency", "part_sum_kg": 30.000000022351742, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -852,9 +852,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e2ed2bb9e46a8f58f278a8d2de7763121f038b03d574238e78b4f912558799e4", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8afea92110d18278a8f70cde4030ebf320681f4ef897e696b2ea3ea09987a6fc", "scope": "authored_usd_collision_schema", "enabled_shape_count": 203, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -863,18 +863,19 @@ "status": "verified", "confidence": "high", "moving_joints": 7, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "e2ed2bb9e46a8f58f278a8d2de7763121f038b03d574238e78b4f912558799e4", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8afea92110d18278a8f70cde4030ebf320681f4ef897e696b2ea3ea09987a6fc", "scope": "authored_usd_joint_schema", "joint_count": 8, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01059_Food_Dehydrator/physics_D01059.json b/batch41/D01059_Food_Dehydrator/physics_D01059.json index a30852208582eb9044bba1564c04bc11087a31b8..de9d96483842d52eea9a51f729bef19f3335a8f1 100644 --- a/batch41/D01059_Food_Dehydrator/physics_D01059.json +++ b/batch41/D01059_Food_Dehydrator/physics_D01059.json @@ -400,7 +400,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01059_Food_Dehydrator/D01059_Food_Dehydrator.usd", - "usd_sha256": "73bc96193a4a246b5b7dd70d168b11fd1b0c7d814b321ad2e0bad6941b2def89", + "usd_sha256": "0613abcc6e8131593d53f9d53ca64fb665475ea02aaffebd08cd528bf373bf95", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -408,10 +408,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "1e2807271dab0ab4e035a1a91be13bd3f3bd6064b1e1873e223ef84e29d308cf" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9162d8a488f1b100c498854774365f1811a5b9fdaad8932d95af0699f687e3e9" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -427,9 +427,9 @@ 0.33799999952316284, 0.25248541864446206 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "73bc96193a4a246b5b7dd70d168b11fd1b0c7d814b321ad2e0bad6941b2def89", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0613abcc6e8131593d53f9d53ca64fb665475ea02aaffebd08cd528bf373bf95", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -438,9 +438,9 @@ "status": "verified", "confidence": "high", "value_kg": 1.6000000378116965, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "73bc96193a4a246b5b7dd70d168b11fd1b0c7d814b321ad2e0bad6941b2def89", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0613abcc6e8131593d53f9d53ca64fb665475ea02aaffebd08cd528bf373bf95", "scope": "authored_usd_mass_consistency", "part_sum_kg": 1.6000000378116965, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -452,9 +452,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "73bc96193a4a246b5b7dd70d168b11fd1b0c7d814b321ad2e0bad6941b2def89", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0613abcc6e8131593d53f9d53ca64fb665475ea02aaffebd08cd528bf373bf95", "scope": "authored_usd_collision_schema", "enabled_shape_count": 646, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -463,18 +463,19 @@ "status": "verified", "confidence": "high", "moving_joints": 2, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "73bc96193a4a246b5b7dd70d168b11fd1b0c7d814b321ad2e0bad6941b2def89", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0613abcc6e8131593d53f9d53ca64fb665475ea02aaffebd08cd528bf373bf95", "scope": "authored_usd_joint_schema", "joint_count": 2, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01060_Ice_Cream_Maker/physics_D01060.json b/batch41/D01060_Ice_Cream_Maker/physics_D01060.json index 91cdbd3e8ff49eee1b869daebc4d9e81c272860d..0c3422eea254a7dcf1c5e6542feba806635d0324 100644 --- a/batch41/D01060_Ice_Cream_Maker/physics_D01060.json +++ b/batch41/D01060_Ice_Cream_Maker/physics_D01060.json @@ -307,7 +307,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01060_Ice_Cream_Maker/D01060_Ice_Cream_Maker.usd", - "usd_sha256": "6db5e5713e7f9d4a9cee0b73268da0eebedf0bd7f0fc7c8f6050f00f0325997b", + "usd_sha256": "b249d2a6fb931ca591e6992562c38dabb68fe6cfd0c54c4f005b1b657abeafa3", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -315,10 +315,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "934bb49fb67dd17e59bb83942b51f0be07dcb633b33e51ce64946b912cc11325" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "801617a28fdec460bce70459c9aca431767bb6bbec5a3aa63f6a5f6d6e739e16" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -334,9 +334,9 @@ 0.2029999941587448, 0.22200000286102295 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6db5e5713e7f9d4a9cee0b73268da0eebedf0bd7f0fc7c8f6050f00f0325997b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b249d2a6fb931ca591e6992562c38dabb68fe6cfd0c54c4f005b1b657abeafa3", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -345,9 +345,9 @@ "status": "verified", "confidence": "high", "value_kg": 2.719999996945262, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6db5e5713e7f9d4a9cee0b73268da0eebedf0bd7f0fc7c8f6050f00f0325997b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b249d2a6fb931ca591e6992562c38dabb68fe6cfd0c54c4f005b1b657abeafa3", "scope": "authored_usd_mass_consistency", "part_sum_kg": 2.719999996945262, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -360,9 +360,9 @@ "convexDecomposition", "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6db5e5713e7f9d4a9cee0b73268da0eebedf0bd7f0fc7c8f6050f00f0325997b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b249d2a6fb931ca591e6992562c38dabb68fe6cfd0c54c4f005b1b657abeafa3", "scope": "authored_usd_collision_schema", "enabled_shape_count": 547, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -371,18 +371,19 @@ "status": "verified", "confidence": "high", "moving_joints": 2, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "6db5e5713e7f9d4a9cee0b73268da0eebedf0bd7f0fc7c8f6050f00f0325997b", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b249d2a6fb931ca591e6992562c38dabb68fe6cfd0c54c4f005b1b657abeafa3", "scope": "authored_usd_joint_schema", "joint_count": 2, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01061_Waffle_Maker/physics_D01061.json b/batch41/D01061_Waffle_Maker/physics_D01061.json index d2f7397d028ad852166dc09ed386c886f5144cd5..fa3af8d4c838fccb52973b22b9970a9dd8d5ad9c 100644 --- a/batch41/D01061_Waffle_Maker/physics_D01061.json +++ b/batch41/D01061_Waffle_Maker/physics_D01061.json @@ -200,7 +200,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01061_Waffle_Maker/D01061_Waffle_Maker.usd", - "usd_sha256": "c8463e83fc83d4f6a3a80fa6001206d06e54d743a523be4be2a12161434028e3", + "usd_sha256": "afc4a054ad85cb264988fb0b49674e4112433a750f0f69cd5efbcb6b91824f01", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -208,10 +208,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "76d226914cda133173bc749c2e5bb93daee1525e8c689e4287f97ce0cac47eb4" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c23ed194cf444384264c879e11976924ad946aa93867cd184bf356c78c3d6ecd" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -227,9 +227,9 @@ 0.2030000016093254, 0.28931320432974306 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c8463e83fc83d4f6a3a80fa6001206d06e54d743a523be4be2a12161434028e3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "afc4a054ad85cb264988fb0b49674e4112433a750f0f69cd5efbcb6b91824f01", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -238,9 +238,9 @@ "status": "verified", "confidence": "high", "value_kg": 1.4000000357627869, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c8463e83fc83d4f6a3a80fa6001206d06e54d743a523be4be2a12161434028e3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "afc4a054ad85cb264988fb0b49674e4112433a750f0f69cd5efbcb6b91824f01", "scope": "authored_usd_mass_consistency", "part_sum_kg": 1.4000000357627869, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -252,9 +252,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c8463e83fc83d4f6a3a80fa6001206d06e54d743a523be4be2a12161434028e3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "afc4a054ad85cb264988fb0b49674e4112433a750f0f69cd5efbcb6b91824f01", "scope": "authored_usd_collision_schema", "enabled_shape_count": 425, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -263,18 +263,19 @@ "status": "verified", "confidence": "high", "moving_joints": 1, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "c8463e83fc83d4f6a3a80fa6001206d06e54d743a523be4be2a12161434028e3", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "afc4a054ad85cb264988fb0b49674e4112433a750f0f69cd5efbcb6b91824f01", "scope": "authored_usd_joint_schema", "joint_count": 1, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01062_Countertop_Ice_Maker/physics_D01062.json b/batch41/D01062_Countertop_Ice_Maker/physics_D01062.json index 85c3704b79a645d7a77ac213274bd0c913ea7321..50b038a12ea72d923e9d7c0ca2fdeb317b0fee0d 100644 --- a/batch41/D01062_Countertop_Ice_Maker/physics_D01062.json +++ b/batch41/D01062_Countertop_Ice_Maker/physics_D01062.json @@ -200,7 +200,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01062_Countertop_Ice_Maker/D01062_Countertop_Ice_Maker.usd", - "usd_sha256": "791dbe425797b263c77b8bc7fdbdb56635c0df1db7ebed7ab08f905f9d8aeae1", + "usd_sha256": "9625cb993a0786bacfa08fce76d24b041a63f8cd6a88425638a12cb81ffaf163", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -208,10 +208,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "d15d1c3693378cd855cbed3c7d18dc52bb1434ca515a1f100ed63d8ab0034480" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "aa21ae94a5380419a47d9ea0481404c9e343eedc7c2c7bf0cfe59c5126d70233" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -227,9 +227,9 @@ 0.23999999463558197, 0.3199999928474426 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "791dbe425797b263c77b8bc7fdbdb56635c0df1db7ebed7ab08f905f9d8aeae1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9625cb993a0786bacfa08fce76d24b041a63f8cd6a88425638a12cb81ffaf163", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -238,9 +238,9 @@ "status": "verified", "confidence": "high", "value_kg": 7.800000011920929, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "791dbe425797b263c77b8bc7fdbdb56635c0df1db7ebed7ab08f905f9d8aeae1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9625cb993a0786bacfa08fce76d24b041a63f8cd6a88425638a12cb81ffaf163", "scope": "authored_usd_mass_consistency", "part_sum_kg": 7.800000011920929, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -252,9 +252,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "791dbe425797b263c77b8bc7fdbdb56635c0df1db7ebed7ab08f905f9d8aeae1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9625cb993a0786bacfa08fce76d24b041a63f8cd6a88425638a12cb81ffaf163", "scope": "authored_usd_collision_schema", "enabled_shape_count": 228, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -263,18 +263,19 @@ "status": "verified", "confidence": "high", "moving_joints": 1, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "791dbe425797b263c77b8bc7fdbdb56635c0df1db7ebed7ab08f905f9d8aeae1", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "9625cb993a0786bacfa08fce76d24b041a63f8cd6a88425638a12cb81ffaf163", "scope": "authored_usd_joint_schema", "joint_count": 1, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch41/D01063_Bread_Maker/physics_D01063.json b/batch41/D01063_Bread_Maker/physics_D01063.json index 520768a566430319bbad905a1b97919ba3693542..b55ed2bc8ad789d2a4a43c56e96193b62e60a1bc 100644 --- a/batch41/D01063_Bread_Maker/physics_D01063.json +++ b/batch41/D01063_Bread_Maker/physics_D01063.json @@ -1036,7 +1036,7 @@ "provenance": { "source_schema": "authored_usd", "usd_path": "batch41/D01063_Bread_Maker/D01063_Bread_Maker.usd", - "usd_sha256": "bd40159b5feb43c003ba3ca325d9616c4563080d0b3b162322b008c34222e753", + "usd_sha256": "5dcb542cdf93343d0702a07b10f4ef71fb2b7ec6c9b8a4dac4e48285cb36fd4a", "source_meters_per_unit": 1.0, "source_kilograms_per_unit": 1.0, "source_up_axis": "Z", @@ -1044,10 +1044,10 @@ "reasoning_available": false, "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification.", "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "8420dcc6f66d44bc85fdc98c555b4f6686083b5f17e4dafee5f13adbd6b29607" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "00bec4ba6aaeaecd753ab000ba90809e23242ea2557af5f9624e88d4547b6a8a" }, "usd_world_bounds_source": "delivered USD visual geometry; stage world axes" }, @@ -1063,9 +1063,9 @@ 0.2669999897480011, 0.3049960136413574 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "bd40159b5feb43c003ba3ca325d9616c4563080d0b3b162322b008c34222e753", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5dcb542cdf93343d0702a07b10f4ef71fb2b7ec6c9b8a4dac4e48285cb36fd4a", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -1074,9 +1074,9 @@ "status": "verified", "confidence": "high", "value_kg": 5.000000067520887, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "bd40159b5feb43c003ba3ca325d9616c4563080d0b3b162322b008c34222e753", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5dcb542cdf93343d0702a07b10f4ef71fb2b7ec6c9b8a4dac4e48285cb36fd4a", "scope": "authored_usd_mass_consistency", "part_sum_kg": 5.000000067520887, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -1088,9 +1088,9 @@ "approximations": [ "convexHull" ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "bd40159b5feb43c003ba3ca325d9616c4563080d0b3b162322b008c34222e753", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5dcb542cdf93343d0702a07b10f4ef71fb2b7ec6c9b8a4dac4e48285cb36fd4a", "scope": "authored_usd_collision_schema", "enabled_shape_count": 205, "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." @@ -1099,18 +1099,19 @@ "status": "verified", "confidence": "high", "moving_joints": 8, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "bd40159b5feb43c003ba3ca325d9616c4563080d0b3b162322b008c34222e753", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5dcb542cdf93343d0702a07b10f4ef71fb2b7ec6c9b8a4dac4e48285cb36fd4a", "scope": "authored_usd_joint_schema", "joint_count": 8, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00025 Black Bowl/IsaacSim_assets_69f1f10d59057a931058c321/physics_69f1f10d59057a931058c321.json b/batch5/D00025 Black Bowl/IsaacSim_assets_69f1f10d59057a931058c321/physics_69f1f10d59057a931058c321.json index d3945e42a70c91f58371ba07978cc1b050957e99..4c325efe0a6b2ab29831d911a362afd6ef86725e 100644 --- a/batch5/D00025 Black Bowl/IsaacSim_assets_69f1f10d59057a931058c321/physics_69f1f10d59057a931058c321.json +++ b/batch5/D00025 Black Bowl/IsaacSim_assets_69f1f10d59057a931058c321/physics_69f1f10d59057a931058c321.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07067906856536865, - 0.07291556149721146, - 0.07054103165864944 - ], "min": [ - -0.07064960896968842, - 0.0, - -0.07068338990211487 + -0.07055000215768814, + -0.07057099789381027, + -4.999999873689376e-06 + ], + "max": [ + 0.07057999819517136, + 0.07071299850940704, + 0.07292000204324722 ], "size": [ - 0.14132867753505707, - 0.07291556149721146, - 0.1412244215607643 - ] + 0.1411300003528595, + 0.14128399640321732, + 0.07292500204312091 + ], + "units": "m" }, "description": "A matte black ceramic bowl with a rounded body, open circular rim, and small raised foot ring. The surface appears glazed with subtle rough texture and a low sheen.", "name": "D00025 Black Bowl", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.44999998807907104, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00025", "parts": [ { "bounds": { - "center": [ - 8.981237487142645e-06, - 0.0369026995736762, - -7.707035032360352e-05 + "min": [ + -0.07055000215768814, + -0.07057099789381027, + -4.999999873689376e-06 ], "max": [ - 0.07067906856536865, - 0.07291556149721146, - 0.07054103165864944 + 0.07057999819517136, + 0.07071299850940704, + 0.07292000204324722 ], - "min": [ - -0.07064960896968842, - 0.0, - -0.07068338990211487 - ] + "size": [ + 0.1411300003528595, + 0.14128399640321732, + 0.07292500204312091 + ], + "units": "m" }, "center_of_mass": [ 9.984665270982614e-05, @@ -59,7 +65,7 @@ 0.0006345754134761963, 0.0009357256652472771 ], - "mass": 0.45, + "mass": 0.44999998807907104, "material": "steel", "name": "D00025 Black Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00025 Black Bowl", "part_name": "D00025 Black Bowl" }, - "volume": 0.0008702812055571021 + "volume": 0.0008702812055571021, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d352ed307785504ab387898f7f646614d9eca6237b6055ff3965b9eac62fdf45" + }, + "usd_path": "batch5/D00025 Black Bowl/IsaacSim_assets_69f1f10d59057a931058c321/IsaacSim_asset_69f1f10d59057a931058c321.usd", + "usd_sha256": "7d6e1f1c8b09ae6fdc505cd4b4ff20c6908658d1cb0bad845f3e7d6cf07b9c65", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.14132867753505707, - 0.07291556149721146, - 0.1412244215607643 - ] + 0.1411300003528595, + 0.14128399640321732, + 0.07292500204312091 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d6e1f1c8b09ae6fdc505cd4b4ff20c6908658d1cb0bad845f3e7d6cf07b9c65", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.44999998807907104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d6e1f1c8b09ae6fdc505cd4b4ff20c6908658d1cb0bad845f3e7d6cf07b9c65", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.44999998807907104, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 68, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d6e1f1c8b09ae6fdc505cd4b4ff20c6908658d1cb0bad845f3e7d6cf07b9c65", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 68, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d6e1f1c8b09ae6fdc505cd4b4ff20c6908658d1cb0bad845f3e7d6cf07b9c65", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "7d6e1f1c8b09ae6fdc505cd4b4ff20c6908658d1cb0bad845f3e7d6cf07b9c65", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:22.284996+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "0a195a8d7522a9b40adffe54bf7974186d255333c8daf7943f535e6fc8215aad", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00042 Board Tray/IsaacSim_assets_69f1f31459057a931058f521/physics_69f1f31459057a931058f521.json b/batch5/D00042 Board Tray/IsaacSim_assets_69f1f31459057a931058f521/physics_69f1f31459057a931058f521.json index 89bfe08eba062b09d43b975c878df132ae6e4698..a0b62cd6dc12e8a7f1aadc3ab0d8838985a218a7 100644 --- a/batch5/D00042 Board Tray/IsaacSim_assets_69f1f31459057a931058f521/physics_69f1f31459057a931058f521.json +++ b/batch5/D00042 Board Tray/IsaacSim_assets_69f1f31459057a931058f521/physics_69f1f31459057a931058f521.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17168200016021729, - 0.12207300215959549, - 0.03663000091910362 - ], "min": [ - -0.18589499592781067, - -0.12190400063991547, - -0.00012799999967683107 + -0.19825699925422668, + -0.13249699771404266, + 4.999999873689376e-06 + ], + "max": [ + 0.18583300709724426, + 0.13312500715255737, + 0.02423200011253357 ], "size": [ - 0.35757699608802795, - 0.24397700279951096, - 0.036758000918780454 - ] + 0.38409000635147095, + 0.26562200486660004, + 0.02422700011265988 + ], + "units": "m" }, "description": "A flat, rectangular white ceramic tray with raised edges and a single loop handle on one end. It features a smooth, matte finish typical of stoneware or porcelain.", "name": "D00042 Board Tray", "object_type": "rigid_bodies", - "total_mass": 1.0 + "total_mass": 1.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00042", "parts": [ { "bounds": { - "center": [ - 0.005529665893342607, - 3.011720536774315e-05, - 0.014624004251352084 + "min": [ + -0.19825699925422668, + -0.13249699771404266, + 4.999999873689376e-06 ], "max": [ - 0.17168200016021729, - 0.12207300215959549, - 0.03663000091910362 + 0.18583300709724426, + 0.13312500715255737, + 0.02423200011253357 ], - "min": [ - -0.18589499592781067, - -0.12190400063991547, - -0.00012799999967683107 - ] + "size": [ + 0.38409000635147095, + 0.26562200486660004, + 0.02422700011265988 + ], + "units": "m" }, "center_of_mass": [ 0.007526109432118022, @@ -67,10 +73,27 @@ "object_name": "D00042 Board Tray", "part_name": "D00042 Board Tray" }, - "volume": 0.0009910805011513447 + "volume": 0.0009910805011513447, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1d4a41c7d15f47d9a9c1c0613f627eddfac22f9a14ef1146fb73936940b20f78" + }, + "usd_path": "batch5/D00042 Board Tray/IsaacSim_assets_69f1f31459057a931058f521/IsaacSim_asset_69f1f31459057a931058f521.usd", + "usd_sha256": "48f80cb80928d3ea9221ce2f877251a995a08f098ffc4882b50a25586d49425e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.35757699608802795, - 0.24397700279951096, - 0.036758000918780454 - ] + 0.38409000635147095, + 0.26562200486660004, + 0.02422700011265988 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "48f80cb80928d3ea9221ce2f877251a995a08f098ffc4882b50a25586d49425e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0 + "value_kg": 1.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "48f80cb80928d3ea9221ce2f877251a995a08f098ffc4882b50a25586d49425e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "48f80cb80928d3ea9221ce2f877251a995a08f098ffc4882b50a25586d49425e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "48f80cb80928d3ea9221ce2f877251a995a08f098ffc4882b50a25586d49425e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "48f80cb80928d3ea9221ce2f877251a995a08f098ffc4882b50a25586d49425e", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:22.684637+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "45e06faa216a82bd270bfa25ff7eeb6a6ad9aef08ccda87b1c6c85b3c1501751", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00060 Bowl Dish/IsaacSim_assets_69f1f6d759057a93105951e9/physics_69f1f6d759057a93105951e9.json b/batch5/D00060 Bowl Dish/IsaacSim_assets_69f1f6d759057a93105951e9/physics_69f1f6d759057a93105951e9.json index a2cea7dc4d29768cc9c748df850eb154dc4e2e67..a9bcb1f763debc180962a033e73782e1a9a94699 100644 --- a/batch5/D00060 Bowl Dish/IsaacSim_assets_69f1f6d759057a93105951e9/physics_69f1f6d759057a93105951e9.json +++ b/batch5/D00060 Bowl Dish/IsaacSim_assets_69f1f6d759057a93105951e9/physics_69f1f6d759057a93105951e9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.080244, - 0.080301, - 0.072093 - ], "min": [ - -0.0804, - -0.08029, - 2.4e-05 + -0.0803930014371872, + -0.08026699721813202, + 4.999999873689376e-06 + ], + "max": [ + 0.08029399812221527, + 0.08032800257205963, + 0.0721839964389801 ], "size": [ - 0.160644, - 0.16059099999999998, - 0.07206900000000001 - ] + 0.16068699955940247, + 0.16059499979019165, + 0.07217899643910641 + ], + "units": "m" }, "description": "A single-piece glazed ceramic bowl for tabletop use. It is modeled as one rigid non-articulated container body with no moving joints.", "name": "ceramic bowl body", "object_type": "rigid_bodies", - "total_mass": 0.42 + "total_mass": 0.41999998688697815, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00060", "parts": [ { "bounds": { - "center": [ - -7.8e-05, - 5e-06, - 0.036058 + "min": [ + -0.0803930014371872, + -0.08026699721813202, + 4.999999873689376e-06 ], "max": [ - 0.080244, - 0.080301, - 0.072093 + 0.08029399812221527, + 0.08032800257205963, + 0.0721839964389801 ], - "min": [ - -0.0804, - -0.08029, - 2.4e-05 - ] + "size": [ + 0.16068699955940247, + 0.16059499979019165, + 0.07217899643910641 + ], + "units": "m" }, "center_of_mass": [ -7.997442217110606e-05, @@ -59,7 +65,7 @@ 0.0007359183050172298, 0.00115757666011102 ], - "mass": 0.42, + "mass": 0.41999998688697815, "material": "glazed_stoneware_ceramic", "name": "ceramic bowl body", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 0.0011734186129920248 + "volume": 0.0011734186129920248, + "source_prim_path": "/World/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "93d3b944dce2874696588f804acfedb01ab7aa1bc9bc4fbc33701721b2a101c3" + }, + "usd_path": "batch5/D00060 Bowl Dish/IsaacSim_assets_69f1f6d759057a93105951e9/IsaacSim_asset_69f1f6d759057a93105951e9.usd", + "usd_sha256": "90c0f644b3eb6c4fc863528db2cf1a094416fdbe45030d9e96363d8d63a37915", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.160644, - 0.16059099999999998, - 0.07206900000000001 - ] + 0.16068699955940247, + 0.16059499979019165, + 0.07217899643910641 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90c0f644b3eb6c4fc863528db2cf1a094416fdbe45030d9e96363d8d63a37915", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.42 + "value_kg": 0.41999998688697815, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90c0f644b3eb6c4fc863528db2cf1a094416fdbe45030d9e96363d8d63a37915", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.41999998688697815, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90c0f644b3eb6c4fc863528db2cf1a094416fdbe45030d9e96363d8d63a37915", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "90c0f644b3eb6c4fc863528db2cf1a094416fdbe45030d9e96363d8d63a37915", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "90c0f644b3eb6c4fc863528db2cf1a094416fdbe45030d9e96363d8d63a37915", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:42.853359+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "f4590744898fec8858e8e1be1a8413fbad54d0abe1d7ddf98791c57ed0838dd2", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00066 Bowl Pan/IsaacSim_assets_69f1f84659057a931059738c/physics_69f1f84659057a931059738c.json b/batch5/D00066 Bowl Pan/IsaacSim_assets_69f1f84659057a931059738c/physics_69f1f84659057a931059738c.json index 13a9c9409f42db87eece7ab61049a5757ee11fbb..bf3baea43e5e3ea9127dcd88ffffe1d4322dbcbc 100644 --- a/batch5/D00066 Bowl Pan/IsaacSim_assets_69f1f84659057a931059738c/physics_69f1f84659057a931059738c.json +++ b/batch5/D00066 Bowl Pan/IsaacSim_assets_69f1f84659057a931059738c/physics_69f1f84659057a931059738c.json @@ -16,7 +16,52 @@ "parent": "pan body", "score": 0.95, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_pan_body__long_handle", + "path": "/World/textured_mesh_69f1f84659057a931059738c/Joints/joint_pan_body__long_handle", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f1f84659057a931059738c/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_69f1f84659057a931059738c/part_1" + ], + "authored_usd": { + "id": "joint_pan_body__long_handle", + "source_prim_path": "/World/textured_mesh_69f1f84659057a931059738c/Joints/joint_pan_body__long_handle", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f1f84659057a931059738c/part_0" + ], + "body1": [ + "/World/textured_mesh_69f1f84659057a931059738c/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -32,52 +77,103 @@ "parent": "pan body", "score": 0.95, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_pan_body__helper_handle", + "path": "/World/textured_mesh_69f1f84659057a931059738c/Joints/joint_pan_body__helper_handle", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f1f84659057a931059738c/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_69f1f84659057a931059738c/part_2" + ], + "authored_usd": { + "id": "joint_pan_body__helper_handle", + "source_prim_path": "/World/textured_mesh_69f1f84659057a931059738c/Joints/joint_pan_body__helper_handle", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f1f84659057a931059738c/part_0" + ], + "body1": [ + "/World/textured_mesh_69f1f84659057a931059738c/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 3, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.289313, - 0.131677, - 0.093103 - ], "min": [ - -0.184154, - -0.131865, - -3.6e-05 + -0.18416699767112732, + -0.13187099993228912, + -3.300000025774352e-05 + ], + "max": [ + 0.28937798738479614, + 0.1316709965467453, + 0.09315299987792969 ], "size": [ - 0.47346699999999997, - 0.263542, - 0.093139 - ] + 0.47354498505592346, + 0.2635419964790344, + 0.09318599987818743 + ], + "units": "m" }, "description": "A stainless-steel sauté pan with fixed long and helper handles. The simulation treats the bowl and handles as rigid bolted metal components with no articulated motion.", "name": "pan body", "object_type": "rigid_bodies", - "total_mass": 1.45 + "total_mass": 1.449999950826168, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00066", "parts": [ { "bounds": { - "center": [ - -0.013943, - -9.4e-05, - 0.03642 + "min": [ + -0.14298099279403687, + -0.13187099993228912, + -3.300000025774352e-05 ], "max": [ - 0.115082, - 0.131677, - 0.072876 + 0.11507999897003174, + 0.1316709965467453, + 0.0728750005364418 ], - "min": [ - -0.142967, - -0.131865, - -3.6e-05 - ] + "size": [ + 0.2580609917640686, + 0.2635419964790344, + 0.07290800053669955 + ], + "units": "m" }, "center_of_mass": [ -0.013925072657608846, @@ -92,7 +188,7 @@ 0.006208618613282332, 0.010994397580042944 ], - "mass": 1.05, + "mass": 1.0499999523162842, "material": "brushed_stainless_steel", "name": "pan body", "physics_type": "rigid", @@ -100,25 +196,28 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 0.0004537366686764902 + "volume": 0.0004537366686764902, + "source_prim_path": "/World/textured_mesh_69f1f84659057a931059738c/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.192087, - -0.000121, - 0.066168 + "min": [ + 0.09488700330257416, + -0.040828999131917953, + 0.03923499956727028 ], "max": [ - 0.289313, - 0.040605, - 0.093103 + 0.28937798738479614, + 0.040633998811244965, + 0.09315299987792969 ], - "min": [ - 0.094862, - -0.040847, - 0.039233 - ] + "size": [ + 0.19449098408222198, + 0.08146299794316292, + 0.05391800031065941 + ], + "units": "m" }, "center_of_mass": [ 0.1988980291917617, @@ -133,7 +232,7 @@ 0.0007615990019508304, 0.0007964809762078954 ], - "mass": 0.28, + "mass": 0.2800000011920929, "material": "brushed_stainless_steel", "name": "long handle", "physics_type": "rigid", @@ -141,25 +240,28 @@ "object_name": "part_1", "part_name": "part_1" }, - "volume": 5.553775659897785e-05 + "volume": 5.553775659897785e-05, + "source_prim_path": "/World/textured_mesh_69f1f84659057a931059738c/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.152788, - -0.000167, - 0.060096 + "min": [ + -0.18416699767112732, + -0.04817400127649307, + 0.04031100124120712 ], "max": [ - -0.121422, - 0.047842, - 0.07987 + -0.12144000083208084, + 0.047857001423835754, + 0.07992199808359146 ], - "min": [ - -0.184154, - -0.048175, - 0.040322 - ] + "size": [ + 0.06272699683904648, + 0.09603100270032883, + 0.03961099684238434 + ], + "units": "m" }, "center_of_mass": [ -0.15701111876885626, @@ -174,7 +276,7 @@ 9.806439039848963e-05, 0.00015517603600195262 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "brushed_stainless_steel", "name": "helper handle", "physics_type": "rigid", @@ -182,10 +284,27 @@ "object_name": "part_2", "part_name": "part_2" }, - "volume": 2.009514029044866e-05 + "volume": 2.009514029044866e-05, + "source_prim_path": "/World/textured_mesh_69f1f84659057a931059738c/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bc09eb579baafaa227a34fd43b5f5f902083c8316ec8b89a2743d24a94ecc304" + }, + "usd_path": "batch5/D00066 Bowl Pan/IsaacSim_assets_69f1f84659057a931059738c/IsaacSim_asset_69f1f84659057a931059738c.usd", + "usd_sha256": "24cb302fb173c6effee0a532588bf7509d53cb01859f59cba9467ad59ae6bb3f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -201,25 +320,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.47346699999999997, - 0.263542, - 0.093139 - ] + 0.47354498505592346, + 0.2635419964790344, + 0.09318599987818743 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "24cb302fb173c6effee0a532588bf7509d53cb01859f59cba9467ad59ae6bb3f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.45 + "value_kg": 1.449999950826168, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "24cb302fb173c6effee0a532588bf7509d53cb01859f59cba9467ad59ae6bb3f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.449999950826168, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 3 + "status": "verified", + "confidence": "high", + "shape_count": 96, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "24cb302fb173c6effee0a532588bf7509d53cb01859f59cba9467ad59ae6bb3f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 96, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 2 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "24cb302fb173c6effee0a532588bf7509d53cb01859f59cba9467ad59ae6bb3f", + "scope": "authored_usd_joint_schema", + "joint_count": 2, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "24cb302fb173c6effee0a532588bf7509d53cb01859f59cba9467ad59ae6bb3f", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:23.346101+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "adc7ffbcf4a3a4d7f871f855ce26c9263fd63eb7352c8359b61539615265b4c5", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00067 Bowl Plate/IsaacSim_assets_69f1f86a59057a931059767f/physics_69f1f86a59057a931059767f.json b/batch5/D00067 Bowl Plate/IsaacSim_assets_69f1f86a59057a931059767f/physics_69f1f86a59057a931059767f.json index f56c88d7909e5f7fb334be00d21e7dd395e89ea7..3f3b59dd1f40450a479e7df644d0dedda6e61165 100644 --- a/batch5/D00067 Bowl Plate/IsaacSim_assets_69f1f86a59057a931059767f/physics_69f1f86a59057a931059767f.json +++ b/batch5/D00067 Bowl Plate/IsaacSim_assets_69f1f86a59057a931059767f/physics_69f1f86a59057a931059767f.json @@ -16,52 +16,103 @@ "parent": "lower bowl body", "score": 0.98, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_lower_bowl_body__upper_rim_and_interior_surface", + "path": "/World/textured_mesh_69f1f86a59057a931059767f/Joints/joint_lower_bowl_body__upper_rim_and_interior_surface", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f1f86a59057a931059767f/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_69f1f86a59057a931059767f/part_1" + ], + "authored_usd": { + "id": "joint_lower_bowl_body__upper_rim_and_interior_surface", + "source_prim_path": "/World/textured_mesh_69f1f86a59057a931059767f/Joints/joint_lower_bowl_body__upper_rim_and_interior_surface", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f1f86a59057a931059767f/part_0" + ], + "body1": [ + "/World/textured_mesh_69f1f86a59057a931059767f/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10397, - 0.104322, - 0.052116 - ], "min": [ - -0.104655, - -0.104293, - -2.9e-05 + -0.1046919971704483, + -0.10435499995946884, + -4.70000013592653e-05 + ], + "max": [ + 0.10398100316524506, + 0.10435499995946884, + 0.0520859993994236 ], "size": [ - 0.208625, - 0.208615, - 0.052145000000000004 - ] + 0.20867300033569336, + 0.20870999991893768, + 0.052132999400782865 + ], + "units": "m" }, "description": "A shallow glazed ceramic bowl represented as a single rigid dish with its rim and lower body bonded together. No articulated behavior is assumed; the parts move as one solid object.", "name": "lower bowl body", "object_type": "rigid_bodies", - "total_mass": 0.48 + "total_mass": 0.47999998927116394, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00067", "parts": [ { "bounds": { - "center": [ - -0.000927, - -0.001586, - 0.025864 + "min": [ + -0.1046919971704483, + -0.10435499995946884, + -4.70000013592653e-05 ], "max": [ - 0.1028, - 0.101122, - 0.051757 + 0.1027970016002655, + 0.10122799873352051, + 0.05176800116896629 ], - "min": [ - -0.104655, - -0.104293, - -2.9e-05 - ] + "size": [ + 0.2074889987707138, + 0.20558299869298935, + 0.05181500117032556 + ], + "units": "m" }, "center_of_mass": [ -0.0002741393482246532, @@ -76,7 +127,7 @@ 0.000616014924950818, 0.001116053059558272 ], - "mass": 0.29, + "mass": 0.28999999165534973, "material": "glazed_porcelain_ceramic", "name": "lower bowl body", "physics_type": "rigid", @@ -84,25 +135,28 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 0.0010894179481635484 + "volume": 0.0010894179481635484, + "source_prim_path": "/World/textured_mesh_69f1f86a59057a931059767f/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.000167, - 0.000273, - 0.028687 + "min": [ + -0.10433699935674667, + -0.10382600128650665, + 0.005226000212132931 ], "max": [ - 0.10397, - 0.104322, - 0.052116 + 0.10398100316524506, + 0.10435499995946884, + 0.0520859993994236 ], - "min": [ - -0.104305, - -0.103775, - 0.005257 - ] + "size": [ + 0.20831800252199173, + 0.2081810012459755, + 0.04685999918729067 + ], + "units": "m" }, "center_of_mass": [ -0.00024119872334991485, @@ -117,7 +171,7 @@ 0.0003992781487655497, 0.0007391653509857822 ], - "mass": 0.19, + "mass": 0.1899999976158142, "material": "glazed_porcelain_ceramic", "name": "upper rim and interior surface", "physics_type": "rigid", @@ -125,10 +179,27 @@ "object_name": "part_1", "part_name": "part_1" }, - "volume": 0.0009819220769988872 + "volume": 0.0009819220769988872, + "source_prim_path": "/World/textured_mesh_69f1f86a59057a931059767f/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "391bca5a2c975f3d2372a5eb0000addaf13adf3d89099031a95e11ce6a523a36" + }, + "usd_path": "batch5/D00067 Bowl Plate/IsaacSim_assets_69f1f86a59057a931059767f/IsaacSim_asset_69f1f86a59057a931059767f.usd", + "usd_sha256": "6e7e7de4c292e8525a0fcae2f6e0472400ecc28ad7b55294f50e3a27ca7d1414", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -144,25 +215,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.208625, - 0.208615, - 0.052145000000000004 - ] + 0.20867300033569336, + 0.20870999991893768, + 0.052132999400782865 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e7e7de4c292e8525a0fcae2f6e0472400ecc28ad7b55294f50e3a27ca7d1414", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.48 + "value_kg": 0.47999998927116394, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e7e7de4c292e8525a0fcae2f6e0472400ecc28ad7b55294f50e3a27ca7d1414", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.47999998927116394, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 64, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e7e7de4c292e8525a0fcae2f6e0472400ecc28ad7b55294f50e3a27ca7d1414", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 64, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6e7e7de4c292e8525a0fcae2f6e0472400ecc28ad7b55294f50e3a27ca7d1414", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "6e7e7de4c292e8525a0fcae2f6e0472400ecc28ad7b55294f50e3a27ca7d1414", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:44.436705+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "ce3ebb8562a6fd3b482c34842e22c74d8011f8248d60c96eb3d8e139d6df3ea2", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00073 Bowl Strain/IsaacSim_assets_69f1f9e159057a9310599a5f/physics_69f1f9e159057a9310599a5f.json b/batch5/D00073 Bowl Strain/IsaacSim_assets_69f1f9e159057a9310599a5f/physics_69f1f9e159057a9310599a5f.json index 9b8b7b1392b1ce1e99e3c5672dbd790faee0138f..70a146b6fd8c7ffd93c733485cd651b80676aa7a 100644 --- a/batch5/D00073 Bowl Strain/IsaacSim_assets_69f1f9e159057a9310599a5f/physics_69f1f9e159057a9310599a5f.json +++ b/batch5/D00073 Bowl Strain/IsaacSim_assets_69f1f9e159057a9310599a5f/physics_69f1f9e159057a9310599a5f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1249459981918335, - 0.0952180027961731, - 0.10562299937009811 - ], "min": [ - -0.12357600033283234, - -0.09272199869155884, - -1.5999999959603883e-05 + -0.13484199345111847, + -0.10113699734210968, + -1.9999999949504854e-06 + ], + "max": [ + 0.135684996843338, + 0.1039469987154007, + 0.11574999988079071 ], "size": [ - 0.24852199852466583, - 0.18794000148773193, - 0.10563899937005772 - ] + 0.2705269902944565, + 0.20508399605751038, + 0.11575199988078566 + ], + "units": "m" }, "description": "A white, bowl-shaped colander with evenly spaced circular drainage holes and two small side handles.", "name": "D00073 Ceramic Colander", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.3499999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00073", "parts": [ { "bounds": { - "center": [ - 0.0002239597162712949, - 0.0006064635555416329, - 0.049689047847551494 + "min": [ + -0.13484199345111847, + -0.10113699734210968, + -1.9999999949504854e-06 ], "max": [ - 0.1249459981918335, - 0.0952180027961731, - 0.10562299937009811 + 0.135684996843338, + 0.1039469987154007, + 0.11574999988079071 ], - "min": [ - -0.12357600033283234, - -0.09272199869155884, - -1.5999999959603883e-05 - ] + "size": [ + 0.2705269902944565, + 0.20508399605751038, + 0.11575199988078566 + ], + "units": "m" }, "center_of_mass": [ 8.654181286855931e-05, @@ -59,7 +65,7 @@ 0.0013505553102400468, 0.00178258614328747 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "hard_plastic", "name": "D00073 Bowl Strain", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00073 Bowl Strain", "part_name": "D00073 Bowl Strain" }, - "volume": 0.0032729555725059278 + "volume": 0.0032729555725059278, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "80fdadce465e37068b993e613d2d06648f5ae4209da206b36ba40c2336ccf0ff" + }, + "usd_path": "batch5/D00073 Bowl Strain/IsaacSim_assets_69f1f9e159057a9310599a5f/IsaacSim_asset_69f1f9e159057a9310599a5f.usd", + "usd_sha256": "2eeccb35fbd5d05708c6a58d399e385212bfde6ce4386515f9301b1be61a5ff4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.24852199852466583, - 0.18794000148773193, - 0.10563899937005772 - ] + 0.2705269902944565, + 0.20508399605751038, + 0.11575199988078566 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2eeccb35fbd5d05708c6a58d399e385212bfde6ce4386515f9301b1be61a5ff4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.3499999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2eeccb35fbd5d05708c6a58d399e385212bfde6ce4386515f9301b1be61a5ff4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3499999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 83, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2eeccb35fbd5d05708c6a58d399e385212bfde6ce4386515f9301b1be61a5ff4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 83, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2eeccb35fbd5d05708c6a58d399e385212bfde6ce4386515f9301b1be61a5ff4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "2eeccb35fbd5d05708c6a58d399e385212bfde6ce4386515f9301b1be61a5ff4", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:13.737007+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "79820c116dd9b54beee98940c0be74f4eadaf08a0e83acddd4903ee4ff1a4382", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00074 Bowl Strainer/IsaacSim_assets_6a37757c6284561eadbff0cd/physics_6a37757c6284561eadbff0cd.json b/batch5/D00074 Bowl Strainer/IsaacSim_assets_6a37757c6284561eadbff0cd/physics_6a37757c6284561eadbff0cd.json index dc1b2e7af3f72d7348aa952439013dfcae2e54d4..4b5365b0d4809618c0bed210ddce1e48142d7ede 100644 --- a/batch5/D00074 Bowl Strainer/IsaacSim_assets_6a37757c6284561eadbff0cd/physics_6a37757c6284561eadbff0cd.json +++ b/batch5/D00074 Bowl Strainer/IsaacSim_assets_6a37757c6284561eadbff0cd/physics_6a37757c6284561eadbff0cd.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11354283, - 0.10098629, - 0.09126513 - ], "min": [ - -0.11338884, - 0.0, - -0.0911502 + -0.11337900161743164, + -0.09126599878072739, + -7.999999797903001e-05 + ], + "max": [ + 0.11353299766778946, + 0.09115099906921387, + 0.10106600075960159 ], "size": [ - 0.22693167, - 0.10098629, - 0.18241533 - ] + 0.2269119992852211, + 0.18241699784994125, + 0.10114600075758062 + ], + "units": "m" }, "description": "A matte, off-white colander with small drainage holes arranged in a pattern, two integrated side handles, and a pedestal base.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00074", "parts": [ { "bounds": { - "center": [ - 3.830072906436929e-05, - 0.05500248371648515, - 6.344501273659913e-05 + "min": [ + -0.11337900161743164, + -0.09126599878072739, + -7.999999797903001e-05 ], "max": [ - 0.11354283, - 0.10098629, - 0.09126513 + 0.11353299766778946, + 0.09115099906921387, + 0.10106600075960159 ], - "min": [ - -0.11338884, - 0.0, - -0.0911502 - ] + "size": [ + 0.2269119992852211, + 0.18241699784994125, + 0.10114600075758062 + ], + "units": "m" }, "center_of_mass": [ 0.00017022346201850803, @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0019266431217448917 + "volume": 0.0019266431217448917, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "37e0e9b7b3115d07cda5640239d72f2c8c9fb7fad5d94318d80703ed77daa020" + }, + "usd_path": "batch5/D00074 Bowl Strainer/IsaacSim_assets_6a37757c6284561eadbff0cd/IsaacSim_asset_6a37757c6284561eadbff0cd.usd", + "usd_sha256": "743dc9884f84cb494d59b11678c24f3f100f66d676ac09d77a91ffa566c1f3d7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.22693167, - 0.10098629, - 0.18241533 - ] + 0.2269119992852211, + 0.18241699784994125, + 0.10114600075758062 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "743dc9884f84cb494d59b11678c24f3f100f66d676ac09d77a91ffa566c1f3d7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "743dc9884f84cb494d59b11678c24f3f100f66d676ac09d77a91ffa566c1f3d7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 84, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "743dc9884f84cb494d59b11678c24f3f100f66d676ac09d77a91ffa566c1f3d7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 84, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "743dc9884f84cb494d59b11678c24f3f100f66d676ac09d77a91ffa566c1f3d7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "743dc9884f84cb494d59b11678c24f3f100f66d676ac09d77a91ffa566c1f3d7", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:23.554857+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "461493556d3d24573082b081e7eed9490ef636ad4f038328a39e81224b55f3bc", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00075 Bowls Plate/IsaacSim_assets_69f1fa0c59057a9310599e5a/physics_69f1fa0c59057a9310599e5a.json b/batch5/D00075 Bowls Plate/IsaacSim_assets_69f1fa0c59057a9310599e5a/physics_69f1fa0c59057a9310599e5a.json index 6a8dedeafe30ee0fb1db18bfb62d600247c20642..1637c402f8619130b9e66ea1a63d0212cb4705bd 100644 --- a/batch5/D00075 Bowls Plate/IsaacSim_assets_69f1fa0c59057a9310599e5a/physics_69f1fa0c59057a9310599e5a.json +++ b/batch5/D00075 Bowls Plate/IsaacSim_assets_69f1fa0c59057a9310599e5a/physics_69f1fa0c59057a9310599e5a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1166049987077713, - 0.11654400080442429, - 0.06289999932050705 - ], "min": [ - -0.11700200289487839, - -0.11675400286912918, - -6.299999949987978e-05 + -0.1386999934911728, + -0.13852599263191223, + -3.9999998989515007e-05 + ], + "max": [ + 0.1384660005569458, + 0.1385049968957901, + 0.06958600133657455 ], "size": [ - 0.2336070016026497, - 0.23329800367355347, - 0.06296299932000693 - ] + 0.2771659940481186, + 0.27703098952770233, + 0.06962600133556407 + ], + "units": "m" }, "description": "A white ceramic bowl with a wide rim and a subtle speckled texture.", "name": "D00075 Rimmed Ceramic Soup Bowl", "object_type": "rigid_bodies", - "total_mass": 0.55 + "total_mass": 0.550000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00075", "parts": [ { "bounds": { - "center": [ - -1.8606941161951858e-05, - -4.280616118670987e-05, - 0.03394892608683992 + "min": [ + -0.1386999934911728, + -0.13852599263191223, + -3.9999998989515007e-05 ], "max": [ - 0.1166049987077713, - 0.11654400080442429, - 0.06289999932050705 + 0.1384660005569458, + 0.1385049968957901, + 0.06958600133657455 ], - "min": [ - -0.11700200289487839, - -0.11675400286912918, - -6.299999949987978e-05 - ] + "size": [ + 0.2771659940481186, + 0.27703098952770233, + 0.06962600133556407 + ], + "units": "m" }, "center_of_mass": [ -3.5818615899030305e-05, @@ -59,7 +65,7 @@ 0.002662801033497247, 0.004770629631029472 ], - "mass": 0.55, + "mass": 0.550000011920929, "material": "ceramic", "name": "D00075 Bowls Plate", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00075 Bowls Plate", "part_name": "D00075 Bowls Plate" }, - "volume": 0.0006743143980908916 + "volume": 0.0006743143980908916, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ceaaa1b4dd2a198cf0d0d2c8de888ec4ad98f281790e6dfa2809ca814af85983" + }, + "usd_path": "batch5/D00075 Bowls Plate/IsaacSim_assets_69f1fa0c59057a9310599e5a/IsaacSim_asset_69f1fa0c59057a9310599e5a.usd", + "usd_sha256": "29e9a42286e04ea7c075ede311017bd092ea1018ebeb07204441bb89f78314b2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2336070016026497, - 0.23329800367355347, - 0.06296299932000693 - ] + 0.2771659940481186, + 0.27703098952770233, + 0.06962600133556407 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "29e9a42286e04ea7c075ede311017bd092ea1018ebeb07204441bb89f78314b2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.55 + "value_kg": 0.550000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "29e9a42286e04ea7c075ede311017bd092ea1018ebeb07204441bb89f78314b2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.550000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 47, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "29e9a42286e04ea7c075ede311017bd092ea1018ebeb07204441bb89f78314b2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 47, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "29e9a42286e04ea7c075ede311017bd092ea1018ebeb07204441bb89f78314b2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "29e9a42286e04ea7c075ede311017bd092ea1018ebeb07204441bb89f78314b2", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:44.874283+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "b82ea6c3c3cd7a075905510149d09bafd7b1389f793c68645bccc95b5129d54b", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00080 Bread/IsaacSim_assets_69f1fb3259057a931059b973/physics_69f1fb3259057a931059b973.json b/batch5/D00080 Bread/IsaacSim_assets_69f1fb3259057a931059b973/physics_69f1fb3259057a931059b973.json index c26f28e561ab4fcf94126091c4968fbb3c39bd41..4c81d74ec9ddffd3eee770b890beb9ef4020df07 100644 --- a/batch5/D00080 Bread/IsaacSim_assets_69f1fb3259057a931059b973/physics_69f1fb3259057a931059b973.json +++ b/batch5/D00080 Bread/IsaacSim_assets_69f1fb3259057a931059b973/physics_69f1fb3259057a931059b973.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10999079793691635, - 0.12254887819290161, - 0.1112031638622284 - ], "min": [ - -0.10001619905233383, - 1.875163661679835e-06, - -0.1265268325805664 + -0.101842001080513, + -0.12342000007629395, + 9.999999974752427e-07 + ], + "max": [ + 0.10978800058364868, + 0.1445229947566986, + 0.11538799852132797 ], "size": [ - 0.21000699698925018, - 0.12254700302923993, - 0.2377299964427948 - ] + 0.21163000166416168, + 0.26794299483299255, + 0.1153869985213305 + ], + "units": "m" }, "description": "A round loaf of artisan bread with a dark, crusty exterior, a prominent scored ridge on top, and a light dusting of white flour.", "name": "D00080 Bread", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00080", "parts": [ { "bounds": { - "center": [ - 0.00622627962742344, - 0.046593725251870194, - -0.008170905507938133 + "min": [ + -0.101842001080513, + -0.12342000007629395, + 9.999999974752427e-07 ], "max": [ - 0.10999079793691635, - 0.12254887819290161, - 0.1112031638622284 + 0.10978800058364868, + 0.1445229947566986, + 0.11538799852132797 ], - "min": [ - -0.10001619905233383, - 1.875163661679835e-06, - -0.1265268325805664 - ] + "size": [ + 0.21163000166416168, + 0.26794299483299255, + 0.1153869985213305 + ], + "units": "m" }, "center_of_mass": [ 0.0057990963565053115, @@ -59,7 +65,7 @@ 0.004054291270580167, 0.005472512446076076 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "baked_bread_crust", "name": "D00080 Bread", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00080 Bread", "part_name": "D00080 Bread" }, - "volume": 0.003952544778403394 + "volume": 0.003952544778403394, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6ff1cdc38e7e11e7065edeb6bc18231422f2b9934e1dddf90b8a4bb70c7552da" + }, + "usd_path": "batch5/D00080 Bread/IsaacSim_assets_69f1fb3259057a931059b973/IsaacSim_asset_69f1fb3259057a931059b973.usd", + "usd_sha256": "8485b56e055bb59d1964ee44f309a269cd244e42e47123e76060a7768e0ae359", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.21000699698925018, - 0.12254700302923993, - 0.2377299964427948 - ] + 0.21163000166416168, + 0.26794299483299255, + 0.1153869985213305 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8485b56e055bb59d1964ee44f309a269cd244e42e47123e76060a7768e0ae359", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8485b56e055bb59d1964ee44f309a269cd244e42e47123e76060a7768e0ae359", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 45, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8485b56e055bb59d1964ee44f309a269cd244e42e47123e76060a7768e0ae359", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 45, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8485b56e055bb59d1964ee44f309a269cd244e42e47123e76060a7768e0ae359", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "8485b56e055bb59d1964ee44f309a269cd244e42e47123e76060a7768e0ae359", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:45.146247+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "a1b190d73b06df2ec3d1a8a17ffd69795117d035bb6545fd3f170c243b58a278", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00088 Bun/IsaacSim_assets_69f1fd3759057a931059e7ae/physics_69f1fd3759057a931059e7ae.json b/batch5/D00088 Bun/IsaacSim_assets_69f1fd3759057a931059e7ae/physics_69f1fd3759057a931059e7ae.json index 1353a85e9f6b941f9745d2d09e2e8d7110a4befd..ac06e0c1145fd681765d789754c18d8c50d182f3 100644 --- a/batch5/D00088 Bun/IsaacSim_assets_69f1fd3759057a931059e7ae/physics_69f1fd3759057a931059e7ae.json +++ b/batch5/D00088 Bun/IsaacSim_assets_69f1fd3759057a931059e7ae/physics_69f1fd3759057a931059e7ae.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.046131547540426254, - 0.05056184157729149, - 0.044578518718481064 - ], "min": [ - -0.042805202305316925, - 0.0, - -0.04426855593919754 + -0.042810000479221344, + -0.044571999460458755, + -0.0001990000018849969 + ], + "max": [ + 0.04614400118589401, + 0.04427399858832359, + 0.05056200176477432 ], "size": [ - 0.08893674984574318, - 0.05056184157729149, - 0.0888470746576786 - ] + 0.08895400166511536, + 0.08884599804878235, + 0.05076100176665932 + ], + "units": "m" }, "description": "A round rustic bread loaf with a golden-brown crust, flour-dusted surface, porous crumb openings, and a scored top.", "name": "D00088 Bun", "object_type": "rigid_bodies", - "total_mass": 0.55 + "total_mass": 0.550000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00088", "parts": [ { "bounds": { - "center": [ - 0.00091290917392171, - 0.019969247091819374, - 0.00015178724651383426 + "min": [ + -0.042810000479221344, + -0.044571999460458755, + -0.0001990000018849969 ], "max": [ - 0.046131547540426254, - 0.05056184157729149, - 0.044578518718481064 + 0.04614400118589401, + 0.04427399858832359, + 0.05056200176477432 ], - "min": [ - -0.042805202305316925, - 0.0, - -0.04426855593919754 - ] + "size": [ + 0.08895400166511536, + 0.08884599804878235, + 0.05076100176665932 + ], + "units": "m" }, "center_of_mass": [ 0.0012159068320960718, @@ -59,7 +65,7 @@ 0.0003093162395288535, 0.00045361166599567346 ], - "mass": 0.55, + "mass": 0.550000011920929, "material": "baked_bread", "name": "D00088 Bun", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00088 Bun", "part_name": "D00088 Bun" }, - "volume": 0.00022529717132598604 + "volume": 0.00022529717132598604, + "source_prim_path": "/World/part_00_baked_bread", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "dc8e7a8585c102d367b9166367f0e35a0cee9576f2fcff21f01c33b2f60c9689" + }, + "usd_path": "batch5/D00088 Bun/IsaacSim_assets_69f1fd3759057a931059e7ae/IsaacSim_asset_69f1fd3759057a931059e7ae.usd", + "usd_sha256": "dae6bb612b6da8d5ffad0ad3c51917ad1333ee875ba19e9790aae115c3126014", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.08893674984574318, - 0.05056184157729149, - 0.0888470746576786 - ] + 0.08895400166511536, + 0.08884599804878235, + 0.05076100176665932 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dae6bb612b6da8d5ffad0ad3c51917ad1333ee875ba19e9790aae115c3126014", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.55 + "value_kg": 0.550000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dae6bb612b6da8d5ffad0ad3c51917ad1333ee875ba19e9790aae115c3126014", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.550000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dae6bb612b6da8d5ffad0ad3c51917ad1333ee875ba19e9790aae115c3126014", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dae6bb612b6da8d5ffad0ad3c51917ad1333ee875ba19e9790aae115c3126014", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "dae6bb612b6da8d5ffad0ad3c51917ad1333ee875ba19e9790aae115c3126014", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:14.471372+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "fde214c061ba51f4574fde828eb365c145d9e47beeb25431b4ad70837f940629", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00090 Butter/IsaacSim_assets_69f1fdc859057a931059f2ec/physics_69f1fdc859057a931059f2ec.json b/batch5/D00090 Butter/IsaacSim_assets_69f1fdc859057a931059f2ec/physics_69f1fdc859057a931059f2ec.json index fa603303837257fc248512ccc3a10ead327aa96a..9ba805fe9fc7fff5601ceda86972698cc7915c1b 100644 --- a/batch5/D00090 Butter/IsaacSim_assets_69f1fdc859057a931059f2ec/physics_69f1fdc859057a931059f2ec.json +++ b/batch5/D00090 Butter/IsaacSim_assets_69f1fdc859057a931059f2ec/physics_69f1fdc859057a931059f2ec.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05838010460138321, - 0.034956734627485275, - 0.016324883326888084 - ], "min": [ - -0.055626362562179565, - 0.0, - -0.018726160749793053 + -0.055647000670433044, + -0.01641100086271763, + -4.199999966658652e-05 + ], + "max": [ + 0.058437999337911606, + 0.018737999722361565, + 0.034940000623464584 ], "size": [ - 0.11400646716356277, - 0.034956734627485275, - 0.03505104407668114 - ] + 0.11408500000834465, + 0.03514900058507919, + 0.03498200062313117 + ], + "units": "m" }, "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.", "name": "D00090 Butter", "object_type": "rigid_bodies", - "total_mass": 0.113 + "total_mass": 0.11299999803304672, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00090", "parts": [ { "bounds": { - "center": [ - 0.001280162885234977, - 0.017290383175936615, - -0.0012382004220117422 + "min": [ + -0.055647000670433044, + -0.01641100086271763, + -4.199999966658652e-05 ], "max": [ - 0.05838010460138321, - 0.034956734627485275, - 0.016324883326888084 + 0.058437999337911606, + 0.018737999722361565, + 0.034940000623464584 ], - "min": [ - -0.055626362562179565, - 0.0, - -0.018726160749793053 - ] + "size": [ + 0.11408500000834465, + 0.03514900058507919, + 0.03498200062313117 + ], + "units": "m" }, "center_of_mass": [ 0.001324634441564563, @@ -59,7 +65,7 @@ 0.0001292009742357604, 0.00012948071283217297 ], - "mass": 0.113, + "mass": 0.11299999803304672, "material": "wood", "name": "D00090 Butter", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00090 Butter", "part_name": "D00090 Butter" }, - "volume": 0.0001331236805599228 + "volume": 0.0001331236805599228, + "source_prim_path": "/World/part_00_wood", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fd2213eb0e5857f08dc5f8dfad89136d6705f8ed2aefccdd9a972ec48fdf6f69" + }, + "usd_path": "batch5/D00090 Butter/IsaacSim_assets_69f1fdc859057a931059f2ec/IsaacSim_asset_69f1fdc859057a931059f2ec.usd", + "usd_sha256": "a97ce960df96835f4dd2bef976f834bbf94ac1791b707232e39412095a47ea6b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.11400646716356277, - 0.034956734627485275, - 0.03505104407668114 - ] + 0.11408500000834465, + 0.03514900058507919, + 0.03498200062313117 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a97ce960df96835f4dd2bef976f834bbf94ac1791b707232e39412095a47ea6b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.113 + "value_kg": 0.11299999803304672, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a97ce960df96835f4dd2bef976f834bbf94ac1791b707232e39412095a47ea6b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11299999803304672, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a97ce960df96835f4dd2bef976f834bbf94ac1791b707232e39412095a47ea6b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a97ce960df96835f4dd2bef976f834bbf94ac1791b707232e39412095a47ea6b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "a97ce960df96835f4dd2bef976f834bbf94ac1791b707232e39412095a47ea6b", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:10:58.258858+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "52e69d9a0955f7459c6d70b139d95c4aaede6a42c1b1fa1773d8f00e7e7fdd0e", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00099 Canister/IsaacSim_assets_69f1ffa859057a93105a1b75/physics_69f1ffa859057a93105a1b75.json b/batch5/D00099 Canister/IsaacSim_assets_69f1ffa859057a93105a1b75/physics_69f1ffa859057a93105a1b75.json index 290ee3da19e5314542b22c39ea521cd8f96f2324..b15d105d3eea00e11cebdf09c23ef9f328d33eb1 100644 --- a/batch5/D00099 Canister/IsaacSim_assets_69f1ffa859057a93105a1b75/physics_69f1ffa859057a93105a1b75.json +++ b/batch5/D00099 Canister/IsaacSim_assets_69f1ffa859057a93105a1b75/physics_69f1ffa859057a93105a1b75.json @@ -124,13 +124,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "ff771f3e8cba43f974b87e8feaee3380cf3e6f405d0d0b50b78ee6cb9da33032" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "628b51aacbe48b6ea345f9c2494d30eb599123a0e995fddaaa15544b62125ff2" }, "usd_path": "batch5/D00099 Canister/IsaacSim_assets_69f1ffa859057a93105a1b75/IsaacSim_asset_69f1ffa859057a93105a1b75.usd", - "usd_sha256": "b6eb4f1ce5aedc605dfb50207b60139ce01f6d3826b4fabcad5fa536879f46f0", + "usd_sha256": "af99b5d7f8fb3ed9398d177dd5dfeb9aeb0b666a30d8543cd489980e7e357c87", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -157,9 +157,9 @@ 0.08597400039434433, 0.13614899851745577 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b6eb4f1ce5aedc605dfb50207b60139ce01f6d3826b4fabcad5fa536879f46f0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af99b5d7f8fb3ed9398d177dd5dfeb9aeb0b666a30d8543cd489980e7e357c87", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -168,9 +168,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.4299999922513962, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b6eb4f1ce5aedc605dfb50207b60139ce01f6d3826b4fabcad5fa536879f46f0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af99b5d7f8fb3ed9398d177dd5dfeb9aeb0b666a30d8543cd489980e7e357c87", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.4299999922513962, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -179,9 +179,9 @@ "status": "verified", "confidence": "high", "shape_count": 90, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b6eb4f1ce5aedc605dfb50207b60139ce01f6d3826b4fabcad5fa536879f46f0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af99b5d7f8fb3ed9398d177dd5dfeb9aeb0b666a30d8543cd489980e7e357c87", "scope": "authored_usd_collision_schema", "enabled_shape_count": 90, "approximations": [ @@ -193,18 +193,36 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "b6eb4f1ce5aedc605dfb50207b60139ce01f6d3826b4fabcad5fa536879f46f0", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "af99b5d7f8fb3ed9398d177dd5dfeb9aeb0b666a30d8543cd489980e7e357c87", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "af99b5d7f8fb3ed9398d177dd5dfeb9aeb0b666a30d8543cd489980e7e357c87", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:10:58.715085+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "24682d80ab5b7862468e75ef663c5c04403328b3fb306f9342df256c7b8c5bb4", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00123 Cherry/IsaacSim_assets_69f204ef59057a93105a91bd/physics_69f204ef59057a93105a91bd.json b/batch5/D00123 Cherry/IsaacSim_assets_69f204ef59057a93105a91bd/physics_69f204ef59057a93105a91bd.json index 0688304873e775c51d9cb0febb383fd7970860d5..6e2749a6ba3b73ffad6747f6197f84e5d70aa7d4 100644 --- a/batch5/D00123 Cherry/IsaacSim_assets_69f204ef59057a93105a91bd/physics_69f204ef59057a93105a91bd.json +++ b/batch5/D00123 Cherry/IsaacSim_assets_69f204ef59057a93105a91bd/physics_69f204ef59057a93105a91bd.json @@ -16,7 +16,52 @@ "parent": "leaf blade and petiole section", "score": 0.9, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_leaf_blade_and_petiole_section__secondary_leaf_blade_section", + "path": "/World/textured_mesh_69f204ef59057a93105a91bd/Joints/joint_leaf_blade_and_petiole_section__secondary_leaf_blade_section", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_5" + ], + "body1_targets": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_0" + ], + "authored_usd": { + "id": "joint_leaf_blade_and_petiole_section__secondary_leaf_blade_section", + "source_prim_path": "/World/textured_mesh_69f204ef59057a93105a91bd/Joints/joint_leaf_blade_and_petiole_section__secondary_leaf_blade_section", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_5" + ], + "body1": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_0" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -32,7 +77,52 @@ "parent": "stem socket collar", "score": 0.95, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_stem_socket_collar__curved_cherry_stem", + "path": "/World/textured_mesh_69f204ef59057a93105a91bd/Joints/joint_stem_socket_collar__curved_cherry_stem", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_1" + ], + "authored_usd": { + "id": "joint_stem_socket_collar__curved_cherry_stem", + "source_prim_path": "/World/textured_mesh_69f204ef59057a93105a91bd/Joints/joint_stem_socket_collar__curved_cherry_stem", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_2" + ], + "body1": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -48,7 +138,52 @@ "parent": "cherry fruit body", "score": 0.95, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_cherry_fruit_body__stem_socket_collar", + "path": "/World/textured_mesh_69f204ef59057a93105a91bd/Joints/joint_cherry_fruit_body__stem_socket_collar", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_4" + ], + "body1_targets": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_2" + ], + "authored_usd": { + "id": "joint_cherry_fruit_body__stem_socket_collar", + "source_prim_path": "/World/textured_mesh_69f204ef59057a93105a91bd/Joints/joint_cherry_fruit_body__stem_socket_collar", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_4" + ], + "body1": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_2" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -64,7 +199,52 @@ "parent": "curved cherry stem", "score": 0.9, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_curved_cherry_stem__dried_terminal_bud_remnant", + "path": "/World/textured_mesh_69f204ef59057a93105a91bd/Joints/joint_curved_cherry_stem__dried_terminal_bud_remnant", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_3" + ], + "authored_usd": { + "id": "joint_curved_cherry_stem__dried_terminal_bud_remnant", + "source_prim_path": "/World/textured_mesh_69f204ef59057a93105a91bd/Joints/joint_curved_cherry_stem__dried_terminal_bud_remnant", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_1" + ], + "body1": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_3" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -80,52 +260,103 @@ "parent": "curved cherry stem", "score": 0.9, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_curved_cherry_stem__leaf_blade_and_petal_section", + "path": "/World/textured_mesh_69f204ef59057a93105a91bd/Joints/joint_curved_cherry_stem__leaf_blade_and_petal_section", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_5" + ], + "authored_usd": { + "id": "joint_curved_cherry_stem__leaf_blade_and_petal_section", + "source_prim_path": "/World/textured_mesh_69f204ef59057a93105a91bd/Joints/joint_curved_cherry_stem__leaf_blade_and_petal_section", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_1" + ], + "body1": [ + "/World/textured_mesh_69f204ef59057a93105a91bd/part_5" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 6, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.025767, - 0.018726, - 0.074028 - ], "min": [ - -0.033305, - -0.0172, - 3.7e-05 + -0.033309001475572586, + -0.017223000526428223, + 4.999999873689376e-06 + ], + "max": [ + 0.025755999609827995, + 0.018775999546051025, + 0.07401199638843536 ], "size": [ - 0.059072, - 0.035926, - 0.073991 - ] + 0.05906500108540058, + 0.03599900007247925, + 0.07400699638856167 + ], + "units": "m" }, "description": "A cherry with glossy fruit, curved stem, attached leaf, and dried floral remnants. The asset is modeled as a fixed organic assembly with no mechanical articulation.", "name": "secondary leaf blade section", "object_type": "rigid_bodies", - "total_mass": 0.02068 + "total_mass": 0.02067999953214894, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00123", "parts": [ { "bounds": { - "center": [ - -0.020368, - -0.000367, - 0.04324 + "min": [ + -0.030970999971032143, + -0.002991999965161085, + 0.026458000764250755 ], "max": [ - -0.009751, - 0.002266, - 0.060018 + -0.00977300014346838, + 0.002259999979287386, + 0.0600069984793663 ], - "min": [ - -0.030984, - -0.002999, - 0.026462 - ] + "size": [ + 0.021197999827563763, + 0.005251999944448471, + 0.03354899771511555 + ], + "units": "m" }, "center_of_mass": [ -0.017890476144079497, @@ -140,7 +371,7 @@ 5.499850386472177e-09, 6.044136837478125e-09 ], - "mass": 8e-05, + "mass": 7.999999797903001e-05, "material": "fresh_cherry_leaf_tissue", "name": "secondary leaf blade section", "physics_type": "rigid", @@ -148,25 +379,28 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 3.041953757564491e-07 + "volume": 3.041953757564491e-07, + "source_prim_path": "/World/textured_mesh_69f204ef59057a93105a91bd/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.001161, - -0.001397, - 0.048212 + "min": [ + -0.010479999706149101, + -0.005286000203341246, + 0.0278290007263422 ], "max": [ - 0.008171, - 0.00249, - 0.068614 + 0.008165000006556511, + 0.002491000108420849, + 0.06860800087451935 ], - "min": [ - -0.010493, - -0.005284, - 0.027811 - ] + "size": [ + 0.018644999712705612, + 0.0077770003117620945, + 0.04077900014817715 + ], + "units": "m" }, "center_of_mass": [ -0.000549164812447838, @@ -181,7 +415,7 @@ 4.853867973821409e-08, 4.861371931888016e-08 ], - "mass": 0.00035, + "mass": 0.0003499999875202775, "material": "woody_cherry_stem", "name": "curved cherry stem", "physics_type": "rigid", @@ -189,25 +423,28 @@ "object_name": "part_1", "part_name": "part_1" }, - "volume": 9.932330494741907e-08 + "volume": 9.932330494741907e-08, + "source_prim_path": "/World/textured_mesh_69f204ef59057a93105a91bd/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.007537, - 0.001095, - 0.001462 + "min": [ + 0.0043219998478889465, + -0.00216599996201694, + 0.0005569999921135604 ], "max": [ - 0.010753, - 0.004344, - 0.002367 + 0.010750999674201012, + 0.00434499979019165, + 0.002366000087931752 ], - "min": [ - 0.004322, - -0.002154, - 0.000557 - ] + "size": [ + 0.006428999826312065, + 0.0065109997522085905, + 0.0018090000958181918 + ], + "units": "m" }, "center_of_mass": [ 0.007500741284330479, @@ -222,7 +459,7 @@ 1e-10, 1.2666946741494902e-10 ], - "mass": 2e-05, + "mass": 1.9999999494757503e-05, "material": "cherry_stem_socket_tissue", "name": "stem socket collar", "physics_type": "rigid", @@ -230,25 +467,28 @@ "object_name": "part_2", "part_name": "part_2" }, - "volume": 1.7456586723807745e-08 + "volume": 1.7456586723807745e-08, + "source_prim_path": "/World/textured_mesh_69f204ef59057a93105a91bd/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.012447, - -0.004488, - 0.071486 + "min": [ + -0.015464000403881073, + -0.006378000136464834, + 0.06890600174665451 ], "max": [ - -0.009396, - -0.0026, - 0.074028 + -0.009391999803483486, + -0.002606000052765012, + 0.07401199638843536 ], - "min": [ - -0.015498, - -0.006375, - 0.068945 - ] + "size": [ + 0.006072000600397587, + 0.0037720000836998224, + 0.005105994641780853 + ], + "units": "m" }, "center_of_mass": [ -0.012021871909771322, @@ -263,7 +503,7 @@ 1e-10, 1e-10 ], - "mass": 3e-05, + "mass": 2.9999999242136255e-05, "material": "dried_plant_tissue", "name": "dried terminal bud remnant", "physics_type": "rigid", @@ -271,25 +511,28 @@ "object_name": "part_3", "part_name": "part_3" }, - "volume": 4.059342271220966e-08 + "volume": 4.059342271220966e-08, + "source_prim_path": "/World/textured_mesh_69f204ef59057a93105a91bd/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.00724, - 0.000763, - 0.016004 + "min": [ + -0.011327000334858894, + -0.017223000526428223, + 4.999999873689376e-06 ], "max": [ - 0.025767, - 0.018726, - 0.031972 + 0.025755999609827995, + 0.018775999546051025, + 0.03200700134038925 ], - "min": [ - -0.011287, - -0.0172, - 3.7e-05 - ] + "size": [ + 0.03708299994468689, + 0.03599900007247925, + 0.03200200134051556 + ], + "units": "m" }, "center_of_mass": [ 0.00737065090158816, @@ -304,7 +547,7 @@ 2.5868739044337414e-06, 2.7623928295416832e-06 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "cherry_fruit_tissue", "name": "cherry fruit body", "physics_type": "rigid", @@ -312,25 +555,28 @@ "object_name": "part_4", "part_name": "part_4" }, - "volume": 2.427053971072699e-05 + "volume": 2.427053971072699e-05, + "source_prim_path": "/World/textured_mesh_69f204ef59057a93105a91bd/part_4", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.020165, - -0.002314, - 0.049622 + "min": [ + -0.033309001475572586, + -0.0068709999322891235, + 0.026512999087572098 ], "max": [ - -0.007026, - 0.002244, - 0.072762 + -0.007027000188827515, + 0.002256999956443906, + 0.07276500016450882 ], - "min": [ - -0.033305, - -0.006871, - 0.026483 - ] + "size": [ + 0.02628200128674507, + 0.00912799988873303, + 0.04625200107693672 + ], + "units": "m" }, "center_of_mass": [ -0.02109913088583935, @@ -345,7 +591,7 @@ 2.364573781027703e-08, 2.6479947008457653e-08 ], - "mass": 0.0002, + "mass": 0.00019999999494757503, "material": "fresh_cherry_leaf_tissue", "name": "leaf blade and petiole section", "physics_type": "rigid", @@ -353,10 +599,27 @@ "object_name": "part_5", "part_name": "part_5" }, - "volume": 1.591749310956881e-06 + "volume": 1.591749310956881e-06, + "source_prim_path": "/World/textured_mesh_69f204ef59057a93105a91bd/part_5", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e4831ede029a513bfd86b18472fd84d40507981e1d18dc2b905088b35ca83b40" + }, + "usd_path": "batch5/D00123 Cherry/IsaacSim_assets_69f204ef59057a93105a91bd/IsaacSim_asset_69f204ef59057a93105a91bd.usd", + "usd_sha256": "85a94a79e652e571c4bd329983909d74b2a2d017ff3c0da8a6c8bbe253ac8df1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -372,25 +635,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.059072, - 0.035926, - 0.073991 - ] + 0.05906500108540058, + 0.03599900007247925, + 0.07400699638856167 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85a94a79e652e571c4bd329983909d74b2a2d017ff3c0da8a6c8bbe253ac8df1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.02068 + "value_kg": 0.02067999953214894, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85a94a79e652e571c4bd329983909d74b2a2d017ff3c0da8a6c8bbe253ac8df1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.02067999953214894, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 6 + "status": "verified", + "confidence": "high", + "shape_count": 121, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85a94a79e652e571c4bd329983909d74b2a2d017ff3c0da8a6c8bbe253ac8df1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 121, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 5 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "85a94a79e652e571c4bd329983909d74b2a2d017ff3c0da8a6c8bbe253ac8df1", + "scope": "authored_usd_joint_schema", + "joint_count": 5, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "85a94a79e652e571c4bd329983909d74b2a2d017ff3c0da8a6c8bbe253ac8df1", + "supplemental_accepted": true, + "planned_test_count": 14, + "result_count": 14, + "passed": 11, + "skipped": 3, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:10:59.857002+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "da5e57570f75c591cca131b1fe5eba34f180fce487e5ed054678dfd2dcc003c2", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00129 Chop Tray/IsaacSim_assets_6a02b733f3726e6ad03e8cf8/physics_6a02b733f3726e6ad03e8cf8.json b/batch5/D00129 Chop Tray/IsaacSim_assets_6a02b733f3726e6ad03e8cf8/physics_6a02b733f3726e6ad03e8cf8.json index 05a38b06621a505720986e3bc4764dda1c824239..31056b2a8acadd44d03bb5f0710d5a50573b7ded 100644 --- a/batch5/D00129 Chop Tray/IsaacSim_assets_6a02b733f3726e6ad03e8cf8/physics_6a02b733f3726e6ad03e8cf8.json +++ b/batch5/D00129 Chop Tray/IsaacSim_assets_6a02b733f3726e6ad03e8cf8/physics_6a02b733f3726e6ad03e8cf8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10947518050670624, - 0.03136506676673889, - 0.1097230613231659 - ], "min": [ - -0.10939381271600723, - 6.548503961312235e-08, - -0.10436394065618515 + -0.10877200216054916, + -0.11049900203943253, + 7.056910243442006e-18 + ], + "max": [ + 0.10920400172472, + 0.10498099774122238, + 0.027285000309348106 ], "size": [ - 0.21886899322271347, - 0.03136500128169928, - 0.21408700197935104 - ] + 0.21797600388526917, + 0.2154799997806549, + 0.0272850003093481 + ], + "units": "m" }, "description": "A square, light beige ceramic or melamine divided tray with a speckled pattern. It features three distinct recessed compartments.", "name": "D00129 Chop Tray", "object_type": "rigid_bodies", - "total_mass": 0.84 + "total_mass": 0.8399999737739563, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00129", "parts": [ { "bounds": { - "center": [ - 4.262301001228119e-05, - 0.011718646448418954, - 0.002017263587357175 + "min": [ + -0.10877200216054916, + -0.11049900203943253, + 7.056910243442006e-18 ], "max": [ - 0.10947518050670624, - 0.03136506676673889, - 0.1097230613231659 + 0.10920400172472, + 0.10498099774122238, + 0.027285000309348106 ], - "min": [ - -0.10939381271600723, - 6.548503961312235e-08, - -0.10436394065618515 - ] + "size": [ + 0.21797600388526917, + 0.2154799997806549, + 0.0272850003093481 + ], + "units": "m" }, "center_of_mass": [ 0.00030974393941321965, @@ -59,7 +65,7 @@ 0.0033173056541489962, 0.006447739209272324 ], - "mass": 0.84, + "mass": 0.8399999737739563, "material": "melamine_heavy_plastic", "name": "D00129 Chop Tray", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00129 Chop Tray", "part_name": "D00129 Chop Tray" }, - "volume": 0.001263648591480293 + "volume": 0.001263648591480293, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8d7c446e920e93dca9719b0b8ce7306994cdaa36b616e42299f1b9b01aaf2f23" + }, + "usd_path": "batch5/D00129 Chop Tray/IsaacSim_assets_6a02b733f3726e6ad03e8cf8/IsaacSim_asset_6a02b733f3726e6ad03e8cf8.usd", + "usd_sha256": "ab0a1bf09ce6a2f903a6521a14b4ac992d7146a9ea675a731fd544914af4186b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.21886899322271347, - 0.03136500128169928, - 0.21408700197935104 - ] + 0.21797600388526917, + 0.2154799997806549, + 0.0272850003093481 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ab0a1bf09ce6a2f903a6521a14b4ac992d7146a9ea675a731fd544914af4186b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.84 + "value_kg": 0.8399999737739563, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ab0a1bf09ce6a2f903a6521a14b4ac992d7146a9ea675a731fd544914af4186b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8399999737739563, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ab0a1bf09ce6a2f903a6521a14b4ac992d7146a9ea675a731fd544914af4186b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ab0a1bf09ce6a2f903a6521a14b4ac992d7146a9ea675a731fd544914af4186b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "ab0a1bf09ce6a2f903a6521a14b4ac992d7146a9ea675a731fd544914af4186b", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:45.262944+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "8516c76a20d80554c21100d43081aae0f8e473a5e265b50a1c7b3fdb97dd8b80", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00331 Garden Salad/IsaacSim_assets_69f5b5f2431507ff7cec7166/physics_69f5b5f2431507ff7cec7166.json b/batch5/D00331 Garden Salad/IsaacSim_assets_69f5b5f2431507ff7cec7166/physics_69f5b5f2431507ff7cec7166.json index 19bdbc89cc52b5c2c390478c8aa9a368f9158707..5e43546b544194cdd243e9551f8a1a818fb3708b 100644 --- a/batch5/D00331 Garden Salad/IsaacSim_assets_69f5b5f2431507ff7cec7166/physics_69f5b5f2431507ff7cec7166.json +++ b/batch5/D00331 Garden Salad/IsaacSim_assets_69f5b5f2431507ff7cec7166/physics_69f5b5f2431507ff7cec7166.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13038215041160583, - 0.07677701860666275, - 0.13149389624595642 - ], "min": [ - -0.13262684643268585, - 1.0016628039011266e-05, - -0.1316141039133072 + -0.14020900428295135, + -0.13837400078773499, + 1.2999999853491317e-05 + ], + "max": [ + 0.13800300657749176, + 0.13979500532150269, + 0.09028399735689163 ], "size": [ - 0.2630089968442917, - 0.07676700197862374, - 0.2631080001592636 - ] + 0.2782120108604431, + 0.27816900610923767, + 0.09027099735703814 + ], + "units": "m" }, "description": "A light-colored ceramic bowl filled with a fresh mixed salad containing lettuce, tomatoes, cucumbers, bell peppers, onions, radishes, and feta cheese.", "name": "D00331 Garden Salad", "object_type": "rigid_bodies", - "total_mass": 1.5 + "total_mass": 1.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00331", "parts": [ { "bounds": { - "center": [ - 3.592603485241621e-05, - 0.03907356412745984, - -0.00010509079420626984 + "min": [ + -0.14020900428295135, + -0.13837400078773499, + 1.2999999853491317e-05 ], "max": [ - 0.13038215041160583, - 0.07677701860666275, - 0.13149389624595642 + 0.13800300657749176, + 0.13979500532150269, + 0.09028399735689163 ], - "min": [ - -0.13262684643268585, - 1.0016628039011266e-05, - -0.1316141039133072 - ] + "size": [ + 0.2782120108604431, + 0.27816900610923767, + 0.09027099735703814 + ], + "units": "m" }, "center_of_mass": [ -0.0009494502602837661, @@ -67,10 +73,27 @@ "object_name": "D00331 Garden Salad", "part_name": "D00331 Garden Salad" }, - "volume": 0.002886414590298289 + "volume": 0.002886414590298289, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7dab3b30c0fd5f50d5200b7c3fc446538180eff6b939546b2f321b1e1624dc67" + }, + "usd_path": "batch5/D00331 Garden Salad/IsaacSim_assets_69f5b5f2431507ff7cec7166/IsaacSim_asset_69f5b5f2431507ff7cec7166.usd", + "usd_sha256": "1b4172dfe05786b316edf5099477c9f7fff95541975757fdc484861b6c942d67", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2630089968442917, - 0.07676700197862374, - 0.2631080001592636 - ] + 0.2782120108604431, + 0.27816900610923767, + 0.09027099735703814 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1b4172dfe05786b316edf5099477c9f7fff95541975757fdc484861b6c942d67", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.5 + "value_kg": 1.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1b4172dfe05786b316edf5099477c9f7fff95541975757fdc484861b6c942d67", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1b4172dfe05786b316edf5099477c9f7fff95541975757fdc484861b6c942d67", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1b4172dfe05786b316edf5099477c9f7fff95541975757fdc484861b6c942d67", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00338 Ginger/IsaacSim_assets_69f5b602431507ff7cec739e/physics_69f5b602431507ff7cec739e.json b/batch5/D00338 Ginger/IsaacSim_assets_69f5b602431507ff7cec739e/physics_69f5b602431507ff7cec739e.json index e6d8031cdb321cdbd473fe55ae5ee949f2dce4d2..8407a6b305158f65a11b4fc9eca5d7adac888e26 100644 --- a/batch5/D00338 Ginger/IsaacSim_assets_69f5b602431507ff7cec739e/physics_69f5b602431507ff7cec739e.json +++ b/batch5/D00338 Ginger/IsaacSim_assets_69f5b602431507ff7cec739e/physics_69f5b602431507ff7cec739e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07920880615711212, - 0.05974484607577324, - 0.05437387153506279 - ], "min": [ - -0.05564919114112854, - 7.84620988270035e-06, - -0.06390012800693512 + -0.04622200131416321, + -0.046202998608350754, + 3.2065462058174168e-18 + ], + "max": [ + 0.06736200302839279, + 0.05762699991464615, + 0.06009700149297714 ], "size": [ - 0.13485799729824066, - 0.05973699986589054, - 0.11827399954199791 - ] + 0.113584004342556, + 0.1038299985229969, + 0.06009700149297714 + ], + "units": "m" }, "description": "A piece of fresh ginger root with a pale brown, lumpy, and textured exterior skin.", "name": "D00338 Ginger", "object_type": "rigid_bodies", - "total_mass": 0.12 + "total_mass": 0.11999999731779099, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00338", "parts": [ { "bounds": { - "center": [ - 0.0030571078860439204, - 0.029026572900714392, - -0.0016600356264060017 + "min": [ + -0.04622200131416321, + -0.046202998608350754, + 3.2065462058174168e-18 ], "max": [ - 0.07920880615711212, - 0.05974484607577324, - 0.05437387153506279 + 0.06736200302839279, + 0.05762699991464615, + 0.06009700149297714 ], - "min": [ - -0.05564919114112854, - 7.84620988270035e-06, - -0.06390012800693512 - ] + "size": [ + 0.113584004342556, + 0.1038299985229969, + 0.06009700149297714 + ], + "units": "m" }, "center_of_mass": [ 0.0020135325056774823, @@ -59,7 +65,7 @@ 0.00011590907847920594, 0.0001627855808513957 ], - "mass": 0.12, + "mass": 0.11999999731779099, "material": "organic_plant_matter", "name": "D00338 Ginger", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00338 Ginger", "part_name": "D00338 Ginger" }, - "volume": 0.0003074901560049127 + "volume": 0.0003074901560049127, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7dba6a9b764033634a8067a36d493ca478a316a1dd979e15819ce15e01d67c64" + }, + "usd_path": "batch5/D00338 Ginger/IsaacSim_assets_69f5b602431507ff7cec739e/IsaacSim_asset_69f5b602431507ff7cec739e.usd", + "usd_sha256": "738e7128c78363942a6b6398d17e3c520486bc1144bcca5b7aa9e5933ed27aa9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.13485799729824066, - 0.05973699986589054, - 0.11827399954199791 - ] + 0.113584004342556, + 0.1038299985229969, + 0.06009700149297714 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "738e7128c78363942a6b6398d17e3c520486bc1144bcca5b7aa9e5933ed27aa9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.12 + "value_kg": 0.11999999731779099, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "738e7128c78363942a6b6398d17e3c520486bc1144bcca5b7aa9e5933ed27aa9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.11999999731779099, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 49, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "738e7128c78363942a6b6398d17e3c520486bc1144bcca5b7aa9e5933ed27aa9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 49, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "738e7128c78363942a6b6398d17e3c520486bc1144bcca5b7aa9e5933ed27aa9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00752 Spatula Ladle/IsaacSim_assets_69f65c937f5104dbf26ad8b5/physics_69f65c937f5104dbf26ad8b5.json b/batch5/D00752 Spatula Ladle/IsaacSim_assets_69f65c937f5104dbf26ad8b5/physics_69f65c937f5104dbf26ad8b5.json index a96d1bf65abe6d017e02439cb48cc57b5ecb8d74..f3714298387f31b33f9c27eb72d10b3f4df82d31 100644 --- a/batch5/D00752 Spatula Ladle/IsaacSim_assets_69f65c937f5104dbf26ad8b5/physics_69f65c937f5104dbf26ad8b5.json +++ b/batch5/D00752 Spatula Ladle/IsaacSim_assets_69f65c937f5104dbf26ad8b5/physics_69f65c937f5104dbf26ad8b5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16657, - 0.047388, - 0.122219 - ], "min": [ - -0.073269, - -0.047567, - 1.6e-05 + -0.07327499985694885, + -0.047568999230861664, + 9.999999747378752e-06 + ], + "max": [ + 0.16657599806785583, + 0.047391001135110855, + 0.12222500145435333 ], "size": [ - 0.239839, - 0.094955, - 0.12220299999999999 - ] + 0.2398509979248047, + 0.09496000036597252, + 0.12221500145460595 + ], + "units": "m" }, "description": "A single-piece rigid brushed stainless steel ladle.", "name": "D00752 Stainless Steel Ladle", "object_type": "rigid_bodies", - "total_mass": 0.18 + "total_mass": 0.18000000715255737, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00752", "parts": [ { "bounds": { - "center": [ - 0.046651, - -9e-05, - 0.061118 + "min": [ + -0.07327499985694885, + -0.047568999230861664, + 9.999999747378752e-06 ], "max": [ - 0.16657, - 0.047388, - 0.122219 + 0.16657599806785583, + 0.047391001135110855, + 0.12222500145435333 ], - "min": [ - -0.073269, - -0.047567, - 1.6e-05 - ] + "size": [ + 0.2398509979248047, + 0.09496000036597252, + 0.12221500145460595 + ], + "units": "m" }, "center_of_mass": [ 0.009303661070719187, @@ -59,7 +65,7 @@ 0.0010641345574461047, 0.0010998418261357343 ], - "mass": 0.18, + "mass": 0.18000000715255737, "material": "stainless_steel", "name": "ladle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 3.7458261711463386e-05 + "volume": 3.7458261711463386e-05, + "source_prim_path": "/World/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "b377b48e602965122d9e9c429d118a69f1f1b087b6ab1327b05a73308b68fc43" + }, + "usd_path": "batch5/D00752 Spatula Ladle/IsaacSim_assets_69f65c937f5104dbf26ad8b5/IsaacSim_asset_69f65c937f5104dbf26ad8b5.usd", + "usd_sha256": "d45bb30c8182255aaf0aa5274fef095fc5e74e405a8ffe0408bb2af672672bcb", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.239839, - 0.094955, - 0.12220299999999999 - ] + 0.2398509979248047, + 0.09496000036597252, + 0.12221500145460595 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d45bb30c8182255aaf0aa5274fef095fc5e74e405a8ffe0408bb2af672672bcb", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.18 + "value_kg": 0.18000000715255737, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d45bb30c8182255aaf0aa5274fef095fc5e74e405a8ffe0408bb2af672672bcb", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.18000000715255737, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 23, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d45bb30c8182255aaf0aa5274fef095fc5e74e405a8ffe0408bb2af672672bcb", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 23, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d45bb30c8182255aaf0aa5274fef095fc5e74e405a8ffe0408bb2af672672bcb", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00779 Spoon Knife/IsaacSim_assets_69f666597f5104dbf2752574/physics_69f666597f5104dbf2752574.json b/batch5/D00779 Spoon Knife/IsaacSim_assets_69f666597f5104dbf2752574/physics_69f666597f5104dbf2752574.json index f2943e9a82f0892a36b22de6bc96844f3c887c18..5cafc0060c4ba4a3f57c0dd6e8ca49423c1384e6 100644 --- a/batch5/D00779 Spoon Knife/IsaacSim_assets_69f666597f5104dbf2752574/physics_69f666597f5104dbf2752574.json +++ b/batch5/D00779 Spoon Knife/IsaacSim_assets_69f666597f5104dbf2752574/physics_69f666597f5104dbf2752574.json @@ -17,52 +17,103 @@ "rest_pose_state": "unknown", "score": 0.99, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_wooden_handle__curved_blade", + "path": "/World/textured_mesh_69f666597f5104dbf2752574/Joints/joint_wooden_handle__curved_blade", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f666597f5104dbf2752574/part_0" + ], + "body1_targets": [ + "/World/textured_mesh_69f666597f5104dbf2752574/part_1" + ], + "authored_usd": { + "id": "joint_wooden_handle__curved_blade", + "source_prim_path": "/World/textured_mesh_69f666597f5104dbf2752574/Joints/joint_wooden_handle__curved_blade", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f666597f5104dbf2752574/part_0" + ], + "body1": [ + "/World/textured_mesh_69f666597f5104dbf2752574/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.016459, - 0.092644, - 0.032999 - ], "min": [ - -0.016738, - -0.12217, - -7e-06 + -0.016738999634981155, + -0.12217400223016739, + -1.1000000085914508e-05 + ], + "max": [ + 0.01645899936556816, + 0.09264799952507019, + 0.033004000782966614 ], "size": [ - 0.033197000000000004, - 0.214814, - 0.033006 - ] + 0.033197999000549316, + 0.21482200175523758, + 0.03301500078305253 + ], + "units": "m" }, "description": "A handheld spoon knife featuring a contoured wooden handle and a rigidly attached, curved polished steel blade for wood carving.", "name": "wooden handle", "object_type": "rigid_bodies", - "total_mass": 0.12 + "total_mass": 0.12000000290572643, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00779", "parts": [ { "bounds": { - "center": [ - -0.00014, - 0.017504, - 0.01588 + "min": [ + -0.016738999634981155, + -0.057666998356580734, + -1.1000000085914508e-05 ], "max": [ - 0.016459, - 0.092644, - 0.031766 + 0.01645899936556816, + 0.09264799952507019, + 0.03175000101327896 ], - "min": [ - -0.016738, - -0.057637, - -7e-06 - ] + "size": [ + 0.033197999000549316, + 0.15031499788165092, + 0.031761001013364876 + ], + "units": "m" }, "center_of_mass": [ -4.422379483843414e-05, @@ -77,7 +128,7 @@ 0.0001420258966156046, 0.00014303188879229026 ], - "mass": 0.09, + "mass": 0.09000000357627869, "material": "wood", "name": "wooden handle", "physics_type": "rigid", @@ -85,25 +136,28 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 0.00010876435318561527 + "volume": 0.00010876435318561527, + "source_prim_path": "/World/textured_mesh_69f666597f5104dbf2752574/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 6.4e-05, - -0.069633, - 0.016763 + "min": [ + -0.012082000263035297, + -0.12217400223016739, + 0.0005119999987073243 ], "max": [ - 0.012208, - -0.017095, - 0.032999 + 0.012206999585032463, + -0.01709599979221821, + 0.033004000782966614 ], - "min": [ - -0.012081, - -0.12217, - 0.000526 - ] + "size": [ + 0.02428899984806776, + 0.10507800243794918, + 0.03249200078425929 + ], + "units": "m" }, "center_of_mass": [ -8.78858425856414e-05, @@ -118,7 +172,7 @@ 2.085713685005106e-05, 2.086459185663592e-05 ], - "mass": 0.03, + "mass": 0.029999999329447746, "material": "stainless_steel", "name": "curved blade", "physics_type": "rigid", @@ -126,10 +180,27 @@ "object_name": "part_1", "part_name": "part_1" }, - "volume": 3.5341382177336564e-05 + "volume": 3.5341382177336564e-05, + "source_prim_path": "/World/textured_mesh_69f666597f5104dbf2752574/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6b782f4d97ba8978f9beea15bf6ad6b10abdecd28a222edeb4d8218165affc36" + }, + "usd_path": "batch5/D00779 Spoon Knife/IsaacSim_assets_69f666597f5104dbf2752574/IsaacSim_asset_69f666597f5104dbf2752574.usd", + "usd_sha256": "2eb1aa0a43c07c718bc692a9d2aaa453af1c54a980a5ff88d6bc0eb96e60cda8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -145,25 +216,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.033197000000000004, - 0.214814, - 0.033006 - ] + 0.033197999000549316, + 0.21482200175523758, + 0.03301500078305253 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2eb1aa0a43c07c718bc692a9d2aaa453af1c54a980a5ff88d6bc0eb96e60cda8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.12 + "value_kg": 0.12000000290572643, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2eb1aa0a43c07c718bc692a9d2aaa453af1c54a980a5ff88d6bc0eb96e60cda8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.12000000290572643, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2eb1aa0a43c07c718bc692a9d2aaa453af1c54a980a5ff88d6bc0eb96e60cda8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2eb1aa0a43c07c718bc692a9d2aaa453af1c54a980a5ff88d6bc0eb96e60cda8", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00784 Spoon Spatula/IsaacSim_assets_69f6688d7f5104dbf2773026/physics_69f6688d7f5104dbf2773026.json b/batch5/D00784 Spoon Spatula/IsaacSim_assets_69f6688d7f5104dbf2773026/physics_69f6688d7f5104dbf2773026.json index dce96e779584af405e0f82c026aeeeed0868c3b5..38dfba7913cdce81e875c5f0ecdd7fa99631d6ca 100644 --- a/batch5/D00784 Spoon Spatula/IsaacSim_assets_69f6688d7f5104dbf2773026/physics_69f6688d7f5104dbf2773026.json +++ b/batch5/D00784 Spoon Spatula/IsaacSim_assets_69f6688d7f5104dbf2773026/physics_69f6688d7f5104dbf2773026.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.025373, - 0.110887, - 0.016544 - ], "min": [ - -0.025362, - -0.085574, - -9e-06 + -0.025350000709295273, + -0.08558499813079834, + -7.999999979801942e-06 + ], + "max": [ + 0.025359999388456345, + 0.11089800298213959, + 0.016543999314308167 ], "size": [ - 0.050735, - 0.196461, - 0.016553 - ] + 0.05071000009775162, + 0.19648300111293793, + 0.01655199931428797 + ], + "units": "m" }, "description": "A single-piece stainless steel spoon used for eating or stirring.", "name": "spoon", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00784", "parts": [ { "bounds": { - "center": [ - 6e-06, - 0.012656, - 0.008268 + "min": [ + -0.025350000709295273, + -0.08558499813079834, + -7.999999979801942e-06 ], "max": [ - 0.025373, - 0.110887, - 0.016544 + 0.025359999388456345, + 0.11089800298213959, + 0.016543999314308167 ], - "min": [ - -0.025362, - -0.085574, - -9e-06 - ] + "size": [ + 0.05071000009775162, + 0.19648300111293793, + 0.01655199931428797 + ], + "units": "m" }, "center_of_mass": [ -3.925543394742772e-05, @@ -59,7 +65,7 @@ 0.00014467404777818957, 0.0001465413927109694 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "stainless_steel", "name": "spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 2.8118729655844887e-05 + "volume": 2.8118729655844887e-05, + "source_prim_path": "/World/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4e53761bcb2a18d43ab6f484e96addf2d8b89e1597f891c208210eb038e836dc" + }, + "usd_path": "batch5/D00784 Spoon Spatula/IsaacSim_assets_69f6688d7f5104dbf2773026/IsaacSim_asset_69f6688d7f5104dbf2773026.usd", + "usd_sha256": "cf2414062f311db50c965d01ce53aaa32c54b67aaccee037bc9edf0bed26de08", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.050735, - 0.196461, - 0.016553 - ] + 0.05071000009775162, + 0.19648300111293793, + 0.01655199931428797 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cf2414062f311db50c965d01ce53aaa32c54b67aaccee037bc9edf0bed26de08", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cf2414062f311db50c965d01ce53aaa32c54b67aaccee037bc9edf0bed26de08", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cf2414062f311db50c965d01ce53aaa32c54b67aaccee037bc9edf0bed26de08", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "cf2414062f311db50c965d01ce53aaa32c54b67aaccee037bc9edf0bed26de08", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00862 Thermos/IsaacSim_assets_69f6a4777f5104dbf2ac4631/physics_69f6a4777f5104dbf2ac4631.json b/batch5/D00862 Thermos/IsaacSim_assets_69f6a4777f5104dbf2ac4631/physics_69f6a4777f5104dbf2ac4631.json index 529d0ac0109779c76d5c1e3bd3f032f89ab2a101..28e5316d08adc3ede123f4fd6f931d2565abdcea 100644 --- a/batch5/D00862 Thermos/IsaacSim_assets_69f6a4777f5104dbf2ac4631/physics_69f6a4777f5104dbf2ac4631.json +++ b/batch5/D00862 Thermos/IsaacSim_assets_69f6a4777f5104dbf2ac4631/physics_69f6a4777f5104dbf2ac4631.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03732899948954582, - 0.03793700039386749, - 0.21789799630641937 - ], "min": [ - -0.037512000650167465, - -0.03750599920749664, - -0.0001230000052601099 + -0.03284600004553795, + -0.033018000423908234, + 1.9999999949504854e-06 + ], + "max": [ + 0.03278199955821037, + 0.033100999891757965, + 0.18885600566864014 ], "size": [ - 0.07484100013971329, - 0.07544299960136414, - 0.21802099631167948 - ] + 0.06562799960374832, + 0.0661190003156662, + 0.1888540056686452 + ], + "units": "m" }, "description": "A collection of nine cylindrical bottles and jars made from diverse materials including glass, ceramic, and metal, each fitted with unique closures such as wood, cork, or metal screw-caps.", "name": "D00862 Thermos", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.44999998807907104, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00862", "parts": [ { "bounds": { - "center": [ - -3.652071366230335e-05, - 0.00014339128314505705, - 0.10297652653011256 + "min": [ + -0.03284600004553795, + -0.033018000423908234, + 1.9999999949504854e-06 ], "max": [ - 0.03732899948954582, - 0.03793700039386749, - 0.21789799630641937 + 0.03278199955821037, + 0.033100999891757965, + 0.18885600566864014 ], - "min": [ - -0.037512000650167465, - -0.03750599920749664, - -0.0001230000052601099 - ] + "size": [ + 0.06562799960374832, + 0.0661190003156662, + 0.1888540056686452 + ], + "units": "m" }, "center_of_mass": [ -2.418991069182448e-05, @@ -59,7 +65,7 @@ 0.0013185539022911176, 0.0013200904713268611 ], - "mass": 0.45, + "mass": 0.44999998807907104, "material": "glass", "name": "D00862 Thermos", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00862 Thermos", "part_name": "D00862 Thermos" }, - "volume": 0.0005955200507263991 + "volume": 0.0005955200507263991, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f8556e3fce114cf4d0cbf164c63cbcdc4f0c1128cf7cf347da8b668ebfe4e50c" + }, + "usd_path": "batch5/D00862 Thermos/IsaacSim_assets_69f6a4777f5104dbf2ac4631/IsaacSim_asset_69f6a4777f5104dbf2ac4631.usd", + "usd_sha256": "d5746c9f713865e071a50eb280adaeb679f8a3597ec568107149e9f40ed770ce", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.07484100013971329, - 0.07544299960136414, - 0.21802099631167948 - ] + 0.06562799960374832, + 0.0661190003156662, + 0.1888540056686452 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d5746c9f713865e071a50eb280adaeb679f8a3597ec568107149e9f40ed770ce", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.44999998807907104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d5746c9f713865e071a50eb280adaeb679f8a3597ec568107149e9f40ed770ce", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.44999998807907104, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 2, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d5746c9f713865e071a50eb280adaeb679f8a3597ec568107149e9f40ed770ce", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 2, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d5746c9f713865e071a50eb280adaeb679f8a3597ec568107149e9f40ed770ce", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00878 Towel Dishcloth/IsaacSim_assets_69f6afde7f5104dbf2b713dd/physics_69f6afde7f5104dbf2b713dd.json b/batch5/D00878 Towel Dishcloth/IsaacSim_assets_69f6afde7f5104dbf2b713dd/physics_69f6afde7f5104dbf2b713dd.json index 2cc0d96c8c9ca261032a2db706cf5a1be6dfb0c7..ed01a6a8ee54b1984c822898d9cacec3f70a76fe 100644 --- a/batch5/D00878 Towel Dishcloth/IsaacSim_assets_69f6afde7f5104dbf2b713dd/physics_69f6afde7f5104dbf2b713dd.json +++ b/batch5/D00878 Towel Dishcloth/IsaacSim_assets_69f6afde7f5104dbf2b713dd/physics_69f6afde7f5104dbf2b713dd.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10320399701595306, - 0.1498890072107315, - 0.0428909994661808 - ], "min": [ - -0.10238499939441681, - -0.12855899333953857, - -0.00021300000662449747 + -0.1021059975028038, + -0.12571200728416443, + -5.8000001445179805e-05 + ], + "max": [ + 0.1015700027346611, + 0.15985600650310516, + 0.041381001472473145 ], "size": [ - 0.20558899641036987, - 0.2784480005502701, - 0.0431039994728053 - ] + 0.2036760002374649, + 0.2855680137872696, + 0.041439001473918324 + ], + "units": "m" }, "description": "A folded off-white fabric towel with a waffle weave texture and fringed edges.", "name": "D00878 Towel Dishcloth", "object_type": "rigid_bodies", - "total_mass": 0.1 + "total_mass": 0.10000000149011612, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00878", "parts": [ { "bounds": { - "center": [ - -0.0011306202774277357, - 0.007270055953847987, - 0.01641709720292052 + "min": [ + -0.1021059975028038, + -0.12571200728416443, + -5.8000001445179805e-05 ], "max": [ - 0.10320399701595306, - 0.1498890072107315, - 0.0428909994661808 + 0.1015700027346611, + 0.15985600650310516, + 0.041381001472473145 ], - "min": [ - -0.10238499939441681, - -0.12855899333953857, - -0.00021300000662449747 - ] + "size": [ + 0.2036760002374649, + 0.2855680137872696, + 0.041439001473918324 + ], + "units": "m" }, "center_of_mass": [ -0.0013337536818624571, @@ -59,7 +65,7 @@ 0.0006464877359995361, 0.0009543091246353674 ], - "mass": 0.1, + "mass": 0.10000000149011612, "material": "fabric", "name": "D00878 Towel Dishcloth", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00878 Towel Dishcloth", "part_name": "D00878 Towel Dishcloth" }, - "volume": 0.0020592973273035513 + "volume": 0.0020592973273035513, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1b56977d3df08bc9c44e92e8af8180540ccc0bb45d6d32e0ba624ded8511118c" + }, + "usd_path": "batch5/D00878 Towel Dishcloth/IsaacSim_assets_69f6afde7f5104dbf2b713dd/IsaacSim_asset_69f6afde7f5104dbf2b713dd.usd", + "usd_sha256": "f740d809ca660029ca64a8b468988329fdf96d056d5e74435943bc9bedb82d34", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.20558899641036987, - 0.2784480005502701, - 0.0431039994728053 - ] + 0.2036760002374649, + 0.2855680137872696, + 0.041439001473918324 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f740d809ca660029ca64a8b468988329fdf96d056d5e74435943bc9bedb82d34", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.1 + "value_kg": 0.10000000149011612, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f740d809ca660029ca64a8b468988329fdf96d056d5e74435943bc9bedb82d34", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.10000000149011612, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 74, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f740d809ca660029ca64a8b468988329fdf96d056d5e74435943bc9bedb82d34", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 74, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f740d809ca660029ca64a8b468988329fdf96d056d5e74435943bc9bedb82d34", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch5/D00985 Wooden Tray Cutting Board/IsaacSim_assets_69f798e8d09344200ff2758f/physics_69f798e8d09344200ff2758f.json b/batch5/D00985 Wooden Tray Cutting Board/IsaacSim_assets_69f798e8d09344200ff2758f/physics_69f798e8d09344200ff2758f.json index c331e1ecb098e9f4d081c7f986feef04c55586da..9978f2566953f749376c375ecc2d141919fda579 100644 --- a/batch5/D00985 Wooden Tray Cutting Board/IsaacSim_assets_69f798e8d09344200ff2758f/physics_69f798e8d09344200ff2758f.json +++ b/batch5/D00985 Wooden Tray Cutting Board/IsaacSim_assets_69f798e8d09344200ff2758f/physics_69f798e8d09344200ff2758f.json @@ -17,52 +17,103 @@ "rest_pose_state": "unknown", "score": 1, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_main_board__handles", + "path": "/World/textured_mesh_69f798e8d09344200ff2758f/Joints/joint_main_board__handles", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f798e8d09344200ff2758f/part_1" + ], + "body1_targets": [ + "/World/textured_mesh_69f798e8d09344200ff2758f/part_0" + ], + "authored_usd": { + "id": "joint_main_board__handles", + "source_prim_path": "/World/textured_mesh_69f798e8d09344200ff2758f/Joints/joint_main_board__handles", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f798e8d09344200ff2758f/part_1" + ], + "body1": [ + "/World/textured_mesh_69f798e8d09344200ff2758f/part_0" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 2, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.273101, - 0.175934, - 0.049551 - ], "min": [ - -0.274304, - -0.175611, - -8.6e-05 + -0.2743290066719055, + -0.17560499906539917, + -8.099999831756577e-05 + ], + "max": [ + 0.2731260061264038, + 0.175927996635437, + 0.049545999616384506 ], "size": [ - 0.5474049999999999, - 0.351545, - 0.049637 - ] + 0.5474550127983093, + 0.3515329957008362, + 0.04962699961470207 + ], + "units": "m" }, "description": "A heavy wooden cutting board with attached metal side handles. The object acts as a single rigid body with no articulated parts.", "name": "handles", "object_type": "rigid_bodies", - "total_mass": 6.2 + "total_mass": 6.200000002980232, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00985", "parts": [ { "bounds": { - "center": [ - 0.244867, - -0.00131, - 0.031418 + "min": [ + 0.21667200326919556, + -0.07945200055837631, + 0.013276999816298485 ], "max": [ - 0.273101, - 0.076789, - 0.049551 + 0.2731260061264038, + 0.07678700238466263, + 0.049545999616384506 ], - "min": [ - 0.216634, - -0.07941, - 0.013285 - ] + "size": [ + 0.05645400285720825, + 0.15623900294303894, + 0.03626899980008602 + ], + "units": "m" }, "center_of_mass": [ 0.2538616390122014, @@ -77,7 +128,7 @@ 0.0006089929125207881, 0.0006648674794818236 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "stainless_steel", "name": "handles", "physics_type": "rigid", @@ -85,25 +136,28 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 4.362609413460069e-05 + "volume": 4.362609413460069e-05, + "source_prim_path": "/World/textured_mesh_69f798e8d09344200ff2758f/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.021706, - 0.000162, - 0.023819 + "min": [ + -0.2743290066719055, + -0.17560499906539917, + -8.099999831756577e-05 ], "max": [ - 0.230891, - 0.175934, - 0.047725 + 0.23088200390338898, + 0.175927996635437, + 0.04776199907064438 ], - "min": [ - -0.274304, - -0.175611, - -8.6e-05 - ] + "size": [ + 0.5052110105752945, + 0.3515329957008362, + 0.047842999068961944 + ], + "units": "m" }, "center_of_mass": [ -0.003126218833697118, @@ -126,10 +180,27 @@ "object_name": "part_1", "part_name": "part_1" }, - "volume": 0.006934254284932698 + "volume": 0.006934254284932698, + "source_prim_path": "/World/textured_mesh_69f798e8d09344200ff2758f/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fef37561771f58ed29fd8838a1ffa84f396805014d07c76c5bca07f1308973f4" + }, + "usd_path": "batch5/D00985 Wooden Tray Cutting Board/IsaacSim_assets_69f798e8d09344200ff2758f/IsaacSim_asset_69f798e8d09344200ff2758f.usd", + "usd_sha256": "d818918267c88199b8b7c810b5249c8eb6508db7676564e17090145eabb30924", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -145,25 +216,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.5474049999999999, - 0.351545, - 0.049637 - ] + 0.5474550127983093, + 0.3515329957008362, + 0.04962699961470207 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d818918267c88199b8b7c810b5249c8eb6508db7676564e17090145eabb30924", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 6.2 + "value_kg": 6.200000002980232, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d818918267c88199b8b7c810b5249c8eb6508db7676564e17090145eabb30924", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 6.200000002980232, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 2 + "status": "verified", + "confidence": "high", + "shape_count": 19, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d818918267c88199b8b7c810b5249c8eb6508db7676564e17090145eabb30924", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 19, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 1 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d818918267c88199b8b7c810b5249c8eb6508db7676564e17090145eabb30924", + "scope": "authored_usd_joint_schema", + "joint_count": 1, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00017 Basket Bowl/IsaacSim_assets_69f1eeef59057a931058926b/physics_69f1eeef59057a931058926b.json b/batch6/D00017 Basket Bowl/IsaacSim_assets_69f1eeef59057a931058926b/physics_69f1eeef59057a931058926b.json index 4875c7d0145b85485231a6e1b55c72c0e5a35ddd..74eda9ca2a79b3a9574dbaf2cb60ad70fb60c93e 100644 --- a/batch6/D00017 Basket Bowl/IsaacSim_assets_69f1eeef59057a931058926b/physics_69f1eeef59057a931058926b.json +++ b/batch6/D00017 Basket Bowl/IsaacSim_assets_69f1eeef59057a931058926b/physics_69f1eeef59057a931058926b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10617601126432419, - 0.127113938331604, - 0.09642592817544937 - ], "min": [ - -0.1065719872713089, - -1.3068883163214196e-05, - -0.09713806957006454 + -0.10369499772787094, + -0.0934239998459816, + -7.731593079035677e-19 + ], + "max": [ + 0.1033250018954277, + 0.09347900003194809, + 0.12110400199890137 ], "size": [ - 0.2127479985356331, - 0.12712700721476722, - 0.19356399774551392 - ] + 0.20701999962329865, + 0.1869029998779297, + 0.12110400199890137 + ], + "units": "m" }, "description": "A white ceramic bowl featuring a basket-weave textured exterior and two looped handles.", "name": "D00017 Basket Bowl", "object_type": "rigid_bodies", - "total_mass": 0.6 + "total_mass": 0.6000000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00017", "parts": [ { "bounds": { - "center": [ - -0.00021614533920728943, - 0.049212617077979776, - -0.00022344901886662885 + "min": [ + -0.10369499772787094, + -0.0934239998459816, + -7.731593079035677e-19 ], "max": [ - 0.10617601126432419, - 0.127113938331604, - 0.09642592817544937 + 0.1033250018954277, + 0.09347900003194809, + 0.12110400199890137 ], - "min": [ - -0.1065719872713089, - -1.3068883163214196e-05, - -0.09713806957006454 - ] + "size": [ + 0.20701999962329865, + 0.1869029998779297, + 0.12110400199890137 + ], + "units": "m" }, "center_of_mass": [ -0.00047603870722683664, @@ -59,7 +65,7 @@ 0.0023156093855066172, 0.0032549147066296092 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "ceramic", "name": "D00017 Basket Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00017 Basket Bowl", "part_name": "D00017 Basket Bowl" }, - "volume": 0.0004409429381705258 + "volume": 0.0004409429381705258, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "100db2d3e7befa143dbd20b36e196517e01f4129b346869195e5b0ad65779a79" + }, + "usd_path": "batch6/D00017 Basket Bowl/IsaacSim_assets_69f1eeef59057a931058926b/IsaacSim_asset_69f1eeef59057a931058926b.usd", + "usd_sha256": "96e19ee29ac7083b24d2e35705241b56b80a0cfea1fd52d57b24d6f74b106613", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2127479985356331, - 0.12712700721476722, - 0.19356399774551392 - ] + 0.20701999962329865, + 0.1869029998779297, + 0.12110400199890137 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "96e19ee29ac7083b24d2e35705241b56b80a0cfea1fd52d57b24d6f74b106613", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6 + "value_kg": 0.6000000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "96e19ee29ac7083b24d2e35705241b56b80a0cfea1fd52d57b24d6f74b106613", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6000000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 145, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "96e19ee29ac7083b24d2e35705241b56b80a0cfea1fd52d57b24d6f74b106613", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 145, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "96e19ee29ac7083b24d2e35705241b56b80a0cfea1fd52d57b24d6f74b106613", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "96e19ee29ac7083b24d2e35705241b56b80a0cfea1fd52d57b24d6f74b106613", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:22.078169+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "18a86b280b9a4e11b045cc3c9915cec5b6b4323a2d7e712dd53ca278d3d6af48", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00018 Basket Muffin Tray/IsaacSim_assets_69f80ebcd09344200f0596e8/physics_69f80ebcd09344200f0596e8.json b/batch6/D00018 Basket Muffin Tray/IsaacSim_assets_69f80ebcd09344200f0596e8/physics_69f80ebcd09344200f0596e8.json index 05fca7d4749b8ea734fe661f461cdedd6cbc9509..d1fc375e56ace7fdd45121c316deb5280fe2d195 100644 --- a/batch6/D00018 Basket Muffin Tray/IsaacSim_assets_69f80ebcd09344200f0596e8/physics_69f80ebcd09344200f0596e8.json +++ b/batch6/D00018 Basket Muffin Tray/IsaacSim_assets_69f80ebcd09344200f0596e8/physics_69f80ebcd09344200f0596e8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.19543781876564026, - 0.03786971792578697, - 0.14776262640953064 - ], "min": [ - -0.19444718956947327, - -4.7282293962780386e-05, - -0.14865636825561523 + -0.19394899904727936, + -0.14854300022125244, + -2.700000004551839e-05 + ], + "max": [ + 0.19525499641895294, + 0.14851999282836914, + 0.03970099985599518 ], "size": [ - 0.3898850083351135, - 0.03791700021974975, - 0.2964189946651459 - ] + 0.3892039954662323, + 0.2970629930496216, + 0.0397279998560407 + ], + "units": "m" }, "description": "A dark grey, non-stick coated metal 12-cup muffin pan with a rectangular frame.", "name": "D00018 Basket Muffin Tray", "object_type": "rigid_bodies", - "total_mass": 0.6 + "total_mass": 0.6000000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00018", "parts": [ { "bounds": { - "center": [ - 0.00044510845880352376, - 0.023415919619245905, - -0.00038406709189038585 + "min": [ + -0.19394899904727936, + -0.14854300022125244, + -2.700000004551839e-05 ], "max": [ - 0.19543781876564026, - 0.03786971792578697, - 0.14776262640953064 + 0.19525499641895294, + 0.14851999282836914, + 0.03970099985599518 ], - "min": [ - -0.19444718956947327, - -4.7282293962780386e-05, - -0.14865636825561523 - ] + "size": [ + 0.3892039954662323, + 0.2970629930496216, + 0.0397279998560407 + ], + "units": "m" }, "center_of_mass": [ 0.0005834223679974732, @@ -59,7 +65,7 @@ 0.006775148897412421, 0.010483184545301833 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "coated_steel", "name": "D00018 Basket Muffin Tray", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00018 Basket Muffin Tray", "part_name": "D00018 Basket Muffin Tray" }, - "volume": 0.004008681399614804 + "volume": 0.004008681399614804, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7f1e480b1035d58e2ac15c4c38e538a78ca067cf465fb8a27c61f9f1a0bfec1e" + }, + "usd_path": "batch6/D00018 Basket Muffin Tray/IsaacSim_assets_69f80ebcd09344200f0596e8/IsaacSim_asset_69f80ebcd09344200f0596e8.usd", + "usd_sha256": "51ce06d65a2404a6e55a9da57592c13175e9f58c0a5c0ca216a510f29c03c589", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3898850083351135, - 0.03791700021974975, - 0.2964189946651459 - ] + 0.3892039954662323, + 0.2970629930496216, + 0.0397279998560407 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "51ce06d65a2404a6e55a9da57592c13175e9f58c0a5c0ca216a510f29c03c589", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6 + "value_kg": 0.6000000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "51ce06d65a2404a6e55a9da57592c13175e9f58c0a5c0ca216a510f29c03c589", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6000000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 256, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "51ce06d65a2404a6e55a9da57592c13175e9f58c0a5c0ca216a510f29c03c589", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 256, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "51ce06d65a2404a6e55a9da57592c13175e9f58c0a5c0ca216a510f29c03c589", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "51ce06d65a2404a6e55a9da57592c13175e9f58c0a5c0ca216a510f29c03c589", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:41.994230+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "a5df796b914c01cef562c48078e3a0c290df6d1eb65756c1008461120da45277", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00024 Black Bottle/IsaacSim_assets_69f1f0c559057a931058bdaa/physics_69f1f0c559057a931058bdaa.json b/batch6/D00024 Black Bottle/IsaacSim_assets_69f1f0c559057a931058bdaa/physics_69f1f0c559057a931058bdaa.json index a94b543ac6a92c6882fa8187dd5bfe02391f3aec..524dd56660a742d7cf039b14cc09a5ff517af1c5 100644 --- a/batch6/D00024 Black Bottle/IsaacSim_assets_69f1f0c559057a931058bdaa/physics_69f1f0c559057a931058bdaa.json +++ b/batch6/D00024 Black Bottle/IsaacSim_assets_69f1f0c559057a931058bdaa/physics_69f1f0c559057a931058bdaa.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.038040000945329666, - 0.02846500091254711, - 0.16545799374580383 - ], "min": [ - -0.03798599913716316, - -0.02843499928712845, - -0.00010199999815085903 + -0.037261001765728, + -0.027977000921964645, + -1.9999999949504854e-06 + ], + "max": [ + 0.037202998995780945, + 0.028157999739050865, + 0.161654993891716 ], "size": [ - 0.07602600008249283, - 0.05690000019967556, - 0.1655599937439547 - ] + 0.07446400076150894, + 0.05613500066101551, + 0.16165699389171095 + ], + "units": "m" }, "description": "A black, rigid plastic bottle with a rectangular body, rounded edges, and a cylindrical flip-top cap. The external surface features visible scratches and wear marks.", "name": "D00024 Black Bottle", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.44999998807907104, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00024", "parts": [ { "bounds": { - "center": [ - 5.4793751472715884e-05, - 7.852400731495e-05, - 0.07277121149021051 + "min": [ + -0.037261001765728, + -0.027977000921964645, + -1.9999999949504854e-06 ], "max": [ - 0.038040000945329666, - 0.02846500091254711, - 0.16545799374580383 + 0.037202998995780945, + 0.028157999739050865, + 0.161654993891716 ], - "min": [ - -0.03798599913716316, - -0.02843499928712845, - -0.00010199999815085903 - ] + "size": [ + 0.07446400076150894, + 0.05613500066101551, + 0.16165699389171095 + ], + "units": "m" }, "center_of_mass": [ -1.0214556485009575e-05, @@ -59,7 +65,7 @@ 0.000919904937058574, 0.0009961553049671478 ], - "mass": 0.45, + "mass": 0.44999998807907104, "material": "rigid_plastic", "name": "D00024 Black Bottle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00024 Black Bottle", "part_name": "D00024 Black Bottle" }, - "volume": 0.0005326714460420555 + "volume": 0.0005326714460420555, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f44dca1588f8c6b34b9991ae2166788aac22ccb1e327f6e8fa08e6e7b36c324f" + }, + "usd_path": "batch6/D00024 Black Bottle/IsaacSim_assets_69f1f0c559057a931058bdaa/IsaacSim_asset_69f1f0c559057a931058bdaa.usd", + "usd_sha256": "6b1ed14611a8a72509f65685c0db11838faa586f53cd5c344f0404cc77ff2aa8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.07602600008249283, - 0.05690000019967556, - 0.1655599937439547 - ] + 0.07446400076150894, + 0.05613500066101551, + 0.16165699389171095 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6b1ed14611a8a72509f65685c0db11838faa586f53cd5c344f0404cc77ff2aa8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.44999998807907104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6b1ed14611a8a72509f65685c0db11838faa586f53cd5c344f0404cc77ff2aa8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.44999998807907104, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6b1ed14611a8a72509f65685c0db11838faa586f53cd5c344f0404cc77ff2aa8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6b1ed14611a8a72509f65685c0db11838faa586f53cd5c344f0404cc77ff2aa8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "6b1ed14611a8a72509f65685c0db11838faa586f53cd5c344f0404cc77ff2aa8", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:11.138880+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "3df6d6bf46c81f73c9ee8575111ca735cd26b4386dfd52b291cd6f3698095ec8", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00044 Board Wooden Tray/IsaacSim_assets_6a38f95c6284561eadce8729/physics_6a38f95c6284561eadce8729.json b/batch6/D00044 Board Wooden Tray/IsaacSim_assets_6a38f95c6284561eadce8729/physics_6a38f95c6284561eadce8729.json index 756a5ab84b842797e617bfb9458317f65d60c07f..e4cf5576ec45547caab14b1f738ff19fefac8adc 100644 --- a/batch6/D00044 Board Wooden Tray/IsaacSim_assets_6a38f95c6284561eadce8729/physics_6a38f95c6284561eadce8729.json +++ b/batch6/D00044 Board Wooden Tray/IsaacSim_assets_6a38f95c6284561eadce8729/physics_6a38f95c6284561eadce8729.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14210247, - 0.04117088, - 0.11123596 - ], "min": [ - -0.1428068, - 0.0, - -0.11153346 + -0.14282000064849854, + -0.11135199666023254, + 1.9999999949504854e-06 + ], + "max": [ + 0.1421159952878952, + 0.1116499975323677, + 0.041168998926877975 ], "size": [ - 0.28490927, - 0.04117088, - 0.22276942 - ] + 0.28493599593639374, + 0.22300199419260025, + 0.041166998926883025 + ], + "units": "m" }, "description": "A rectangular wooden serving tray with raised edges and two integrated handles.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00044", "parts": [ { "bounds": { - "center": [ - -0.00038708917883681327, - 0.008866297961558366, - -0.0001453081632387692 + "min": [ + -0.14282000064849854, + -0.11135199666023254, + 1.9999999949504854e-06 ], "max": [ - 0.14210247, - 0.04117088, - 0.11123596 + 0.1421159952878952, + 0.1116499975323677, + 0.041168998926877975 ], - "min": [ - -0.1428068, - 0.0, - -0.11153346 - ] + "size": [ + 0.28493599593639374, + 0.22300199419260025, + 0.041166998926883025 + ], + "units": "m" }, "center_of_mass": [ -0.000366652268202558, @@ -59,7 +65,7 @@ 0.005425042646566884, 0.008304910226160358 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "wood", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0023210775581798035 + "volume": 0.0023210775581798035, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7ee00643e04d7a82f42ce6191c3eba62a5675a898b187073e3fce4fa75b28297" + }, + "usd_path": "batch6/D00044 Board Wooden Tray/IsaacSim_assets_6a38f95c6284561eadce8729/IsaacSim_asset_6a38f95c6284561eadce8729.usd", + "usd_sha256": "16f7fdfcd955f20198d8b65a792738e7ca777c9a9a688d548334e49eb3c3d06e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.28490927, - 0.04117088, - 0.22276942 - ] + 0.28493599593639374, + 0.22300199419260025, + 0.041166998926883025 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16f7fdfcd955f20198d8b65a792738e7ca777c9a9a688d548334e49eb3c3d06e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16f7fdfcd955f20198d8b65a792738e7ca777c9a9a688d548334e49eb3c3d06e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 23, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16f7fdfcd955f20198d8b65a792738e7ca777c9a9a688d548334e49eb3c3d06e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 23, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "16f7fdfcd955f20198d8b65a792738e7ca777c9a9a688d548334e49eb3c3d06e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "16f7fdfcd955f20198d8b65a792738e7ca777c9a9a688d548334e49eb3c3d06e", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:42.229745+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "25623e1371155ff220e1c3c454c5fd7bc82230a40e289cf393a855d390e99191", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00045 Book/IsaacSim_assets_6a37c53a6284561eadc16d88/physics_6a37c53a6284561eadc16d88.json b/batch6/D00045 Book/IsaacSim_assets_6a37c53a6284561eadc16d88/physics_6a37c53a6284561eadc16d88.json index c71ad0fef977087488fdbf745468c3ad3da3d14c..1810ed5426da02cf5be2eb036b6000553568e92a 100644 --- a/batch6/D00045 Book/IsaacSim_assets_6a37c53a6284561eadc16d88/physics_6a37c53a6284561eadc16d88.json +++ b/batch6/D00045 Book/IsaacSim_assets_6a37c53a6284561eadc16d88/physics_6a37c53a6284561eadc16d88.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08549034595489502, - 0.0477357879281044, - 0.1061890721321106 - ], "min": [ - -0.06886565685272217, - -3.421266592340544e-05, - -0.10764692723751068 + -0.07163900136947632, + -0.10703200101852417, + 9.999999974752427e-07 + ], + "max": [ + 0.0826679989695549, + 0.10633999854326248, + 0.049674998968839645 ], "size": [ - 0.1543560028076172, - 0.047770000594027806, - 0.21383599936962128 - ] + 0.15430700033903122, + 0.21337199956178665, + 0.04967399896884217 + ], + "units": "m" }, "description": "A thick, large hardcover book with a burgundy faux-leather binding, ornate gold foil stamping on the cover and spine, and visible cream-colored page edges.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 2.0 + "total_mass": 2.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00045", "parts": [ { "bounds": { - "center": [ - 0.00995988845501327, - 0.023873358520091946, - -0.0007695277544000224 + "min": [ + -0.07163900136947632, + -0.10703200101852417, + 9.999999974752427e-07 ], "max": [ - 0.08549034595489502, - 0.0477357879281044, - 0.1061890721321106 + 0.0826679989695549, + 0.10633999854326248, + 0.049674998968839645 ], - "min": [ - -0.06886565685272217, - -3.421266592340544e-05, - -0.10764692723751068 - ] + "size": [ + 0.15430700033903122, + 0.21337199956178665, + 0.04967399896884217 + ], + "units": "m" }, "center_of_mass": [ 0.006720526211713897, @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.001602601812729655 + "volume": 0.001602601812729655, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "88a7fd9c6f0677f9a7805eae92bb1b3bc89ffaa9a964e18209758c8df7aa96e5" + }, + "usd_path": "batch6/D00045 Book/IsaacSim_assets_6a37c53a6284561eadc16d88/IsaacSim_asset_6a37c53a6284561eadc16d88.usd", + "usd_sha256": "865eaa08e24d0c063797f915210793e28a5a5c350cc1ff6cccceab20257b45b0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1543560028076172, - 0.047770000594027806, - 0.21383599936962128 - ] + 0.15430700033903122, + 0.21337199956178665, + 0.04967399896884217 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "865eaa08e24d0c063797f915210793e28a5a5c350cc1ff6cccceab20257b45b0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.0 + "value_kg": 2.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "865eaa08e24d0c063797f915210793e28a5a5c350cc1ff6cccceab20257b45b0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "865eaa08e24d0c063797f915210793e28a5a5c350cc1ff6cccceab20257b45b0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "865eaa08e24d0c063797f915210793e28a5a5c350cc1ff6cccceab20257b45b0", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "865eaa08e24d0c063797f915210793e28a5a5c350cc1ff6cccceab20257b45b0", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:12.281584+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "515b626c520462589d6ae5f2de91f2b6f947ab7357e10991af8bef0fe24cf73f", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00065 Bowl Muffin Pan/IsaacSim_assets_6a3903796284561eadcf8e47/physics_6a3903796284561eadcf8e47.json b/batch6/D00065 Bowl Muffin Pan/IsaacSim_assets_6a3903796284561eadcf8e47/physics_6a3903796284561eadcf8e47.json index f9e75376414c86de08d86c24f349ec0514e57daf..f3b1bbf2505173468d597224f178d58de800c6fb 100644 --- a/batch6/D00065 Bowl Muffin Pan/IsaacSim_assets_6a3903796284561eadcf8e47/physics_6a3903796284561eadcf8e47.json +++ b/batch6/D00065 Bowl Muffin Pan/IsaacSim_assets_6a3903796284561eadcf8e47/physics_6a3903796284561eadcf8e47.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.15985701, - 0.03995434, - 0.09196671 - ], "min": [ - -0.15892138, - 0.0, - -0.09256557 + -0.15892599523067474, + -0.09199800342321396, + -2.700000004551839e-05 + ], + "max": [ + 0.1598619967699051, + 0.09259700030088425, + 0.03998100012540817 ], "size": [ - 0.31877838999999997, - 0.03995434, - 0.18453228 - ] + 0.31878799200057983, + 0.1845950037240982, + 0.04000800012545369 + ], + "units": "m" }, "description": "A black, textured cast iron baking pan featuring six cylindrical cups and two integrated side handles.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 3.0 + "total_mass": 3.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00065", "parts": [ { "bounds": { - "center": [ - 0.000407923243947174, - 0.02145566955173759, - -0.0002743062697615121 + "min": [ + -0.15892599523067474, + -0.09199800342321396, + -2.700000004551839e-05 ], "max": [ - 0.15985701, - 0.03995434, - 0.09196671 + 0.1598619967699051, + 0.09259700030088425, + 0.03998100012540817 ], - "min": [ - -0.15892138, - 0.0, - -0.09256557 - ] + "size": [ + 0.31878799200057983, + 0.1845950037240982, + 0.04000800012545369 + ], + "units": "m" }, "center_of_mass": [ 0.00043088949796200654, @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.001781951507916854 + "volume": 0.001781951507916854, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "68bc0fc7aa21a6eb2227430cc8b1d5d1b762020cfdb63b720b2781fc3dfa0a0a" + }, + "usd_path": "batch6/D00065 Bowl Muffin Pan/IsaacSim_assets_6a3903796284561eadcf8e47/IsaacSim_asset_6a3903796284561eadcf8e47.usd", + "usd_sha256": "27978fe1347f9ffd75cfe299595939f41a9f2846aa9d0f999448825c8ec2f930", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.31877838999999997, - 0.03995434, - 0.18453228 - ] + 0.31878799200057983, + 0.1845950037240982, + 0.04000800012545369 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "27978fe1347f9ffd75cfe299595939f41a9f2846aa9d0f999448825c8ec2f930", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.0 + "value_kg": 3.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "27978fe1347f9ffd75cfe299595939f41a9f2846aa9d0f999448825c8ec2f930", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 128, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "27978fe1347f9ffd75cfe299595939f41a9f2846aa9d0f999448825c8ec2f930", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 128, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "27978fe1347f9ffd75cfe299595939f41a9f2846aa9d0f999448825c8ec2f930", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "27978fe1347f9ffd75cfe299595939f41a9f2846aa9d0f999448825c8ec2f930", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:13.190334+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "d22bb8c535627910a8957e145566de561732cd1fca03515e20c044369bd7525c", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00082 Bread Box/IsaacSim_assets_6a390b356284561eadd07492/physics_6a390b356284561eadd07492.json b/batch6/D00082 Bread Box/IsaacSim_assets_6a390b356284561eadd07492/physics_6a390b356284561eadd07492.json index 091bcd3376b35c004670732ac605997b9f497fb5..677d1a600ae80a8ad3d2f468872f2cc3b96a26eb 100644 --- a/batch6/D00082 Bread Box/IsaacSim_assets_6a390b356284561eadd07492/physics_6a390b356284561eadd07492.json +++ b/batch6/D00082 Bread Box/IsaacSim_assets_6a390b356284561eadd07492/physics_6a390b356284561eadd07492.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.18304748, - 0.24095803, - 0.15265845 - ], "min": [ - -0.18510106, - 0.0, - -0.11928533 + -0.18509800732135773, + -0.15264099836349487, + 1.2999999853491317e-05 + ], + "max": [ + 0.18304499983787537, + 0.11926800012588501, + 0.2409449964761734 ], "size": [ - 0.36814854, - 0.24095803, - 0.27194377999999997 - ] + 0.3681430071592331, + 0.2719089984893799, + 0.2409319964763199 + ], + "units": "m" }, "description": "A white painted wooden bread box with a distressed finish. It features a curved roll-top door with a small handle and a hollow rectangular base.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 2.0 + "total_mass": 2.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00082", "parts": [ { "bounds": { - "center": [ - -0.000789614131818144, - 0.12572915922748978, - -0.011686242969420944 + "min": [ + -0.18509800732135773, + -0.15264099836349487, + 1.2999999853491317e-05 ], "max": [ - 0.18304748, - 0.24095803, - 0.15265845 + 0.18304499983787537, + 0.11926800012588501, + 0.2409449964761734 ], - "min": [ - -0.18510106, - 0.0, - -0.11928533 - ] + "size": [ + 0.3681430071592331, + 0.2719089984893799, + 0.2409319964763199 + ], + "units": "m" }, "center_of_mass": [ -0.00102587423863265, @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.02243708420067457 + "volume": 0.02243708420067457, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e30926389a5935110dfdc4c9ecb7eda3aa30541516f84e3e2146277a66eec07f" + }, + "usd_path": "batch6/D00082 Bread Box/IsaacSim_assets_6a390b356284561eadd07492/IsaacSim_asset_6a390b356284561eadd07492.usd", + "usd_sha256": "c4e60a7c4d6b70797b2e1918bdefbba34e8514e1be01367d8c576d96d89caf9e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.36814854, - 0.24095803, - 0.27194377999999997 - ] + 0.3681430071592331, + 0.2719089984893799, + 0.2409319964763199 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c4e60a7c4d6b70797b2e1918bdefbba34e8514e1be01367d8c576d96d89caf9e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.0 + "value_kg": 2.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c4e60a7c4d6b70797b2e1918bdefbba34e8514e1be01367d8c576d96d89caf9e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 30, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c4e60a7c4d6b70797b2e1918bdefbba34e8514e1be01367d8c576d96d89caf9e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 30, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c4e60a7c4d6b70797b2e1918bdefbba34e8514e1be01367d8c576d96d89caf9e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "c4e60a7c4d6b70797b2e1918bdefbba34e8514e1be01367d8c576d96d89caf9e", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:14.231482+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "d54ebc5d59384b37a5e013c6568dda9ce2e9a98c6ccf62c5f8bc62c4a9e69a85", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00115 Celery/IsaacSim_assets_69f2039759057a93105a74f9/physics_69f2039759057a93105a74f9.json b/batch6/D00115 Celery/IsaacSim_assets_69f2039759057a93105a74f9/physics_69f2039759057a93105a74f9.json index 3b903aff98f1f98b34aa1ba002f4baa2b875a8d6..907167b6634c89d32975bf68b66c2510019941d4 100644 --- a/batch6/D00115 Celery/IsaacSim_assets_69f2039759057a93105a74f9/physics_69f2039759057a93105a74f9.json +++ b/batch6/D00115 Celery/IsaacSim_assets_69f2039759057a93105a74f9/physics_69f2039759057a93105a74f9.json @@ -16,7 +16,52 @@ "parent": "celery base", "score": 1, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_celery_base__inner_stalk", + "path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__inner_stalk", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_0" + ], + "authored_usd": { + "id": "joint_celery_base__inner_stalk", + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__inner_stalk", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_0" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -32,7 +77,52 @@ "parent": "celery base", "score": 1, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_celery_base__small_leaf_fragment", + "path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__small_leaf_fragment", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_1" + ], + "authored_usd": { + "id": "joint_celery_base__small_leaf_fragment", + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__small_leaf_fragment", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_1" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -48,7 +138,52 @@ "parent": "celery base", "score": 1, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_celery_base__outer_stalk", + "path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__outer_stalk", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_3" + ], + "authored_usd": { + "id": "joint_celery_base__outer_stalk", + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__outer_stalk", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_3" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -64,7 +199,52 @@ "parent": "celery base", "score": 1, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_celery_base__side_stalk", + "path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__side_stalk", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_4" + ], + "authored_usd": { + "id": "joint_celery_base__side_stalk", + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__side_stalk", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_4" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -80,7 +260,52 @@ "parent": "celery base", "score": 1, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_celery_base__leafy_top", + "path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__leafy_top", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_5" + ], + "authored_usd": { + "id": "joint_celery_base__leafy_top", + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__leafy_top", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_5" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -96,7 +321,52 @@ "parent": "celery base", "score": 1, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_celery_base__front_stalk", + "path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__front_stalk", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_6" + ], + "authored_usd": { + "id": "joint_celery_base__front_stalk", + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__front_stalk", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_6" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -112,7 +382,52 @@ "parent": "celery base", "score": 1, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_celery_base__tiny_stalk_fragment", + "path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__tiny_stalk_fragment", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_7" + ], + "authored_usd": { + "id": "joint_celery_base__tiny_stalk_fragment", + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__tiny_stalk_fragment", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_7" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } }, { "axis": [], @@ -128,52 +443,103 @@ "parent": "celery base", "score": 1, "stiffness": 0.0, - "velocity": 0.0 + "velocity": 0.0, + "id": "joint_celery_base__inner_back_stalk", + "path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__inner_back_stalk", + "usd_type": "PhysicsFixedJoint", + "enabled": true, + "body0_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1_targets": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_8" + ], + "authored_usd": { + "id": "joint_celery_base__inner_back_stalk", + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/Joints/joint_celery_base__inner_back_stalk", + "joint_type": "PhysicsFixedJoint", + "body0": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_2" + ], + "body1": [ + "/World/textured_mesh_69f2039759057a93105a74f9/part_8" + ], + "joint_enabled": true, + "localPos0": [ + 0.0, + 0.0, + 0.0 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } } - ] + ], + "moving_joints": 0, + "rigid_body_count": 9, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.107334, - 0.103949, - 0.264653 - ], "min": [ - -0.095756, - -0.093138, - -0.000177 + -0.09561499953269958, + -0.09304700046777725, + -0.00013600000238511711 + ], + "max": [ + 0.10719399899244308, + 0.10385800153017044, + 0.26461198925971985 ], "size": [ - 0.20309, - 0.197087, - 0.26483 - ] + 0.20280899852514267, + 0.1969050019979477, + 0.26474798926210497 + ], + "units": "m" }, "description": "A segmented bunch of celery consisting of a main base and several attached stalks with leafy tops.", "name": "inner stalk", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.7999999839812517, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00115", "parts": [ { "bounds": { - "center": [ - -0.007158, - -0.01443, - 0.104934 + "min": [ + -0.033263999968767166, + -0.042048998177051544, + 0.004801999777555466 ], "max": [ - 0.019007, - 0.013321, - 0.205102 + 0.020834000781178474, + 0.013363000005483627, + 0.20506200194358826 ], - "min": [ - -0.033322, - -0.042181, - 0.004766 - ] + "size": [ + 0.05409800074994564, + 0.05541199818253517, + 0.2002600021660328 + ], + "units": "m" }, "center_of_mass": [ -0.0037910464559620946, @@ -188,7 +554,7 @@ 0.00011623335629445317, 0.00011751006843470387 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "organic_plant_tissue", "name": "inner stalk", "physics_type": "rigid", @@ -196,25 +562,28 @@ "object_name": "part_0", "part_name": "part_0" }, - "volume": 0.00029441444097060904 + "volume": 0.00029441444097060904, + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/part_0", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.049141, - -0.046675, - 0.237487 + "min": [ + -0.057392001152038574, + -0.058118999004364014, + 0.2202489972114563 ], "max": [ - -0.040647, - -0.035129, - 0.254752 + -0.04066300019621849, + -0.03515800088644028, + 0.2546209990978241 ], - "min": [ - -0.057636, - -0.05822, - 0.220222 - ] + "size": [ + 0.016729000955820084, + 0.022960998117923737, + 0.0343720018863678 + ], + "units": "m" }, "center_of_mass": [ -0.04885952114771848, @@ -229,7 +598,7 @@ 2.7599814693847733e-07, 3.9517026833909167e-07 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "organic_plant_tissue", "name": "small leaf fragment", "physics_type": "rigid", @@ -237,25 +606,28 @@ "object_name": "part_1", "part_name": "part_1" }, - "volume": 1.1532957949066188e-06 + "volume": 1.1532957949066188e-06, + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/part_1", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.005943, - 0.000327, - 0.128717 + "min": [ + -0.07892899960279465, + -0.09304700046777725, + -0.00013600000238511711 ], "max": [ - 0.090916, - 0.093792, - 0.257611 + 0.09104400128126144, + 0.09378000348806381, + 0.25760701298713684 ], - "min": [ - -0.079031, - -0.093138, - -0.000177 - ] + "size": [ + 0.1699730008840561, + 0.18682700395584106, + 0.25774301298952196 + ], + "units": "m" }, "center_of_mass": [ 0.0015333458732733468, @@ -270,7 +642,7 @@ 0.0021967114062767345, 0.002390479796651264 ], - "mass": 0.52, + "mass": 0.5199999809265137, "material": "organic_plant_tissue", "name": "celery base", "physics_type": "rigid", @@ -278,25 +650,28 @@ "object_name": "part_2", "part_name": "part_2" }, - "volume": 0.0029410408528716347 + "volume": 0.0029410408528716347, + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/part_2", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.005622, - 0.038078, - 0.131312 + "min": [ + -0.08269499987363815, + -0.027713000774383545, + 0.0027099999133497477 ], "max": [ - 0.094121, - 0.103949, - 0.259955 + 0.09370499849319458, + 0.10385800153017044, + 0.2598850131034851 ], - "min": [ - -0.082876, - -0.027792, - 0.002668 - ] + "size": [ + 0.17639999836683273, + 0.13157100230455399, + 0.25717501319013536 + ], + "units": "m" }, "center_of_mass": [ 0.0017541738367662144, @@ -311,7 +686,7 @@ 0.00016058072403455872, 0.0001940376174443743 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "organic_plant_tissue", "name": "outer stalk", "physics_type": "rigid", @@ -319,25 +694,28 @@ "object_name": "part_3", "part_name": "part_3" }, - "volume": 0.0014010359301208912 + "volume": 0.0014010359301208912, + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/part_3", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.053141, - -0.032431, - 0.116136 + "min": [ + -0.002532999962568283, + -0.060297999531030655, + 0.002483000047504902 ], "max": [ - 0.107334, - -0.004368, - 0.229813 + 0.10719399899244308, + -0.004327000118792057, + 0.2296220064163208 ], - "min": [ - -0.001052, - -0.060494, - 0.002459 - ] + "size": [ + 0.10972699895501137, + 0.0559709994122386, + 0.2271390063688159 + ], + "units": "m" }, "center_of_mass": [ 0.049251823826000025, @@ -352,7 +730,7 @@ 0.0001502008024871245, 0.00015407407347583403 ], - "mass": 0.045, + "mass": 0.04500000178813934, "material": "organic_plant_tissue", "name": "side stalk", "physics_type": "rigid", @@ -360,25 +738,28 @@ "object_name": "part_4", "part_name": "part_4" }, - "volume": 0.0003338957345470742 + "volume": 0.0003338957345470742, + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/part_4", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.040761, - -0.011842, - 0.226371 + "min": [ + 0.017212999984622, + -0.048211999237537384, + 0.1881999969482422 ], "max": [ - 0.064489, - 0.024696, - 0.264653 + 0.06450799852609634, + 0.024689000099897385, + 0.26461198925971985 ], - "min": [ - 0.017033, - -0.04838, - 0.18809 - ] + "size": [ + 0.04729499854147434, + 0.07290099933743477, + 0.07641199231147766 + ], + "units": "m" }, "center_of_mass": [ 0.03989671974806864, @@ -393,7 +774,7 @@ 7.923347621572788e-06, 1.0072923618853578e-05 ], - "mass": 0.02, + "mass": 0.019999999552965164, "material": "organic_plant_tissue", "name": "leafy top", "physics_type": "rigid", @@ -401,25 +782,28 @@ "object_name": "part_5", "part_name": "part_5" }, - "volume": 9.618817902164768e-05 + "volume": 9.618817902164768e-05, + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/part_5", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.041449, - -0.02841, - 0.132101 + "min": [ + -0.09561499953269958, + -0.07532799988985062, + 0.009002000093460083 ], "max": [ - 0.012858, - 0.019001, - 0.255217 + 0.012986999936401844, + 0.01884699985384941, + 0.2551780045032501 ], - "min": [ - -0.095756, - -0.075821, - 0.008985 - ] + "size": [ + 0.10860199946910143, + 0.09417499974370003, + 0.24617600440979004 + ], + "units": "m" }, "center_of_mass": [ -0.034802847011601114, @@ -434,7 +818,7 @@ 0.0001791877755593746, 0.0002143174170122473 ], - "mass": 0.06, + "mass": 0.05999999865889549, "material": "organic_plant_tissue", "name": "front stalk", "physics_type": "rigid", @@ -442,25 +826,28 @@ "object_name": "part_6", "part_name": "part_6" }, - "volume": 0.0007173456479492947 + "volume": 0.0007173456479492947, + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/part_6", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - 0.043895, - 0.000689, - 0.137747 + "min": [ + 0.020824000239372253, + -0.009614000096917152, + 0.11504700034856796 ], "max": [ - 0.067152, - 0.011186, - 0.160469 + 0.06704799830913544, + 0.011203000321984291, + 0.16020600497722626 ], - "min": [ - 0.020638, - -0.009808, - 0.115025 - ] + "size": [ + 0.046223998069763184, + 0.020817000418901443, + 0.045159004628658295 + ], + "units": "m" }, "center_of_mass": [ 0.04451554543723694, @@ -475,7 +862,7 @@ 7.952509055607309e-07, 8.936497491941329e-07 ], - "mass": 0.005, + "mass": 0.004999999888241291, "material": "organic_plant_tissue", "name": "tiny stalk fragment", "physics_type": "rigid", @@ -483,25 +870,28 @@ "object_name": "part_7", "part_name": "part_7" }, - "volume": 1.0453085637466075e-05 + "volume": 1.0453085637466075e-05, + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/part_7", + "bounds_frame": "USD stage world axes, metres, default authored pose" }, { "bounds": { - "center": [ - -0.030734, - -0.028468, - 0.103113 + "min": [ + -0.052852001041173935, + -0.04988100007176399, + 0.014817999675869942 ], "max": [ - -0.008355, - -0.005551, - 0.19129 + -0.00815299991518259, + -0.005563000217080116, + 0.1911119967699051 ], - "min": [ - -0.053112, - -0.051385, - 0.014936 - ] + "size": [ + 0.044699001125991344, + 0.044317999854683876, + 0.17629399709403515 + ], + "units": "m" }, "center_of_mass": [ -0.029409460349162007, @@ -516,7 +906,7 @@ 7.345746623726773e-05, 7.465328008285127e-05 ], - "mass": 0.045, + "mass": 0.04500000178813934, "material": "organic_plant_tissue", "name": "inner back stalk", "physics_type": "rigid", @@ -524,10 +914,27 @@ "object_name": "part_8", "part_name": "part_8" }, - "volume": 9.752400336757514e-05 + "volume": 9.752400336757514e-05, + "source_prim_path": "/World/textured_mesh_69f2039759057a93105a74f9/part_8", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "db46e8a58f9b17756afc6eb038c4b51f22968114b939e24da23ab0e9c2d3ecb4" + }, + "usd_path": "batch6/D00115 Celery/IsaacSim_assets_69f2039759057a93105a74f9/IsaacSim_asset_69f2039759057a93105a74f9.usd", + "usd_sha256": "c3ba66bc62edb06e7ae3003e88e9f5700084222df112c915e2202fa5beb5a07d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -543,25 +950,78 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.20309, - 0.197087, - 0.26483 - ] + 0.20280899852514267, + 0.1969050019979477, + 0.26474798926210497 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c3ba66bc62edb06e7ae3003e88e9f5700084222df112c915e2202fa5beb5a07d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.7999999839812517, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c3ba66bc62edb06e7ae3003e88e9f5700084222df112c915e2202fa5beb5a07d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.7999999839812517, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 9 + "status": "verified", + "confidence": "high", + "shape_count": 324, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c3ba66bc62edb06e7ae3003e88e9f5700084222df112c915e2202fa5beb5a07d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 324, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 8 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c3ba66bc62edb06e7ae3003e88e9f5700084222df112c915e2202fa5beb5a07d", + "scope": "authored_usd_joint_schema", + "joint_count": 8, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "c3ba66bc62edb06e7ae3003e88e9f5700084222df112c915e2202fa5beb5a07d", + "supplemental_accepted": false, + "planned_test_count": 14, + "result_count": 14, + "passed": 10, + "skipped": 3, + "failed": 1, + "issues": [ + "ground_drop:fail" + ], + "warnings": [], + "completed_at": "2026-10-13T21:10:59.368981+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "940d2251ca65ceaacaa0f8b4a008f4df4dc0877a85aedfb638f9c4122c58607c", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00122 Cheese/IsaacSim_assets_69f2048259057a93105a8a07/physics_69f2048259057a93105a8a07.json b/batch6/D00122 Cheese/IsaacSim_assets_69f2048259057a93105a8a07/physics_69f2048259057a93105a8a07.json index e9f70dfc62ed7f9a54faef99fefc2183a56d2073..a22bc0ebad5bfc1d6730290efc244fbdff863b11 100644 --- a/batch6/D00122 Cheese/IsaacSim_assets_69f2048259057a93105a8a07/physics_69f2048259057a93105a8a07.json +++ b/batch6/D00122 Cheese/IsaacSim_assets_69f2048259057a93105a8a07/physics_69f2048259057a93105a8a07.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05968799814581871, - 0.050588998943567276, - 0.09171400219202042 - ], "min": [ - -0.09091299772262573, - -0.0444209985435009, - 9.999999747378752e-06 + -0.0819690003991127, + -0.04105500131845474, + 1.4000000192027073e-05 + ], + "max": [ + 0.049077000468969345, + 0.04920300096273422, + 0.07362599670886993 ], "size": [ - 0.15060099586844444, - 0.09500999748706818, - 0.09170400219227304 - ] + 0.13104600086808205, + 0.09025800228118896, + 0.07361199670867791 + ], + "units": "m" }, "description": "A wedge of aged cheese with a pale yellow interior dotted with small holes and a rough, dark brown, natural rind on the outer curve and bottom edge.", "name": "D00122 Cheese", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00122", "parts": [ { "bounds": { - "center": [ - -0.002240773026223787, - 0.003342067518876998, - 0.045530842978104065 + "min": [ + -0.0819690003991127, + -0.04105500131845474, + 1.4000000192027073e-05 ], "max": [ - 0.05968799814581871, - 0.050588998943567276, - 0.09171400219202042 + 0.049077000468969345, + 0.04920300096273422, + 0.07362599670886993 ], - "min": [ - -0.09091299772262573, - -0.0444209985435009, - 9.999999747378752e-06 - ] + "size": [ + 0.13104600086808205, + 0.09025800228118896, + 0.07361199670867791 + ], + "units": "m" }, "center_of_mass": [ 0.00035404884866839265, @@ -67,10 +73,27 @@ "object_name": "D00122 Cheese", "part_name": "D00122 Cheese" }, - "volume": 0.00044835078326530236 + "volume": 0.00044835078326530236, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e5d43694374328eb084df92868d8cc7dfe722af72dfff9b0aceb6c4575e01821" + }, + "usd_path": "batch6/D00122 Cheese/IsaacSim_assets_69f2048259057a93105a8a07/IsaacSim_asset_69f2048259057a93105a8a07.usd", + "usd_sha256": "11a6a5d9630f5acd4eda0427678fb4813a554a6330cff66c3e61b2bd97ba568b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.15060099586844444, - 0.09500999748706818, - 0.09170400219227304 - ] + 0.13104600086808205, + 0.09025800228118896, + 0.07361199670867791 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "11a6a5d9630f5acd4eda0427678fb4813a554a6330cff66c3e61b2bd97ba568b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "11a6a5d9630f5acd4eda0427678fb4813a554a6330cff66c3e61b2bd97ba568b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 9, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "11a6a5d9630f5acd4eda0427678fb4813a554a6330cff66c3e61b2bd97ba568b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 9, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "11a6a5d9630f5acd4eda0427678fb4813a554a6330cff66c3e61b2bd97ba568b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "11a6a5d9630f5acd4eda0427678fb4813a554a6330cff66c3e61b2bd97ba568b", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:15:59.756503+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "6f260bbf43ede525080ad9fa172018449872195d9aa8bf21e50fbc7365542f6a", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00132 Chopping Board Tray/IsaacSim_assets_6a3a63367cb6171b56eb76b2/physics_6a3a63367cb6171b56eb76b2.json b/batch6/D00132 Chopping Board Tray/IsaacSim_assets_6a3a63367cb6171b56eb76b2/physics_6a3a63367cb6171b56eb76b2.json index b9b2213e756f248d508d045c4e201eb16cbce9fd..f783d1f7e43bd3fdd098004170224a7c6e53a61e 100644 --- a/batch6/D00132 Chopping Board Tray/IsaacSim_assets_6a3a63367cb6171b56eb76b2/physics_6a3a63367cb6171b56eb76b2.json +++ b/batch6/D00132 Chopping Board Tray/IsaacSim_assets_6a3a63367cb6171b56eb76b2/physics_6a3a63367cb6171b56eb76b2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.20853727, - 0.08848381, - 0.23218181 - ], "min": [ - -0.20697552, - 0.0, - -0.23052907 + -0.20696499943733215, + -0.23218600451946259, + 1.2000000424450263e-05 + ], + "max": [ + 0.20852699875831604, + 0.23053300380706787, + 0.08847100287675858 ], "size": [ - 0.41551278999999997, - 0.08848381, - 0.46271088 - ] + 0.4154919981956482, + 0.46271900832653046, + 0.08845900287633413 + ], + "units": "m" }, "description": "A thick, rectangular wooden cutting board with rounded edges, a perimeter juice groove, side handle indents, and small black rubber feet.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 4.0 + "total_mass": 4.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00132", "parts": [ { "bounds": { - "center": [ - 0.0008070538526287465, - 0.05139300655027466, - 0.0008521608542090623 + "min": [ + -0.20696499943733215, + -0.23218600451946259, + 1.2000000424450263e-05 ], "max": [ - 0.20853727, - 0.08848381, - 0.23218181 + 0.20852699875831604, + 0.23053300380706787, + 0.08847100287675858 ], - "min": [ - -0.20697552, - 0.0, - -0.23052907 - ] + "size": [ + 0.4154919981956482, + 0.46271900832653046, + 0.08845900287633413 + ], + "units": "m" }, "center_of_mass": [ 0.0007800734915870571, @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.016683228391749173 + "volume": 0.016683228391749173, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "656d20649b50e9ce0de9bd09e7b1ea9baacb7ace4e71bb83943f30c9be51d8da" + }, + "usd_path": "batch6/D00132 Chopping Board Tray/IsaacSim_assets_6a3a63367cb6171b56eb76b2/IsaacSim_asset_6a3a63367cb6171b56eb76b2.usd", + "usd_sha256": "4ee4a6c88971d3c1ead7588f062fdf0ae268e3de954094e797e84c07b82aadf8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.41551278999999997, - 0.08848381, - 0.46271088 - ] + 0.4154919981956482, + 0.46271900832653046, + 0.08845900287633413 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4ee4a6c88971d3c1ead7588f062fdf0ae268e3de954094e797e84c07b82aadf8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.0 + "value_kg": 4.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4ee4a6c88971d3c1ead7588f062fdf0ae268e3de954094e797e84c07b82aadf8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4ee4a6c88971d3c1ead7588f062fdf0ae268e3de954094e797e84c07b82aadf8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 25, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4ee4a6c88971d3c1ead7588f062fdf0ae268e3de954094e797e84c07b82aadf8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "4ee4a6c88971d3c1ead7588f062fdf0ae268e3de954094e797e84c07b82aadf8", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:02.359502+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "7a4f1a02011465ec9ffbd4aec687377c0a9a46add5e178ce9cdc91585cef47c5", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00166 Colander/IsaacSim_assets_69fef8e0f3726e6ad0599f65/physics_69fef8e0f3726e6ad0599f65.json b/batch6/D00166 Colander/IsaacSim_assets_69fef8e0f3726e6ad0599f65/physics_69fef8e0f3726e6ad0599f65.json index 97e5350a923ecca5521299e95324b1b03b52bb37..97f90f54484cc3adbd1edcfde9a53eff14689b17 100644 --- a/batch6/D00166 Colander/IsaacSim_assets_69fef8e0f3726e6ad0599f65/physics_69fef8e0f3726e6ad0599f65.json +++ b/batch6/D00166 Colander/IsaacSim_assets_69fef8e0f3726e6ad0599f65/physics_69fef8e0f3726e6ad0599f65.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13453541696071625, - 0.11830554902553558, - 0.10287455469369888 - ], "min": [ - -0.13407395780086517, - 0.0, - -0.10380008071660995 + -0.13413700461387634, + -0.10289700329303741, + -2.9000000722589903e-05 + ], + "max": [ + 0.1345279961824417, + 0.10384199768304825, + 0.1183449998497963 ], "size": [ - 0.2686093747615814, - 0.11830554902553558, - 0.20667463541030884 - ] + 0.26866500079631805, + 0.20673900097608566, + 0.11837399985051889 + ], + "units": "m" }, "description": "A glossy white glazed ceramic colander with a rounded perforated bowl, raised pedestal foot, and two loop handles.", "name": "D00166 Colander", "object_type": "rigid_bodies", - "total_mass": 1.6 + "total_mass": 1.600000023841858, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00166", "parts": [ { "bounds": { - "center": [ - 0.00020908324382433138, - 0.06331585835330192, - -0.0003268044766312232 + "min": [ + -0.13413700461387634, + -0.10289700329303741, + -2.9000000722589903e-05 ], "max": [ - 0.13453541696071625, - 0.11830554902553558, - 0.10287455469369888 + 0.1345279961824417, + 0.10384199768304825, + 0.1183449998497963 ], - "min": [ - -0.13407395780086517, - 0.0, - -0.10380008071660995 - ] + "size": [ + 0.26866500079631805, + 0.20673900097608566, + 0.11837399985051889 + ], + "units": "m" }, "center_of_mass": [ 0.00014362856098790096, @@ -59,7 +65,7 @@ 0.007825940118766533, 0.009890514074751684 ], - "mass": 1.6, + "mass": 1.600000023841858, "material": "glazed_ceramic", "name": "D00166 Colander", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00166 Colander", "part_name": "D00166 Colander" }, - "volume": 0.00047045667747142115 + "volume": 0.00047045667747142115, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "68dab7e38bc626716f1f29fd24585d5bebbc2448f06ced23818cd0270bff7d27" + }, + "usd_path": "batch6/D00166 Colander/IsaacSim_assets_69fef8e0f3726e6ad0599f65/IsaacSim_asset_69fef8e0f3726e6ad0599f65.usd", + "usd_sha256": "d109321ffa8c5ea454c01a6e79b0421f7a9920354fc9f0bc1c416961e0f5e974", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2686093747615814, - 0.11830554902553558, - 0.20667463541030884 - ] + 0.26866500079631805, + 0.20673900097608566, + 0.11837399985051889 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d109321ffa8c5ea454c01a6e79b0421f7a9920354fc9f0bc1c416961e0f5e974", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.6 + "value_kg": 1.600000023841858, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d109321ffa8c5ea454c01a6e79b0421f7a9920354fc9f0bc1c416961e0f5e974", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.600000023841858, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 89, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d109321ffa8c5ea454c01a6e79b0421f7a9920354fc9f0bc1c416961e0f5e974", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 89, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d109321ffa8c5ea454c01a6e79b0421f7a9920354fc9f0bc1c416961e0f5e974", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "d109321ffa8c5ea454c01a6e79b0421f7a9920354fc9f0bc1c416961e0f5e974", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:04.486114+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "9faff06011c51cfc6cd341d4cd61a7d7227c0ce5e384342d8f1a05ad4c2f71aa", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00167 Colander Bowl/IsaacSim_assets_69fef909f3726e6ad059f66b/physics_69fef909f3726e6ad059f66b.json b/batch6/D00167 Colander Bowl/IsaacSim_assets_69fef909f3726e6ad059f66b/physics_69fef909f3726e6ad059f66b.json index 913c2b7e1a69c9ca8608902eafb63437a82a0107..35f0feff128a3aa236d825b50f3a25353690c6dc 100644 --- a/batch6/D00167 Colander Bowl/IsaacSim_assets_69fef909f3726e6ad059f66b/physics_69fef909f3726e6ad059f66b.json +++ b/batch6/D00167 Colander Bowl/IsaacSim_assets_69fef909f3726e6ad059f66b/physics_69fef909f3726e6ad059f66b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1330542266368866, - 0.12949663400650024, - 0.10729615390300751 - ], "min": [ - -0.1332164704799652, - 0.0, - -0.10769655555486679 + -0.13317100703716278, + -0.10741999745368958, + -3.5000000934815034e-05 + ], + "max": [ + 0.1331930011510849, + 0.10765700042247772, + 0.1295129954814911 ], "size": [ - 0.2662706971168518, - 0.12949663400650024, - 0.2149927094578743 - ] + 0.2663640081882477, + 0.2150769978761673, + 0.1295479954824259 + ], + "units": "m" }, "description": "A white glazed ceramic colander with a deep perforated bowl, rounded rim, loop side handles, and a raised foot ring. The surface is smooth and glossy with regularly spaced drainage holes through the lower bowl.", "name": "D00167 Colander Bowl", "object_type": "rigid_bodies", - "total_mass": 1.25 + "total_mass": 1.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00167", "parts": [ { "bounds": { - "center": [ - -8.057270197237999e-05, - 0.06805682878171129, - -0.00019931227866891652 + "min": [ + -0.13317100703716278, + -0.10741999745368958, + -3.5000000934815034e-05 ], "max": [ - 0.1330542266368866, - 0.12949663400650024, - 0.10729615390300751 + 0.1331930011510849, + 0.10765700042247772, + 0.1295129954814911 ], - "min": [ - -0.1332164704799652, - 0.0, - -0.10769655555486679 - ] + "size": [ + 0.2663640081882477, + 0.2150769978761673, + 0.1295479954824259 + ], + "units": "m" }, "center_of_mass": [ -3.116017409945104e-05, @@ -67,10 +73,27 @@ "object_name": "D00167 Colander Bowl", "part_name": "D00167 Colander Bowl" }, - "volume": 0.0006031793488751037 + "volume": 0.0006031793488751037, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6f2925199f8ad74f7b9cc78a4fdb03e8d2514101df1513c70f32aeb8409bf3d5" + }, + "usd_path": "batch6/D00167 Colander Bowl/IsaacSim_assets_69fef909f3726e6ad059f66b/IsaacSim_asset_69fef909f3726e6ad059f66b.usd", + "usd_sha256": "6dc60bd18a028ce939ee4139a358b0c4ded038c1ce4eef1df829e070f720d013", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2662706971168518, - 0.12949663400650024, - 0.2149927094578743 - ] + 0.2663640081882477, + 0.2150769978761673, + 0.1295479954824259 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6dc60bd18a028ce939ee4139a358b0c4ded038c1ce4eef1df829e070f720d013", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.25 + "value_kg": 1.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6dc60bd18a028ce939ee4139a358b0c4ded038c1ce4eef1df829e070f720d013", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 81, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6dc60bd18a028ce939ee4139a358b0c4ded038c1ce4eef1df829e070f720d013", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 81, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6dc60bd18a028ce939ee4139a358b0c4ded038c1ce4eef1df829e070f720d013", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "6dc60bd18a028ce939ee4139a358b0c4ded038c1ce4eef1df829e070f720d013", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:38:46.120143+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "48e61e0c65acf300ca64a1d9d6d728042ade0b1f543bc53f07e42aa5b303f372", + "qualification": "native-fleet-evidence/shard-00/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00325 Fruit Dumplings/IsaacSim_assets_69f56f77431507ff7ce58ed7/physics_69f56f77431507ff7ce58ed7.json b/batch6/D00325 Fruit Dumplings/IsaacSim_assets_69f56f77431507ff7ce58ed7/physics_69f56f77431507ff7ce58ed7.json index c89a01f48bf84ff18e38ee20a61a247c59d0f4c8..78df7e9c2ebe2f31ae62da14d76b868ad0e4ae5a 100644 --- a/batch6/D00325 Fruit Dumplings/IsaacSim_assets_69f56f77431507ff7ce58ed7/physics_69f56f77431507ff7ce58ed7.json +++ b/batch6/D00325 Fruit Dumplings/IsaacSim_assets_69f56f77431507ff7ce58ed7/physics_69f56f77431507ff7ce58ed7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.040007054805755615, - 0.05202106013894081, - 0.03126917779445648 - ], "min": [ - -0.039309944957494736, - -1.939955836860463e-06, - -0.046377819031476974 + -0.04628099873661995, + -0.036917999386787415, + 1.9999999949504854e-06 + ], + "max": [ + 0.04241500049829483, + 0.047572001814842224, + 0.057698000222444534 ], "size": [ - 0.07931699976325035, - 0.05202300009477767, - 0.07764699682593346 - ] + 0.08869599923491478, + 0.08449000120162964, + 0.057696000222449584 + ], + "units": "m" }, "description": "A spherical dough pastry coated in textured crumbs, split open to reveal an orange fruit filling. The thick, pale interior dough contrasts with the bright, wrinkled apricot half nestled inside.", "name": "D00325 Fruit Dumplings", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00325", "parts": [ { "bounds": { - "center": [ - 0.0005014420908251891, - 0.020718946635544893, - -0.006913914541435821 + "min": [ + -0.04628099873661995, + -0.036917999386787415, + 1.9999999949504854e-06 ], "max": [ - 0.040007054805755615, - 0.05202106013894081, - 0.03126917779445648 + 0.04241500049829483, + 0.047572001814842224, + 0.057698000222444534 ], - "min": [ - -0.039309944957494736, - -1.939955836860463e-06, - -0.046377819031476974 - ] + "size": [ + 0.08869599923491478, + 0.08449000120162964, + 0.057696000222449584 + ], + "units": "m" }, "center_of_mass": [ -0.001166539310936016, @@ -59,7 +65,7 @@ 0.00012135011000527312, 0.0001597674344611421 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "cooked_dough_with_crumb_coating", "name": "D00325 Fruit Dumplings", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00325 Fruit Dumplings", "part_name": "D00325 Fruit Dumplings" }, - "volume": 0.00025037697012050136 + "volume": 0.00025037697012050136, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0d970fa64da173eb4fc2efdd32236c2b0e9daf640e07cc9bbd7296cdda1ae552" + }, + "usd_path": "batch6/D00325 Fruit Dumplings/IsaacSim_assets_69f56f77431507ff7ce58ed7/IsaacSim_asset_69f56f77431507ff7ce58ed7.usd", + "usd_sha256": "a51584e16c425b04d23cab57f7a034f9ce78a7d5ff8d2069551a41de3f9cc05e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.07931699976325035, - 0.05202300009477767, - 0.07764699682593346 - ] + 0.08869599923491478, + 0.08449000120162964, + 0.057696000222449584 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a51584e16c425b04d23cab57f7a034f9ce78a7d5ff8d2069551a41de3f9cc05e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a51584e16c425b04d23cab57f7a034f9ce78a7d5ff8d2069551a41de3f9cc05e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 68, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a51584e16c425b04d23cab57f7a034f9ce78a7d5ff8d2069551a41de3f9cc05e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 68, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a51584e16c425b04d23cab57f7a034f9ce78a7d5ff8d2069551a41de3f9cc05e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00425 K Plant/IsaacSim_assets_69f831b0d09344200f21f6ea/physics_69f831b0d09344200f21f6ea.json b/batch6/D00425 K Plant/IsaacSim_assets_69f831b0d09344200f21f6ea/physics_69f831b0d09344200f21f6ea.json index 178988de139b4aa76669b91ba2d939eab8bf27b2..2cde753059e06a827f2f62173e1970dacc96320b 100644 --- a/batch6/D00425 K Plant/IsaacSim_assets_69f831b0d09344200f21f6ea/physics_69f831b0d09344200f21f6ea.json +++ b/batch6/D00425 K Plant/IsaacSim_assets_69f831b0d09344200f21f6ea/physics_69f831b0d09344200f21f6ea.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07920296490192413, - 0.14971612393856049, - 0.02724382095038891 - ], "min": [ - -0.05925603583455086, - 3.12399197355262e-06, - -0.029084177687764168 + -0.06746800243854523, + -0.03302200138568878, + -2.300000051036477e-05 + ], + "max": [ + 0.09663300216197968, + 0.03960200026631355, + 0.173895001411438 ], "size": [ - 0.138459000736475, - 0.14971299994658693, - 0.056327998638153076 - ] + 0.1641010046005249, + 0.07262400165200233, + 0.17391800141194835 + ], + "units": "m" }, "description": "A matte light green decorative object shaped like the letter 'K', featuring tree-like branch structures at the top and root-like formations at the base.", "name": "D00425 Botanical Letter K Figurine", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00425", "parts": [ { "bounds": { - "center": [ - 0.0038582850591588015, - 0.06397964643342491, - -0.00011669158109475077 + "min": [ + -0.06746800243854523, + -0.03302200138568878, + -2.300000051036477e-05 ], "max": [ - 0.07920296490192413, - 0.14971612393856049, - 0.02724382095038891 + 0.09663300216197968, + 0.03960200026631355, + 0.173895001411438 ], - "min": [ - -0.05925603583455086, - 3.12399197355262e-06, - -0.029084177687764168 - ] + "size": [ + 0.1641010046005249, + 0.07262400165200233, + 0.17391800141194835 + ], + "units": "m" }, "center_of_mass": [ 0.004415438077844815, @@ -59,7 +65,7 @@ 0.002173792352171637, 0.0033219750656715225 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "ceramic", "name": "D00425 K Plant", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00425 K Plant", "part_name": "D00425 K Plant" }, - "volume": 0.0003498461652445276 + "volume": 0.0003498461652445276, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a8f8071e72e723aa448410bc06d0748d601a40ca5eb4ac0ce2c767f5e2844e09" + }, + "usd_path": "batch6/D00425 K Plant/IsaacSim_assets_69f831b0d09344200f21f6ea/IsaacSim_asset_69f831b0d09344200f21f6ea.usd", + "usd_sha256": "5d6c2717c722a3d615828a1fa6a9b7de6c2709238afcfe450d357d281044ee58", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.138459000736475, - 0.14971299994658693, - 0.056327998638153076 - ] + 0.1641010046005249, + 0.07262400165200233, + 0.17391800141194835 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d6c2717c722a3d615828a1fa6a9b7de6c2709238afcfe450d357d281044ee58", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d6c2717c722a3d615828a1fa6a9b7de6c2709238afcfe450d357d281044ee58", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 89, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d6c2717c722a3d615828a1fa6a9b7de6c2709238afcfe450d357d281044ee58", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 89, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5d6c2717c722a3d615828a1fa6a9b7de6c2709238afcfe450d357d281044ee58", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00464 Kitchen Spoon/IsaacSim_assets_69f5da6b431507ff7cf879db/physics_69f5da6b431507ff7cf879db.json b/batch6/D00464 Kitchen Spoon/IsaacSim_assets_69f5da6b431507ff7cf879db/physics_69f5da6b431507ff7cf879db.json index ab09c7eb27e9b944e5a1d6742d58507213eb7f18..e68a34eb44057730fc8981f37e6834bfccce7f3d 100644 --- a/batch6/D00464 Kitchen Spoon/IsaacSim_assets_69f5da6b431507ff7cf879db/physics_69f5da6b431507ff7cf879db.json +++ b/batch6/D00464 Kitchen Spoon/IsaacSim_assets_69f5da6b431507ff7cf879db/physics_69f5da6b431507ff7cf879db.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12865136563777924, - 0.026142677292227745, - 0.018462324514985085 - ], "min": [ -0.09070099890232086, - -0.025968927890062332, - -1.700359098322224e-05 + -0.025967000052332878, + -1.700000029813964e-05 + ], + "max": [ + 0.1286430060863495, + 0.026139000430703163, + 0.018456999212503433 ], "size": [ - 0.2193523645401001, - 0.05211160518229008, - 0.018479328105968307 - ] + 0.21934400498867035, + 0.05210600048303604, + 0.018473999212801573 + ], + "units": "m" }, "description": "A spoon featuring a brushed metal bowl and a smooth, tapered wooden handle.", "name": "D00464 Kitchen Spoon", "object_type": "rigid_bodies", - "total_mass": 0.05 + "total_mass": 0.05000000074505806, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00464", "parts": [ { "bounds": { - "center": [ - 0.0025222117723154515, - 6.478623971117943e-05, - 0.007700345339549263 + "min": [ + -0.09070099890232086, + -0.025967000052332878, + -1.700000029813964e-05 ], "max": [ - 0.12865136563777924, - 0.026142677292227745, - 0.018462324514985085 + 0.1286430060863495, + 0.026139000430703163, + 0.018456999212503433 ], - "min": [ - -0.09070099890232086, - -0.025968927890062332, - -1.700359098322224e-05 - ] + "size": [ + 0.21934400498867035, + 0.05210600048303604, + 0.018473999212801573 + ], + "units": "m" }, "center_of_mass": [ 0.03827811243278222, @@ -59,7 +65,7 @@ 0.00018901134030470255, 0.0001907650962686906 ], - "mass": 0.05, + "mass": 0.05000000074505806, "material": "wood", "name": "D00464 Kitchen Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00464 Kitchen Spoon", "part_name": "D00464 Kitchen Spoon" }, - "volume": 2.7909701578603098e-05 + "volume": 2.7909701578603098e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f6e3f076079e81b0c2216b907d3a12b79096ceaf1394485a415302466ec85526" + }, + "usd_path": "batch6/D00464 Kitchen Spoon/IsaacSim_assets_69f5da6b431507ff7cf879db/IsaacSim_asset_69f5da6b431507ff7cf879db.usd", + "usd_sha256": "114b00fa2e14d0eb2d2d3ca90841ef5b465159c76d73dd9b22f9ff222869cc37", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2193523645401001, - 0.05211160518229008, - 0.018479328105968307 - ] + 0.21934400498867035, + 0.05210600048303604, + 0.018473999212801573 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "114b00fa2e14d0eb2d2d3ca90841ef5b465159c76d73dd9b22f9ff222869cc37", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.05 + "value_kg": 0.05000000074505806, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "114b00fa2e14d0eb2d2d3ca90841ef5b465159c76d73dd9b22f9ff222869cc37", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05000000074505806, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "114b00fa2e14d0eb2d2d3ca90841ef5b465159c76d73dd9b22f9ff222869cc37", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "114b00fa2e14d0eb2d2d3ca90841ef5b465159c76d73dd9b22f9ff222869cc37", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00483 Lad Spoon/IsaacSim_assets_69f5decb431507ff7cf9c384/physics_69f5decb431507ff7cf9c384.json b/batch6/D00483 Lad Spoon/IsaacSim_assets_69f5decb431507ff7cf9c384/physics_69f5decb431507ff7cf9c384.json index 09d5f2d65caaa12f2ff7595ea3517d4fd3988e0a..ceed7f929b31c8949ec013c5dda61e93efddb3ec 100644 --- a/batch6/D00483 Lad Spoon/IsaacSim_assets_69f5decb431507ff7cf9c384/physics_69f5decb431507ff7cf9c384.json +++ b/batch6/D00483 Lad Spoon/IsaacSim_assets_69f5decb431507ff7cf9c384/physics_69f5decb431507ff7cf9c384.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.19132983684539795, - 0.053821735084056854, - 0.04177146777510643 - ], "min": [ - -0.1317427009344101, - -0.05346754193305969, - -4.929514761897735e-05 + -0.13174299895763397, + -0.0534680001437664, + -4.999999873689376e-05 + ], + "max": [ + 0.19132499396800995, + 0.053821999579668045, + 0.04177499935030937 ], "size": [ - 0.32307253777980804, - 0.10728927701711655, - 0.04182076292272541 - ] + 0.3230679929256439, + 0.10728999972343445, + 0.041824999349046266 + ], + "units": "m" }, "description": "A solid metal serving spoon with a wide, shallow bowl and a thick, tapered handle. The handle features a brushed silver finish and terminates in a curled, hook-like end.", "name": "D00483 Lad Spoon", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00483", "parts": [ { "bounds": { - "center": [ - -0.0006906062133039571, - 0.00015990570338612583, - 0.01965703637547296 + "min": [ + -0.13174299895763397, + -0.0534680001437664, + -4.999999873689376e-05 ], "max": [ - 0.19132983684539795, - 0.053821735084056854, - 0.04177146777510643 + 0.19132499396800995, + 0.053821999579668045, + 0.04177499935030937 ], - "min": [ - -0.1317427009344101, - -0.05346754193305969, - -4.929514761897735e-05 - ] + "size": [ + 0.3230679929256439, + 0.10728999972343445, + 0.041824999349046266 + ], + "units": "m" }, "center_of_mass": [ 0.009095914871139652, @@ -59,7 +65,7 @@ 0.0009709547632553407, 0.001014791422304038 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "stainless_steel", "name": "D00483 Lad Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00483 Lad Spoon", "part_name": "D00483 Lad Spoon" }, - "volume": 0.0006398474445889399 + "volume": 0.0006398474445889399, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "446d90241c3db14bc618d378fde4e82f71dadc49b9187163824741dc8a806008" + }, + "usd_path": "batch6/D00483 Lad Spoon/IsaacSim_assets_69f5decb431507ff7cf9c384/IsaacSim_asset_69f5decb431507ff7cf9c384.usd", + "usd_sha256": "ac07e50bd2887b8795a553f2592ac11a435c6289ba4bffdd6124bc421c7da4c3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.32307253777980804, - 0.10728927701711655, - 0.04182076292272541 - ] + 0.3230679929256439, + 0.10728999972343445, + 0.041824999349046266 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ac07e50bd2887b8795a553f2592ac11a435c6289ba4bffdd6124bc421c7da4c3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ac07e50bd2887b8795a553f2592ac11a435c6289ba4bffdd6124bc421c7da4c3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 18, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ac07e50bd2887b8795a553f2592ac11a435c6289ba4bffdd6124bc421c7da4c3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 18, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ac07e50bd2887b8795a553f2592ac11a435c6289ba4bffdd6124bc421c7da4c3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00494 Lid/IsaacSim_assets_69f5e28d431507ff7cfad57b/physics_69f5e28d431507ff7cfad57b.json b/batch6/D00494 Lid/IsaacSim_assets_69f5e28d431507ff7cfad57b/physics_69f5e28d431507ff7cfad57b.json index b1b3e845c31e834b454a22f1268023239a491614..d93712deb6f416d44743ce008fef5eb3f5762281 100644 --- a/batch6/D00494 Lid/IsaacSim_assets_69f5e28d431507ff7cfad57b/physics_69f5e28d431507ff7cfad57b.json +++ b/batch6/D00494 Lid/IsaacSim_assets_69f5e28d431507ff7cfad57b/physics_69f5e28d431507ff7cfad57b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14888834953308105, - 0.14899560809135437, - 0.10188452899456024 - ], "min": [ - -0.1499808132648468, - -0.14914293587207794, - -0.00013468337419908494 + -0.14998100697994232, + -0.14914199709892273, + -8.600000001024455e-05 + ], + "max": [ + 0.14888699352741241, + 0.1489969938993454, + 0.10189200192689896 ], "size": [ - 0.29886916279792786, - 0.2981385439634323, - 0.10201921236875933 - ] + 0.29886800050735474, + 0.2981389909982681, + 0.1019780019269092 + ], + "units": "m" }, "description": "A circular, brushed stainless steel pot lid featuring a raised dome, a flat rim, and an arched metal handle attached by two top rivets.", "name": "D00494 Lid", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00494", "parts": [ { "bounds": { - "center": [ - -0.0005277136447685659, - -0.00013435147290538315, - 0.021529495033194155 + "min": [ + -0.14998100697994232, + -0.14914199709892273, + -8.600000001024455e-05 ], "max": [ - 0.14888834953308105, - 0.14899560809135437, - 0.10188452899456024 + 0.14888699352741241, + 0.1489969938993454, + 0.10189200192689896 ], - "min": [ - -0.1499808132648468, - -0.14914293587207794, - -0.00013468337419908494 - ] + "size": [ + 0.29886800050735474, + 0.2981389909982681, + 0.1019780019269092 + ], + "units": "m" }, "center_of_mass": [ -0.0005006292458516133, @@ -59,7 +65,7 @@ 0.0018505535898261439, 0.003253772491580415 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "stainless_steel", "name": "D00494 Lid", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00494 Lid", "part_name": "D00494 Lid" }, - "volume": 0.0034609757336545185 + "volume": 0.0034609757336545185, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a36a74d8372a0fa58331da754bb4f065dc14ac6284896a1a84a9e0502f97ef47" + }, + "usd_path": "batch6/D00494 Lid/IsaacSim_assets_69f5e28d431507ff7cfad57b/IsaacSim_asset_69f5e28d431507ff7cfad57b.usd", + "usd_sha256": "88cf3a83036bfc9ba0c6d02266e7204532799a56553048ba4bf68774c63ff50e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.29886916279792786, - 0.2981385439634323, - 0.10201921236875933 - ] + 0.29886800050735474, + 0.2981389909982681, + 0.1019780019269092 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "88cf3a83036bfc9ba0c6d02266e7204532799a56553048ba4bf68774c63ff50e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "88cf3a83036bfc9ba0c6d02266e7204532799a56553048ba4bf68774c63ff50e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "88cf3a83036bfc9ba0c6d02266e7204532799a56553048ba4bf68774c63ff50e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "88cf3a83036bfc9ba0c6d02266e7204532799a56553048ba4bf68774c63ff50e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00515 Metal Strainer/IsaacSim_assets_69f5ea50431507ff7cfd0374/physics_69f5ea50431507ff7cfd0374.json b/batch6/D00515 Metal Strainer/IsaacSim_assets_69f5ea50431507ff7cfd0374/physics_69f5ea50431507ff7cfd0374.json index 0c1f6eb457076a111fc0b63d4faacde55eb6a152..03d122efafff2d4ae5931ce57cb9368fa051b7b1 100644 --- a/batch6/D00515 Metal Strainer/IsaacSim_assets_69f5ea50431507ff7cfd0374/physics_69f5ea50431507ff7cfd0374.json +++ b/batch6/D00515 Metal Strainer/IsaacSim_assets_69f5ea50431507ff7cfd0374/physics_69f5ea50431507ff7cfd0374.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10341215133666992, - 0.08235824853181839, - 0.09216070175170898 - ], "min": [ - -0.1035790741443634, - -0.08174806833267212, - -6.323059642454609e-05 + -0.10357899963855743, + -0.08174999803304672, + -6.199999916134402e-05 + ], + "max": [ + 0.10340700298547745, + 0.08235599845647812, + 0.09215900301933289 ], "size": [ - 0.20699122548103333, - 0.1641063168644905, - 0.09222393234813353 - ] + 0.20698600262403488, + 0.16410599648952484, + 0.09222100301849423 + ], + "units": "m" }, "description": "An off-white ceramic colander with evenly spaced holes, two looped handles, and a flat base. The surface appears smooth with a slight speckled texture.", "name": "D00515 Metal Strainer", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00515", "parts": [ { "bounds": { - "center": [ - -2.263853561750005e-05, - 0.00010621186213377851, - 0.04613367657968897 + "min": [ + -0.10357899963855743, + -0.08174999803304672, + -6.199999916134402e-05 ], "max": [ - 0.10341215133666992, - 0.08235824853181839, - 0.09216070175170898 + 0.10340700298547745, + 0.08235599845647812, + 0.09215900301933289 ], - "min": [ - -0.1035790741443634, - -0.08174806833267212, - -6.323059642454609e-05 - ] + "size": [ + 0.20698600262403488, + 0.16410599648952484, + 0.09222100301849423 + ], + "units": "m" }, "center_of_mass": [ -0.0004194893398076734, @@ -59,7 +65,7 @@ 0.003839208062136021, 0.005250376106773382 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "ceramic", "name": "D00515 Metal Strainer", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00515 Metal Strainer", "part_name": "D00515 Metal Strainer" }, - "volume": 0.00026430971055207904 + "volume": 0.00026430971055207904, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3fb23738e68ce07545abb36f152075617f04b320bf4ee24a8cca780cc3736f45" + }, + "usd_path": "batch6/D00515 Metal Strainer/IsaacSim_assets_69f5ea50431507ff7cfd0374/IsaacSim_asset_69f5ea50431507ff7cfd0374.usd", + "usd_sha256": "7d003694d8594bd3782c3b68f515ad86e2a97608ffea969e0c613eb23b98e51f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.20699122548103333, - 0.1641063168644905, - 0.09222393234813353 - ] + 0.20698600262403488, + 0.16410599648952484, + 0.09222100301849423 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d003694d8594bd3782c3b68f515ad86e2a97608ffea969e0c613eb23b98e51f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d003694d8594bd3782c3b68f515ad86e2a97608ffea969e0c613eb23b98e51f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 77, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d003694d8594bd3782c3b68f515ad86e2a97608ffea969e0c613eb23b98e51f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 77, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d003694d8594bd3782c3b68f515ad86e2a97608ffea969e0c613eb23b98e51f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00531 Mint/IsaacSim_assets_69f5ef83431507ff7cfe7ec1/physics_69f5ef83431507ff7cfe7ec1.json b/batch6/D00531 Mint/IsaacSim_assets_69f5ef83431507ff7cfe7ec1/physics_69f5ef83431507ff7cfe7ec1.json index ef811c2559b1a658c75da8e1a629c5c538b8614f..d4b0ecc797ca95ad0858eb90445e78226347c13c 100644 --- a/batch6/D00531 Mint/IsaacSim_assets_69f5ef83431507ff7cfe7ec1/physics_69f5ef83431507ff7cfe7ec1.json +++ b/batch6/D00531 Mint/IsaacSim_assets_69f5ef83431507ff7cfe7ec1/physics_69f5ef83431507ff7cfe7ec1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05966700613498688, - 0.08115504682064056, - 0.12885697185993195 - ], "min": [ -0.0749180018901825, -0.05346199870109558, 7.999999979801942e-06 ], + "max": [ + 0.05966699868440628, + 0.08115500211715698, + 0.12885700166225433 + ], "size": [ - 0.13458500802516937, - 0.13461704552173615, - 0.12884897185995214 - ] + 0.13458500057458878, + 0.13461700081825256, + 0.12884900166227453 + ], + "units": "m" }, "description": "A sprig of fresh mint with bright green, textured leaves and a slightly fuzzy stem.", "name": "D00531 Mint", "object_type": "rigid_bodies", - "total_mass": 0.002 + "total_mass": 0.0020000000949949026, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00531", "parts": [ { "bounds": { - "center": [ - -0.000631512945085146, - 0.0005864957324822279, - 0.06757843882850603 - ], - "max": [ - 0.05966700613498688, - 0.08115504682064056, - 0.12885697185993195 - ], "min": [ -0.0749180018901825, -0.05346199870109558, 7.999999979801942e-06 - ] + ], + "max": [ + 0.05966699868440628, + 0.08115500211715698, + 0.12885700166225433 + ], + "size": [ + 0.13458500057458878, + 0.13461700081825256, + 0.12884900166227453 + ], + "units": "m" }, "center_of_mass": [ -0.0007252221746333177, @@ -59,7 +65,7 @@ 2.81318598213912e-06, 3.1038870159917062e-06 ], - "mass": 0.002, + "mass": 0.0020000000949949026, "material": "plant_matter", "name": "D00531 Mint", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00531 Mint", "part_name": "D00531 Mint" }, - "volume": 0.0008046612059553512 + "volume": 0.0008046612059553512, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "75d6a27d8a93d296c1fcf5ac92bedb27ff2eeabb05efc3d1fb795ebf4d5a367c" + }, + "usd_path": "batch6/D00531 Mint/IsaacSim_assets_69f5ef83431507ff7cfe7ec1/IsaacSim_asset_69f5ef83431507ff7cfe7ec1.usd", + "usd_sha256": "6592472dd893740bd5d346e48ee966079e13342a09f500a15c0db1f8e789d912", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.13458500802516937, - 0.13461704552173615, - 0.12884897185995214 - ] + 0.13458500057458878, + 0.13461700081825256, + 0.12884900166227453 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6592472dd893740bd5d346e48ee966079e13342a09f500a15c0db1f8e789d912", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.002 + "value_kg": 0.0020000000949949026, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6592472dd893740bd5d346e48ee966079e13342a09f500a15c0db1f8e789d912", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.0020000000949949026, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 101, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6592472dd893740bd5d346e48ee966079e13342a09f500a15c0db1f8e789d912", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 101, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6592472dd893740bd5d346e48ee966079e13342a09f500a15c0db1f8e789d912", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00537 Muffin Cookie/IsaacSim_assets_69f5f1d5431507ff7cff2a48/physics_69f5f1d5431507ff7cff2a48.json b/batch6/D00537 Muffin Cookie/IsaacSim_assets_69f5f1d5431507ff7cff2a48/physics_69f5f1d5431507ff7cff2a48.json index 2c989d32528bc58535e6d80296a623a0e8959fc4..de752b2920387ed010a353e71a394d71b658d640 100644 --- a/batch6/D00537 Muffin Cookie/IsaacSim_assets_69f5f1d5431507ff7cff2a48/physics_69f5f1d5431507ff7cff2a48.json +++ b/batch6/D00537 Muffin Cookie/IsaacSim_assets_69f5f1d5431507ff7cff2a48/physics_69f5f1d5431507ff7cff2a48.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.028810007497668266, - 0.029472148045897484, - 0.04283197596669197 - ], "min": [ - -0.029254013672471046, - -0.02863897755742073, - -4.043607259518467e-05 + -0.029253000393509865, + -0.028636999428272247, + -3.300000025774352e-05 + ], + "max": [ + 0.028811000287532806, + 0.02947000041604042, + 0.04283199831843376 ], "size": [ - 0.05806402117013931, - 0.058111125603318214, - 0.042872412039287155 - ] + 0.05806400068104267, + 0.05810699984431267, + 0.042864998318691505 + ], + "units": "m" }, "description": "A large baked muffin with a textured, crumbly top studded with chocolate chunks. The base is encased in a fluted, grey metallic baking cup.", "name": "D00537 Muffin Cookie", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00537", "parts": [ { "bounds": { - "center": [ - 0.00011509876754285729, - 0.00037048495399754315, - 0.023115455664424526 + "min": [ + -0.029253000393509865, + -0.028636999428272247, + -3.300000025774352e-05 ], "max": [ - 0.028810007497668266, - 0.029472148045897484, - 0.04283197596669197 + 0.028811000287532806, + 0.02947000041604042, + 0.04283199831843376 ], - "min": [ - -0.029254013672471046, - -0.02863897755742073, - -4.043607259518467e-05 - ] + "size": [ + 0.05806400068104267, + 0.05810699984431267, + 0.042864998318691505 + ], + "units": "m" }, "center_of_mass": [ 5.2688067899557234e-05, @@ -59,7 +65,7 @@ 4.0478319466563305e-05, 4.675379638762759e-05 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "porous_organic_solid", "name": "D00537 Muffin Cookie", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00537 Muffin Cookie", "part_name": "D00537 Muffin Cookie" }, - "volume": 7.517348080806912e-05 + "volume": 7.517348080806912e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8f7d84e838cfc97b7c8cf8310a1bc2cdf0484e358b5c81c4b54e63357dcc3856" + }, + "usd_path": "batch6/D00537 Muffin Cookie/IsaacSim_assets_69f5f1d5431507ff7cff2a48/IsaacSim_asset_69f5f1d5431507ff7cff2a48.usd", + "usd_sha256": "8abba8add98c41be64fe280251e813a1985c95e63fa242020587ce10674b0371", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.05806402117013931, - 0.058111125603318214, - 0.042872412039287155 - ] + 0.05806400068104267, + 0.05810699984431267, + 0.042864998318691505 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8abba8add98c41be64fe280251e813a1985c95e63fa242020587ce10674b0371", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8abba8add98c41be64fe280251e813a1985c95e63fa242020587ce10674b0371", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 84, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8abba8add98c41be64fe280251e813a1985c95e63fa242020587ce10674b0371", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 84, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8abba8add98c41be64fe280251e813a1985c95e63fa242020587ce10674b0371", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00544 Mug Glass/IsaacSim_assets_69f5f49b431507ff7cfff3f1/physics_69f5f49b431507ff7cfff3f1.json b/batch6/D00544 Mug Glass/IsaacSim_assets_69f5f49b431507ff7cfff3f1/physics_69f5f49b431507ff7cfff3f1.json index e7fad812d95c52edf4d0cba810c4d61890da6e7b..2c3d270e9f140c9fddba8456daf0f8e44dbae37d 100644 --- a/batch6/D00544 Mug Glass/IsaacSim_assets_69f5f49b431507ff7cfff3f1/physics_69f5f49b431507ff7cfff3f1.json +++ b/batch6/D00544 Mug Glass/IsaacSim_assets_69f5f49b431507ff7cfff3f1/physics_69f5f49b431507ff7cfff3f1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0547223761677742, - 0.03391989693045616, - 0.07781854271888733 - ], "min": [ - -0.03901118412613869, - -0.03401007130742073, - -9.231484727934003e-05 + -0.03900900110602379, + -0.03401700034737587, + -9.899999713525176e-05 + ], + "max": [ + 0.054721999913454056, + 0.033911000937223434, + 0.07781299948692322 ], "size": [ - 0.09373356029391289, - 0.06792996823787689, - 0.07791085756616667 - ] + 0.09373100101947784, + 0.0679280012845993, + 0.07791199948405847 + ], + "units": "m" }, "description": "A matte white ceramic coffee mug with a cylindrical body and a C-shaped handle.", "name": "D00544 Mug Glass", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.3499999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00544", "parts": [ { "bounds": { - "center": [ - -0.0024228184682698714, - -5.019265883551864e-05, - 0.03631398494663016 + "min": [ + -0.03900900110602379, + -0.03401700034737587, + -9.899999713525176e-05 ], "max": [ - 0.0547223761677742, - 0.03391989693045616, - 0.07781854271888733 + 0.054721999913454056, + 0.033911000937223434, + 0.07781299948692322 ], - "min": [ - -0.03901118412613869, - -0.03401007130742073, - -9.231484727934003e-05 - ] + "size": [ + 0.09373100101947784, + 0.0679280012845993, + 0.07791199948405847 + ], + "units": "m" }, "center_of_mass": [ -0.0023379734046859177, @@ -59,7 +65,7 @@ 0.00034457769481823137, 0.0003802262159633782 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "ceramic", "name": "D00544 Mug Glass", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00544 Mug Glass", "part_name": "D00544 Mug Glass" }, - "volume": 7.543735806943496e-05 + "volume": 7.543735806943496e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9b28fb0621786326406a12d1086116825415ee1ffc4bb1a2bb1fa2ec4543bbdc" + }, + "usd_path": "batch6/D00544 Mug Glass/IsaacSim_assets_69f5f49b431507ff7cfff3f1/IsaacSim_asset_69f5f49b431507ff7cfff3f1.usd", + "usd_sha256": "8da30f63d7ca4b2fb530b3309d56d4657cc566c40c725d585efb296d82c173b0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.09373356029391289, - 0.06792996823787689, - 0.07791085756616667 - ] + 0.09373100101947784, + 0.0679280012845993, + 0.07791199948405847 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8da30f63d7ca4b2fb530b3309d56d4657cc566c40c725d585efb296d82c173b0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.3499999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8da30f63d7ca4b2fb530b3309d56d4657cc566c40c725d585efb296d82c173b0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3499999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 54, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8da30f63d7ca4b2fb530b3309d56d4657cc566c40c725d585efb296d82c173b0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 54, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8da30f63d7ca4b2fb530b3309d56d4657cc566c40c725d585efb296d82c173b0", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00576 Orange Spatula/IsaacSim_assets_69f60233431507ff7c03d7be/physics_69f60233431507ff7c03d7be.json b/batch6/D00576 Orange Spatula/IsaacSim_assets_69f60233431507ff7c03d7be/physics_69f60233431507ff7c03d7be.json index 392b0514127c3cadbf223cb2a1e7c277a3fef662..60ca817b73bc0854859ec372fbeaaa2ef10aa195 100644 --- a/batch6/D00576 Orange Spatula/IsaacSim_assets_69f60233431507ff7c03d7be/physics_69f60233431507ff7c03d7be.json +++ b/batch6/D00576 Orange Spatula/IsaacSim_assets_69f60233431507ff7c03d7be/physics_69f60233431507ff7c03d7be.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1444290280342102, - 0.04263053089380264, - 0.026775116100907326 - ], "min": [ - -0.20108848810195923, - -0.04239783436059952, - -4.640469342120923e-05 + -0.20109300315380096, + -0.042399998754262924, + -4.8000001697801054e-05 + ], + "max": [ + 0.14441800117492676, + 0.04262999817728996, + 0.026775000616908073 ], "size": [ - 0.34551751613616943, - 0.08502836525440216, - 0.026821520794328535 - ] + 0.3455110043287277, + 0.08502999693155289, + 0.026823000618605874 + ], + "units": "m" }, "description": "A spatula with a cylindrical brushed stainless steel handle and a flat, flexible orange silicone head. The handle features a small metal hanging loop at the end.", "name": "D00576 Orange Spatula", "object_type": "rigid_bodies", - "total_mass": 0.15 + "total_mass": 0.15000000596046448, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00576", "parts": [ { "bounds": { - "center": [ - 0.0070013334689320765, - 8.868653724120336e-05, - 0.014047214461072606 + "min": [ + -0.20109300315380096, + -0.042399998754262924, + -4.8000001697801054e-05 ], "max": [ - 0.1444290280342102, - 0.04263053089380264, - 0.026775116100907326 + 0.14441800117492676, + 0.04262999817728996, + 0.026775000616908073 ], - "min": [ - -0.20108848810195923, - -0.04239783436059952, - -4.640469342120923e-05 - ] + "size": [ + 0.3455110043287277, + 0.08502999693155289, + 0.026823000618605874 + ], + "units": "m" }, "center_of_mass": [ -0.017026232603401362, @@ -59,7 +65,7 @@ 0.0010732810881826217, 0.001108717151387087 ], - "mass": 0.15, + "mass": 0.15000000596046448, "material": "silicone_rubber_and_stainless_steel", "name": "D00576 Orange Spatula", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00576 Orange Spatula", "part_name": "D00576 Orange Spatula" }, - "volume": 0.0003154807097895967 + "volume": 0.0003154807097895967, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "245795489009bd05d2db86c2be68808341122231560df47a4700f65b56c07525" + }, + "usd_path": "batch6/D00576 Orange Spatula/IsaacSim_assets_69f60233431507ff7c03d7be/IsaacSim_asset_69f60233431507ff7c03d7be.usd", + "usd_sha256": "8d6b911459959fc7bd4581ca65b34e176256ef770b95d904fd25e8c5cbd8b75d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.34551751613616943, - 0.08502836525440216, - 0.026821520794328535 - ] + 0.3455110043287277, + 0.08502999693155289, + 0.026823000618605874 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d6b911459959fc7bd4581ca65b34e176256ef770b95d904fd25e8c5cbd8b75d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.15 + "value_kg": 0.15000000596046448, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d6b911459959fc7bd4581ca65b34e176256ef770b95d904fd25e8c5cbd8b75d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.15000000596046448, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d6b911459959fc7bd4581ca65b34e176256ef770b95d904fd25e8c5cbd8b75d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8d6b911459959fc7bd4581ca65b34e176256ef770b95d904fd25e8c5cbd8b75d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00578 Pan/IsaacSim_assets_69f6049e431507ff7c04796a/physics_69f6049e431507ff7c04796a.json b/batch6/D00578 Pan/IsaacSim_assets_69f6049e431507ff7c04796a/physics_69f6049e431507ff7c04796a.json index 4efc934befec8b384e8f7da7d01eec2642b595bd..78983b6d3c051eddbe0cef5c076c5fe78c067850 100644 --- a/batch6/D00578 Pan/IsaacSim_assets_69f6049e431507ff7c04796a/physics_69f6049e431507ff7c04796a.json +++ b/batch6/D00578 Pan/IsaacSim_assets_69f6049e431507ff7c04796a/physics_69f6049e431507ff7c04796a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.20043115317821503, - 0.1062818169593811, - 0.0459236204624176 - ], "min": [ - -0.11769092828035355, - -0.10561344772577286, - -0.00035979540552943945 + -0.11768999695777893, + -0.10561399906873703, + -0.0003600000054575503 + ], + "max": [ + 0.2004310041666031, + 0.10628200322389603, + 0.045935001224279404 ], "size": [ - 0.3181220814585686, - 0.21189526468515396, - 0.04628341586794704 - ] + 0.318121001124382, + 0.21189600229263306, + 0.046295001229736954 + ], + "units": "m" }, "description": "A circular stainless steel frying pan with a brushed interior and a long, riveted metal handle.", "name": "D00578 Pan", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00578", "parts": [ { "bounds": { - "center": [ - -0.004429541843898784, - 0.00010602261597588531, - 0.013664945108385665 + "min": [ + -0.11768999695777893, + -0.10561399906873703, + -0.0003600000054575503 ], "max": [ - 0.20043115317821503, - 0.1062818169593811, - 0.0459236204624176 + 0.2004310041666031, + 0.10628200322389603, + 0.045935001224279404 ], - "min": [ - -0.11769092828035355, - -0.10561344772577286, - -0.00035979540552943945 - ] + "size": [ + 0.318121001124382, + 0.21189600229263306, + 0.046295001229736954 + ], + "units": "m" }, "center_of_mass": [ 0.008828731195337844, @@ -59,7 +65,7 @@ 0.005149543805783484, 0.00765307663214845 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "stainless_steel", "name": "D00578 Pan", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00578 Pan", "part_name": "D00578 Pan" }, - "volume": 0.0014046073610040905 + "volume": 0.0014046073610040905, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fa7398f454a9fe82940a56c5e2e79521b670bc79ec6568978c0b1f0ee54c8446" + }, + "usd_path": "batch6/D00578 Pan/IsaacSim_assets_69f6049e431507ff7c04796a/IsaacSim_asset_69f6049e431507ff7c04796a.usd", + "usd_sha256": "e34305214c00f65f0ac587705090b87ce9c7ecf0a9869ab04499ee232a8bbc3f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3181220814585686, - 0.21189526468515396, - 0.04628341586794704 - ] + 0.318121001124382, + 0.21189600229263306, + 0.046295001229736954 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e34305214c00f65f0ac587705090b87ce9c7ecf0a9869ab04499ee232a8bbc3f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e34305214c00f65f0ac587705090b87ce9c7ecf0a9869ab04499ee232a8bbc3f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 32, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e34305214c00f65f0ac587705090b87ce9c7ecf0a9869ab04499ee232a8bbc3f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 32, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e34305214c00f65f0ac587705090b87ce9c7ecf0a9869ab04499ee232a8bbc3f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00589 Par/IsaacSim_assets_69f86702d09344200f4a509a/physics_69f86702d09344200f4a509a.json b/batch6/D00589 Par/IsaacSim_assets_69f86702d09344200f4a509a/physics_69f86702d09344200f4a509a.json index 0ab05f91d3eefa9d73315e51b3735c468d861877..c69325f9f62c1b2a7518b70368b970531db6dd24 100644 --- a/batch6/D00589 Par/IsaacSim_assets_69f86702d09344200f4a509a/physics_69f86702d09344200f4a509a.json +++ b/batch6/D00589 Par/IsaacSim_assets_69f86702d09344200f4a509a/physics_69f86702d09344200f4a509a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.01346499565988779, - 0.058566849678754807, - 0.19310936331748962 - ], "min": [ - -0.013423004187643528, - -1.9149663785356097e-05, - -0.29102063179016113 + -0.2004760056734085, + -0.01512600015848875, + -7.000000096013537e-06 + ], + "max": [ + 0.11230599880218506, + 0.015331000089645386, + 0.04387899860739708 ], "size": [ - 0.02688799984753132, - 0.05858599934254016, - 0.48412999510765076 - ] + 0.31278200447559357, + 0.030457000248134136, + 0.04388599860749309 + ], + "units": "m" }, "description": "A fixed-blade knife featuring a dark steel blade, a polished wooden handle, and brass bolsters at both ends.", "name": "D00589 Fixed-Blade Hunting Knife", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00589", "parts": [ { "bounds": { - "center": [ - 6.487787388739803e-05, - 0.035555334045497426, - -0.07749148943619814 + "min": [ + -0.2004760056734085, + -0.01512600015848875, + -7.000000096013537e-06 ], "max": [ - 0.01346499565988779, - 0.058566849678754807, - 0.19310936331748962 + 0.11230599880218506, + 0.015331000089645386, + 0.04387899860739708 ], - "min": [ - -0.013423004187643528, - -1.9149663785356097e-05, - -0.29102063179016113 - ] + "size": [ + 0.31278200447559357, + 0.030457000248134136, + 0.04388599860749309 + ], + "units": "m" }, "center_of_mass": [ 0.0021944315645711916, @@ -67,10 +73,27 @@ "object_name": "D00589 Par", "part_name": "D00589 Par" }, - "volume": 0.00020573921497918455 + "volume": 0.00020573921497918455, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "59a3e4662a7ecb9cea77b47d1d28cbc0a4797fb9788eb012b6d6d91306557cb1" + }, + "usd_path": "batch6/D00589 Par/IsaacSim_assets_69f86702d09344200f4a509a/IsaacSim_asset_69f86702d09344200f4a509a.usd", + "usd_sha256": "7e5f37e5d4224d0bba2844091e7fae6615fd5a35ff07536f35af41e221bd727f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.02688799984753132, - 0.05858599934254016, - 0.48412999510765076 - ] + 0.31278200447559357, + 0.030457000248134136, + 0.04388599860749309 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7e5f37e5d4224d0bba2844091e7fae6615fd5a35ff07536f35af41e221bd727f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7e5f37e5d4224d0bba2844091e7fae6615fd5a35ff07536f35af41e221bd727f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 6, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7e5f37e5d4224d0bba2844091e7fae6615fd5a35ff07536f35af41e221bd727f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 6, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7e5f37e5d4224d0bba2844091e7fae6615fd5a35ff07536f35af41e221bd727f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch6/D00596 Pear/IsaacSim_assets_69f60bb0431507ff7c065743/physics_69f60bb0431507ff7c065743.json b/batch6/D00596 Pear/IsaacSim_assets_69f60bb0431507ff7c065743/physics_69f60bb0431507ff7c065743.json index 9f6bc483f19355c38dd6366c28b07e1a1989a754..92658153c2187a96d74b351515f4cc59eca7c8fe 100644 --- a/batch6/D00596 Pear/IsaacSim_assets_69f60bb0431507ff7c065743/physics_69f60bb0431507ff7c065743.json +++ b/batch6/D00596 Pear/IsaacSim_assets_69f60bb0431507ff7c065743/physics_69f60bb0431507ff7c065743.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.023648066446185112, - 0.02429901249706745, - 0.0770997703075409 - ], "min": [ - -0.023808013647794724, - -0.022944195196032524, - 2.09366153285373e-05 + -0.02380800060927868, + -0.022943999618291855, + 2.099999983329326e-05 + ], + "max": [ + 0.023643000051379204, + 0.024298999458551407, + 0.0771000012755394 ], "size": [ - 0.047456080093979836, - 0.047243207693099976, - 0.07707883369221236 - ] + 0.04745100066065788, + 0.04724299907684326, + 0.0770790012757061 + ], + "units": "m" }, "description": "A green, bulbous pear with a brown stem and a speckled, textured skin.", "name": "D00596 Pear", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00596", "parts": [ { "bounds": { - "center": [ - -3.5052552428599755e-05, - 0.00029513506224884976, - 0.025970426922974924 + "min": [ + -0.02380800060927868, + -0.022943999618291855, + 2.099999983329326e-05 ], "max": [ - 0.023648066446185112, - 0.02429901249706745, - 0.0770997703075409 + 0.023643000051379204, + 0.024298999458551407, + 0.0771000012755394 ], - "min": [ - -0.023808013647794724, - -0.022944195196032524, - 2.09366153285373e-05 - ] + "size": [ + 0.04745100066065788, + 0.04724299907684326, + 0.0770790012757061 + ], + "units": "m" }, "center_of_mass": [ 0.0007591701474372793, @@ -59,7 +65,7 @@ 6.679432770612497e-05, 6.789838267324556e-05 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "organic_matter", "name": "D00596 Pear", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00596 Pear", "part_name": "D00596 Pear" }, - "volume": 6.831328587191942e-05 + "volume": 6.831328587191942e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a58ba2511ba7253a7837e7af6e3b777085bd09fa36924e28f05c745ee45ae8b1" + }, + "usd_path": "batch6/D00596 Pear/IsaacSim_assets_69f60bb0431507ff7c065743/IsaacSim_asset_69f60bb0431507ff7c065743.usd", + "usd_sha256": "e95a6805f01cc95ea3f6d968fa5d50b0c820a54a23b0009081404a86a0ed2efd", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.047456080093979836, - 0.047243207693099976, - 0.07707883369221236 - ] + 0.04745100066065788, + 0.04724299907684326, + 0.0770790012757061 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e95a6805f01cc95ea3f6d968fa5d50b0c820a54a23b0009081404a86a0ed2efd", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e95a6805f01cc95ea3f6d968fa5d50b0c820a54a23b0009081404a86a0ed2efd", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 11, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e95a6805f01cc95ea3f6d968fa5d50b0c820a54a23b0009081404a86a0ed2efd", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 11, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e95a6805f01cc95ea3f6d968fa5d50b0c820a54a23b0009081404a86a0ed2efd", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00111 Carrot/IsaacSim_assets_69f2024c59057a93105a57aa/physics_69f2024c59057a93105a57aa.json b/batch7/D00111 Carrot/IsaacSim_assets_69f2024c59057a93105a57aa/physics_69f2024c59057a93105a57aa.json index 256142dd628d5cab0f5a8a5b2e44d8a73f47ed54..a39b907b918f7a37bd664bf1e65169502d351fdd 100644 --- a/batch7/D00111 Carrot/IsaacSim_assets_69f2024c59057a93105a57aa/physics_69f2024c59057a93105a57aa.json +++ b/batch7/D00111 Carrot/IsaacSim_assets_69f2024c59057a93105a57aa/physics_69f2024c59057a93105a57aa.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.058951009064912796, - 0.03229682520031929, - 0.01848353073000908 - ], "min": [ - -0.10581907629966736, - 0.0, - -0.020827582105994225 + -0.10581400245428085, + -0.014903999865055084, + -0.003495000069960952 + ], + "max": [ + 0.05894500017166138, + 0.01724899932742119, + 0.03579099848866463 ], "size": [ - 0.16477008536458015, - 0.03229682520031929, - 0.039311112836003304 - ] + 0.16475900262594223, + 0.03215299919247627, + 0.03928599855862558 + ], + "units": "m" }, "description": "A single raw carrot with a conical orange root and green leafy stems attached to the top.", "name": "D00111 Carrot", "object_type": "rigid_bodies", - "total_mass": 0.07 + "total_mass": 0.07000000029802322, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00111", "parts": [ { "bounds": { - "center": [ - -0.011655056848609058, - 0.015225586511712106, - -1.6612169302343598e-05 + "min": [ + -0.10581400245428085, + -0.014903999865055084, + -0.003495000069960952 ], "max": [ - 0.058951009064912796, - 0.03229682520031929, - 0.01848353073000908 + 0.05894500017166138, + 0.01724899932742119, + 0.03579099848866463 ], - "min": [ - -0.10581907629966736, - 0.0, - -0.020827582105994225 - ] + "size": [ + 0.16475900262594223, + 0.03215299919247627, + 0.03928599855862558 + ], + "units": "m" }, "center_of_mass": [ 0.0020070441991834912, @@ -59,7 +65,7 @@ 9.036373155915436e-05, 9.153738768860445e-05 ], - "mass": 0.07, + "mass": 0.07000000029802322, "material": "organic_fruit_tissue", "name": "D00111 Carrot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00111 Carrot", "part_name": "D00111 Carrot" }, - "volume": 8.062513000426273e-05 + "volume": 8.062513000426273e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9aa454f5f6bed0da9a7c545578b3864e278a880101ba87a8ac444a964351c590" + }, + "usd_path": "batch7/D00111 Carrot/IsaacSim_assets_69f2024c59057a93105a57aa/IsaacSim_asset_69f2024c59057a93105a57aa.usd", + "usd_sha256": "6c18484e7929199c43d3fa9845873063a35a0c34982115e79a8c871e3c6bd18a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.16477008536458015, - 0.03229682520031929, - 0.039311112836003304 - ] + 0.16475900262594223, + 0.03215299919247627, + 0.03928599855862558 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6c18484e7929199c43d3fa9845873063a35a0c34982115e79a8c871e3c6bd18a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.07 + "value_kg": 0.07000000029802322, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6c18484e7929199c43d3fa9845873063a35a0c34982115e79a8c871e3c6bd18a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07000000029802322, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 41, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6c18484e7929199c43d3fa9845873063a35a0c34982115e79a8c871e3c6bd18a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 41, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6c18484e7929199c43d3fa9845873063a35a0c34982115e79a8c871e3c6bd18a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "6c18484e7929199c43d3fa9845873063a35a0c34982115e79a8c871e3c6bd18a", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:10:59.130191+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "63743d2a3f6d7a2714198653045f3a1ff34121c83bf0f808a5b88563352f3450", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00130 Chopping Board/IsaacSim_assets_69f206cd59057a93105abe72/physics_69f206cd59057a93105abe72.json b/batch7/D00130 Chopping Board/IsaacSim_assets_69f206cd59057a93105abe72/physics_69f206cd59057a93105abe72.json index dd1335922690bae2ce697ebefe9885c776e8a95c..3ecccd7dc3e84ff12ca26b2e516aa2919f4a3419 100644 --- a/batch7/D00130 Chopping Board/IsaacSim_assets_69f206cd59057a93105abe72/physics_69f206cd59057a93105abe72.json +++ b/batch7/D00130 Chopping Board/IsaacSim_assets_69f206cd59057a93105abe72/physics_69f206cd59057a93105abe72.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16686199605464935, - 0.22043399512767792, - 0.04182099923491478 - ], "min": [ - -0.16919900476932526, - -0.21450099349021912, - -0.000534999999217689 + -0.17163300514221191, + -0.21099400520324707, + 3.999999989900971e-06 + ], + "max": [ + 0.16921600699424744, + 0.21787400543689728, + 0.04696299880743027 ], "size": [ - 0.3360610008239746, - 0.43493498861789703, - 0.04235599923413247 - ] + 0.34084901213645935, + 0.42886801064014435, + 0.046958998807440366 + ], + "units": "m" }, "description": "A rectangular wooden cutting board featuring a perimeter juice groove and a cutout handle on one side. The wood has a visible grain pattern with varying brown tones.", "name": "D00130 Chopping Board", "object_type": "rigid_bodies", - "total_mass": 2.5 + "total_mass": 2.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00130", "parts": [ { "bounds": { - "center": [ - -0.0011100112832074524, - 0.0038229522877166237, - 0.023259196419851746 + "min": [ + -0.17163300514221191, + -0.21099400520324707, + 3.999999989900971e-06 ], "max": [ - 0.16686199605464935, - 0.22043399512767792, - 0.04182099923491478 + 0.16921600699424744, + 0.21787400543689728, + 0.04696299880743027 ], - "min": [ - -0.16919900476932526, - -0.21450099349021912, - -0.000534999999217689 - ] + "size": [ + 0.34084901213645935, + 0.42886801064014435, + 0.046958998807440366 + ], + "units": "m" }, "center_of_mass": [ -0.0014990511909034965, @@ -67,10 +73,27 @@ "object_name": "D00130 Chopping Board", "part_name": "D00130 Chopping Board" }, - "volume": 0.006496732804478916 + "volume": 0.006496732804478916, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "455d384064484bd9521535d358fecfec0ae9c8b8c9f9421e5d9a654c203bfce1" + }, + "usd_path": "batch7/D00130 Chopping Board/IsaacSim_assets_69f206cd59057a93105abe72/IsaacSim_asset_69f206cd59057a93105abe72.usd", + "usd_sha256": "ade972992658254f877aa2e255ede6f39a35ecc54690813678bf965a4431b7b6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3360610008239746, - 0.43493498861789703, - 0.04235599923413247 - ] + 0.34084901213645935, + 0.42886801064014435, + 0.046958998807440366 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ade972992658254f877aa2e255ede6f39a35ecc54690813678bf965a4431b7b6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.5 + "value_kg": 2.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ade972992658254f877aa2e255ede6f39a35ecc54690813678bf965a4431b7b6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ade972992658254f877aa2e255ede6f39a35ecc54690813678bf965a4431b7b6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ade972992658254f877aa2e255ede6f39a35ecc54690813678bf965a4431b7b6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "ade972992658254f877aa2e255ede6f39a35ecc54690813678bf965a4431b7b6", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:16:00.127570+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "68fe0180b6ac802803d7e6b1a0a24f3c63a58dae5ef29537fd90e9d6e780e2a5", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00165 Cola/IsaacSim_assets_69fef629f3726e6ad0539010/physics_69fef629f3726e6ad0539010.json b/batch7/D00165 Cola/IsaacSim_assets_69fef629f3726e6ad0539010/physics_69fef629f3726e6ad0539010.json index 16a6e6df63aed1efb9aa32c4b220226c01e9180f..b5c4c4036202d30f9e6e378af2d859ceca8449bb 100644 --- a/batch7/D00165 Cola/IsaacSim_assets_69fef629f3726e6ad0539010/physics_69fef629f3726e6ad0539010.json +++ b/batch7/D00165 Cola/IsaacSim_assets_69fef629f3726e6ad0539010/physics_69fef629f3726e6ad0539010.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.028728999197483063, - 0.028411999344825745, - 0.10368599742650986 - ], "min": [ - -0.028672000393271446, - -0.028540000319480896, - -4.099999932805076e-05 + -0.02845899946987629, + -0.028720999136567116, + -2.099999983329326e-05 + ], + "max": [ + 0.02849300019443035, + 0.028680000454187393, + 0.1037060022354126 ], "size": [ - 0.05740099959075451, 0.05695199966430664, - 0.10372699742583791 - ] + 0.05740099959075451, + 0.10372700223524589 + ], + "units": "m" }, "description": "A red lacquered aluminum soda can with white graphics, rolled silver rims, and a pull-tab top.", "name": "D00165 Cola", "object_type": "rigid_bodies", - "total_mass": 0.378 + "total_mass": 0.3779999911785126, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00165", "parts": [ { "bounds": { - "center": [ - 6.86483186385929e-05, - 3.113262139825162e-06, - 0.05398470171510348 + "min": [ + -0.02845899946987629, + -0.028720999136567116, + -2.099999983329326e-05 ], "max": [ - 0.028728999197483063, - 0.028411999344825745, - 0.10368599742650986 + 0.02849300019443035, + 0.028680000454187393, + 0.1037060022354126 ], - "min": [ - -0.028672000393271446, - -0.028540000319480896, - -4.099999932805076e-05 - ] + "size": [ + 0.05695199966430664, + 0.05740099959075451, + 0.10372700223524589 + ], + "units": "m" }, "center_of_mass": [ -4.083490421210284e-05, @@ -59,7 +65,7 @@ 0.00039054054004996654, 0.0003912038119952739 ], - "mass": 0.378, + "mass": 0.3779999911785126, "material": "painted_aluminum", "name": "D00165 Cola", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00165 Cola", "part_name": "D00165 Cola" }, - "volume": 0.00025366309092642524 + "volume": 0.00025366309092642524, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "691ab16b404f9e0c545e86bb413f50022912f66776da9c4d7acf48c101b2cf8f" + }, + "usd_path": "batch7/D00165 Cola/IsaacSim_assets_69fef629f3726e6ad0539010/IsaacSim_asset_69fef629f3726e6ad0539010.usd", + "usd_sha256": "2bb235340d4d0a10c557985a87028a51eb571cd7b394ed72062c3d30515545cd", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.05740099959075451, 0.05695199966430664, - 0.10372699742583791 - ] + 0.05740099959075451, + 0.10372700223524589 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bb235340d4d0a10c557985a87028a51eb571cd7b394ed72062c3d30515545cd", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.378 + "value_kg": 0.3779999911785126, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bb235340d4d0a10c557985a87028a51eb571cd7b394ed72062c3d30515545cd", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3779999911785126, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 80, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bb235340d4d0a10c557985a87028a51eb571cd7b394ed72062c3d30515545cd", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 80, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2bb235340d4d0a10c557985a87028a51eb571cd7b394ed72062c3d30515545cd", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "2bb235340d4d0a10c557985a87028a51eb571cd7b394ed72062c3d30515545cd", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:11:02.385337+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "60fd3f82877f758857f68faca89250a82eda549c205f5a3fd61d45b4fd4baff7", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00168 Colander Bowl Plate/IsaacSim_assets_69fef931f3726e6ad05a42a1/physics_69fef931f3726e6ad05a42a1.json b/batch7/D00168 Colander Bowl Plate/IsaacSim_assets_69fef931f3726e6ad05a42a1/physics_69fef931f3726e6ad05a42a1.json index a885c8470034426cdc9db64846ca4c2c4b5a997a..5964b50fdb2aa76453870d383fe9082fd223e0e9 100644 --- a/batch7/D00168 Colander Bowl Plate/IsaacSim_assets_69fef931f3726e6ad05a42a1/physics_69fef931f3726e6ad05a42a1.json +++ b/batch7/D00168 Colander Bowl Plate/IsaacSim_assets_69fef931f3726e6ad05a42a1/physics_69fef931f3726e6ad05a42a1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12135878205299377, - 0.09925038367509842, - 0.09813109040260315 - ], "min": [ - -0.12163341045379639, - 0.0, - -0.09494937211275101 + -0.12167400121688843, + -0.09813199937343597, + -1.4000000192027073e-05 + ], + "max": [ + 0.12139900028705597, + 0.09494999796152115, + 0.0992640033364296 ], "size": [ - 0.24299219250679016, - 0.09925038367509842, - 0.19308046251535416 - ] + 0.2430730015039444, + 0.19308199733495712, + 0.09927800333662162 + ], + "units": "m" }, "description": "A speckled white glazed ceramic colander with a rounded perforated bowl, two side handles, a beige rim, and three short feet.", "name": "D00168 Speckled Ceramic Colander", "object_type": "rigid_bodies", - "total_mass": 1.15 + "total_mass": 1.149999976158142, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00168", "parts": [ { "bounds": { - "center": [ - -0.0006637548061419887, - 0.05925110217584891, - 0.000633348110352516 + "min": [ + -0.12167400121688843, + -0.09813199937343597, + -1.4000000192027073e-05 ], "max": [ - 0.12135878205299377, - 0.09925038367509842, - 0.09813109040260315 + 0.12139900028705597, + 0.09494999796152115, + 0.0992640033364296 ], - "min": [ - -0.12163341045379639, - 0.0, - -0.09494937211275101 - ] + "size": [ + 0.2430730015039444, + 0.19308199733495712, + 0.09927800333662162 + ], + "units": "m" }, "center_of_mass": [ -0.0005605870819201244, @@ -59,7 +65,7 @@ 0.004437802612833641, 0.006301914195365963 ], - "mass": 1.15, + "mass": 1.149999976158142, "material": "glazed_ceramic", "name": "D00168 Colander Bowl Plate", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00168 Colander Bowl Plate", "part_name": "D00168 Colander Bowl Plate" }, - "volume": 0.0003362531794434094 + "volume": 0.0003362531794434094, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d947e66a5e984089c566b52ab2c0a5e6616de65f34878499fcfe5d236c5e5435" + }, + "usd_path": "batch7/D00168 Colander Bowl Plate/IsaacSim_assets_69fef931f3726e6ad05a42a1/IsaacSim_asset_69fef931f3726e6ad05a42a1.usd", + "usd_sha256": "511ed54abf7f1e0db28f6236fda21b5fc1436307a1dc7d474a6eb0b5cd9e47a2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.24299219250679016, - 0.09925038367509842, - 0.19308046251535416 - ] + 0.2430730015039444, + 0.19308199733495712, + 0.09927800333662162 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "511ed54abf7f1e0db28f6236fda21b5fc1436307a1dc7d474a6eb0b5cd9e47a2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.15 + "value_kg": 1.149999976158142, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "511ed54abf7f1e0db28f6236fda21b5fc1436307a1dc7d474a6eb0b5cd9e47a2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.149999976158142, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 80, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "511ed54abf7f1e0db28f6236fda21b5fc1436307a1dc7d474a6eb0b5cd9e47a2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 80, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "511ed54abf7f1e0db28f6236fda21b5fc1436307a1dc7d474a6eb0b5cd9e47a2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "511ed54abf7f1e0db28f6236fda21b5fc1436307a1dc7d474a6eb0b5cd9e47a2", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:16:01.845634+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "6e3a46647c651f8989e1f5a45a86c1ca6e57726bded8240c7fdd04c391a7a47c", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00169 Colander Container/IsaacSim_assets_69f20d7a59057a93105b4930/physics_69f20d7a59057a93105b4930.json b/batch7/D00169 Colander Container/IsaacSim_assets_69f20d7a59057a93105b4930/physics_69f20d7a59057a93105b4930.json index 7465b0333a8351f586f020a83def81228d86abe5..03a02899aec0c2b7d9fb54c409a6ad8c3a8b97af 100644 --- a/batch7/D00169 Colander Container/IsaacSim_assets_69f20d7a59057a93105b4930/physics_69f20d7a59057a93105b4930.json +++ b/batch7/D00169 Colander Container/IsaacSim_assets_69f20d7a59057a93105b4930/physics_69f20d7a59057a93105b4930.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11461800336837769, - 0.08947200328111649, - 0.11161600053310394 - ], "min": [ - -0.11411300301551819, - -0.09003300219774246, - -2.099999983329326e-05 + -0.13509799540042877, + -0.10691100358963013, + -2.8000000384054147e-05 + ], + "max": [ + 0.1356160044670105, + 0.107184998691082, + 0.12818700075149536 ], "size": [ - 0.22873100638389587, - 0.17950500547885895, - 0.11163700053293724 - ] + 0.27071399986743927, + 0.21409600228071213, + 0.12821500075187942 + ], + "units": "m" }, "description": "A white ceramic colander with two side handles, a footed base, and multiple evenly spaced drainage holes.", "name": "D00169 Ceramic Colander", "object_type": "rigid_bodies", - "total_mass": 1.0 + "total_mass": 1.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00169", "parts": [ { "bounds": { - "center": [ - 0.00020217094234163715, - -0.00027177292287808107, - 0.05973150539931104 + "min": [ + -0.13509799540042877, + -0.10691100358963013, + -2.8000000384054147e-05 ], "max": [ - 0.11461800336837769, - 0.08947200328111649, - 0.11161600053310394 + 0.1356160044670105, + 0.107184998691082, + 0.12818700075149536 ], - "min": [ - -0.11411300301551819, - -0.09003300219774246, - -2.099999983329326e-05 - ] + "size": [ + 0.27071399986743927, + 0.21409600228071213, + 0.12821500075187942 + ], + "units": "m" }, "center_of_mass": [ 0.0002763915506888215, @@ -67,10 +73,27 @@ "object_name": "D00169 Colander Container", "part_name": "D00169 Colander Container" }, - "volume": 0.003379943911126407 + "volume": 0.003379943911126407, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "918addaa013de4a579841dbca03433520e56f48edbd9b38c4f5740767cd80193" + }, + "usd_path": "batch7/D00169 Colander Container/IsaacSim_assets_69f20d7a59057a93105b4930/IsaacSim_asset_69f20d7a59057a93105b4930.usd", + "usd_sha256": "564aace9c3354f52343d02b7e67fa4b18ee00cc2a4c6bb2e6cd6dce78abf0cc0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.22873100638389587, - 0.17950500547885895, - 0.11163700053293724 - ] + 0.27071399986743927, + 0.21409600228071213, + 0.12821500075187942 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "564aace9c3354f52343d02b7e67fa4b18ee00cc2a4c6bb2e6cd6dce78abf0cc0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0 + "value_kg": 1.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "564aace9c3354f52343d02b7e67fa4b18ee00cc2a4c6bb2e6cd6dce78abf0cc0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 235, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "564aace9c3354f52343d02b7e67fa4b18ee00cc2a4c6bb2e6cd6dce78abf0cc0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 235, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "564aace9c3354f52343d02b7e67fa4b18ee00cc2a4c6bb2e6cd6dce78abf0cc0", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "564aace9c3354f52343d02b7e67fa4b18ee00cc2a4c6bb2e6cd6dce78abf0cc0", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:11:02.623781+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "b3a0d66c383edcce80269323d356a4a8f5e3b0cabce3f0ad31d90d1a07255028", + "qualification": "native-fleet-evidence/shard-01/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00188 Cookbook/IsaacSim_assets_69f222f459057a93105c9d8e/physics_69f222f459057a93105c9d8e.json b/batch7/D00188 Cookbook/IsaacSim_assets_69f222f459057a93105c9d8e/physics_69f222f459057a93105c9d8e.json index cc76c9ef1165ee692a1286d38cce833faef6c077..c4ab18193a3fd7b7ee63746ce8fafce7ffac3d93 100644 --- a/batch7/D00188 Cookbook/IsaacSim_assets_69f222f459057a93105c9d8e/physics_69f222f459057a93105c9d8e.json +++ b/batch7/D00188 Cookbook/IsaacSim_assets_69f222f459057a93105c9d8e/physics_69f222f459057a93105c9d8e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10041700303554535, - 0.132533997297287, - 0.03781700134277344 - ], "min": [ -0.10279399901628494, -0.1320520043373108, -0.00010900000052060932 ], + "max": [ + 0.10041700303554535, + 0.132533997297287, + 0.03781700134277344 + ], "size": [ 0.2032110020518303, 0.2645860016345978, 0.03792600134329405 - ] + ], + "units": "m" }, "description": "A thick rectangular cookbook made from stacked white paper pages with a laminated paperboard or cloth-covered outer cover. The object has a flat book block, squared spine, printed cover graphics, and slightly softened corners and edges.", "name": "D00188 Cookbook", "object_type": "rigid_bodies", - "total_mass": 1.1 + "total_mass": 1.100000023841858, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00188", "parts": [ { "bounds": { - "center": [ - 0.00043096262698388344, - 0.0002049558668174966, - 0.01895474746257118 + "min": [ + -0.10279399901628494, + -0.1320520043373108, + -0.00010900000052060932 ], "max": [ 0.10041700303554535, 0.132533997297287, 0.03781700134277344 ], - "min": [ - -0.10279399901628494, - -0.1320520043373108, - -0.00010900000052060932 - ] + "size": [ + 0.2032110020518303, + 0.2645860016345978, + 0.03792600134329405 + ], + "units": "m" }, "center_of_mass": [ -0.0007896649551408847, @@ -59,7 +65,7 @@ 0.006530136579074929, 0.010125135852841702 ], - "mass": 1.1, + "mass": 1.100000023841858, "material": "coated_paperboard_paper", "name": "D00188 Cookbook", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00188 Cookbook", "part_name": "D00188 Cookbook" }, - "volume": 0.002002572054930283 + "volume": 0.002002572054930283, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7c24afdca06f09ac9c16d346bcaf065d1b53690fd1ff96339cfee73b282b0430" + }, + "usd_path": "batch7/D00188 Cookbook/IsaacSim_assets_69f222f459057a93105c9d8e/IsaacSim_asset_69f222f459057a93105c9d8e.usd", + "usd_sha256": "f6bf7cc5de4179cc967485e427c262dedc51c67ed68eb83a0700dc993dd7f78c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -89,22 +112,56 @@ 0.2032110020518303, 0.2645860016345978, 0.03792600134329405 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f6bf7cc5de4179cc967485e427c262dedc51c67ed68eb83a0700dc993dd7f78c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.1 + "value_kg": 1.100000023841858, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f6bf7cc5de4179cc967485e427c262dedc51c67ed68eb83a0700dc993dd7f78c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.100000023841858, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 16, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f6bf7cc5de4179cc967485e427c262dedc51c67ed68eb83a0700dc993dd7f78c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 16, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f6bf7cc5de4179cc967485e427c262dedc51c67ed68eb83a0700dc993dd7f78c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00205 Cooking Utensil Holder/IsaacSim_assets_69f2265259057a93105cf521/physics_69f2265259057a93105cf521.json b/batch7/D00205 Cooking Utensil Holder/IsaacSim_assets_69f2265259057a93105cf521/physics_69f2265259057a93105cf521.json index 727edb6355f6359b468873ce9d2126217ee7c3ac..6c2458956d7217fc076c65e33ca9ae5d0db2159e 100644 --- a/batch7/D00205 Cooking Utensil Holder/IsaacSim_assets_69f2265259057a93105cf521/physics_69f2265259057a93105cf521.json +++ b/batch7/D00205 Cooking Utensil Holder/IsaacSim_assets_69f2265259057a93105cf521/physics_69f2265259057a93105cf521.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06823299825191498, - 0.07165499776601791, - 0.24849699437618256 - ], "min": [ - -0.09841900318861008, - -0.1124420017004013, - -0.00020500000391621143 + -0.06631900370121002, + -0.06710100173950195, + -0.00013499999477062374 + ], + "max": [ + 0.06497599929571152, + 0.0676489993929863, + 0.14591600000858307 ], "size": [ - 0.16665200144052505, - 0.18409699946641922, - 0.24870199438009877 - ] + 0.13129500299692154, + 0.13475000113248825, + 0.1460510000033537 + ], + "units": "m" }, "description": "A square, open-top wooden bin with slightly tapered sides, rounded corners, and a thick rim. It has a glossy medium-brown wood grain finish over solid wood panels.", "name": "D00205 Cooking Utensil Holder", "object_type": "rigid_bodies", - "total_mass": 1.9 + "total_mass": 1.899999976158142, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00205", "parts": [ { "bounds": { - "center": [ - -0.0031100093381257517, - -0.0011949742484124231, - 0.08893012011103753 + "min": [ + -0.06631900370121002, + -0.06710100173950195, + -0.00013499999477062374 ], "max": [ - 0.06823299825191498, - 0.07165499776601791, - 0.24849699437618256 + 0.06497599929571152, + 0.0676489993929863, + 0.14591600000858307 ], - "min": [ - -0.09841900318861008, - -0.1124420017004013, - -0.00020500000391621143 - ] + "size": [ + 0.13129500299692154, + 0.13475000113248825, + 0.1460510000033537 + ], + "units": "m" }, "center_of_mass": [ -0.0006444897894705926, @@ -59,7 +65,7 @@ 0.005240162147066378, 0.00540278504212576 ], - "mass": 1.9, + "mass": 1.899999976158142, "material": "wood", "name": "D00205 Cooking Utensil Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00205 Cooking Utensil Holder", "part_name": "D00205 Cooking Utensil Holder" }, - "volume": 0.00184227077918007 + "volume": 0.00184227077918007, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "890713c1866b619864efbfd5912e70c91b38a1898aba59c67186cbb34f11ae30" + }, + "usd_path": "batch7/D00205 Cooking Utensil Holder/IsaacSim_assets_69f2265259057a93105cf521/IsaacSim_asset_69f2265259057a93105cf521.usd", + "usd_sha256": "32121b45e734f3006911413fe5973f4242d9f0b626ec0b4c069f231d6d48b4dd", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.16665200144052505, - 0.18409699946641922, - 0.24870199438009877 - ] + 0.13129500299692154, + 0.13475000113248825, + 0.1460510000033537 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32121b45e734f3006911413fe5973f4242d9f0b626ec0b4c069f231d6d48b4dd", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.9 + "value_kg": 1.899999976158142, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32121b45e734f3006911413fe5973f4242d9f0b626ec0b4c069f231d6d48b4dd", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.899999976158142, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 95, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32121b45e734f3006911413fe5973f4242d9f0b626ec0b4c069f231d6d48b4dd", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 95, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "32121b45e734f3006911413fe5973f4242d9f0b626ec0b4c069f231d6d48b4dd", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "32121b45e734f3006911413fe5973f4242d9f0b626ec0b4c069f231d6d48b4dd", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:01.595808+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "c8a4f8bcc07c1170a0a399a13e04821ed69291fd97f6bc6ef16e67e4e59ebe0d", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00223 Cup Bowl/IsaacSim_assets_69f2296259057a93105d480d/physics_69f2296259057a93105d480d.json b/batch7/D00223 Cup Bowl/IsaacSim_assets_69f2296259057a93105d480d/physics_69f2296259057a93105d480d.json index f4f0c90de581e4c5441dd9dea2e128cf4f3b4de9..d65e3558f02c2ff616369b88b14848d327533826 100644 --- a/batch7/D00223 Cup Bowl/IsaacSim_assets_69f2296259057a93105d480d/physics_69f2296259057a93105d480d.json +++ b/batch7/D00223 Cup Bowl/IsaacSim_assets_69f2296259057a93105d480d/physics_69f2296259057a93105d480d.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0818680003285408, - 0.05729300156235695, - 0.07158499956130981 - ], "min": [ - -0.06360699981451035, - -0.05721199885010719, - -2.4000000848900527e-05 + -0.05406299978494644, + -0.048271000385284424, + -3.000000106112566e-06 + ], + "max": [ + 0.06844700127840042, + 0.04868900030851364, + 0.06231100112199783 ], "size": [ - 0.14547500014305115, - 0.11450500041246414, - 0.07160899956215871 - ] + 0.12251000106334686, + 0.09696000069379807, + 0.062314001122103946 + ], + "units": "m" }, "description": "A white glazed ceramic cup with a rounded bowl-shaped body, thin rim, small foot ring, and curved handle.", "name": "D00223 Ceramic Cup", "object_type": "rigid_bodies", - "total_mass": 0.28 + "total_mass": 0.2800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00223", "parts": [ { "bounds": { - "center": [ - -0.002624166400954209, - 1.3318701686818936e-05, - 0.03562135255207145 + "min": [ + -0.05406299978494644, + -0.048271000385284424, + -3.000000106112566e-06 ], "max": [ - 0.0818680003285408, - 0.05729300156235695, - 0.07158499956130981 + 0.06844700127840042, + 0.04868900030851364, + 0.06231100112199783 ], - "min": [ - -0.06360699981451035, - -0.05721199885010719, - -2.4000000848900527e-05 - ] + "size": [ + 0.12251000106334686, + 0.09696000069379807, + 0.062314001122103946 + ], + "units": "m" }, "center_of_mass": [ -0.0009509011392750758, @@ -59,7 +65,7 @@ 0.0002669061718471938, 0.0003262605446800228 ], - "mass": 0.28, + "mass": 0.2800000011920929, "material": "glazed_ceramic", "name": "D00223 Cup Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00223 Cup Bowl", "part_name": "D00223 Cup Bowl" }, - "volume": 0.0004069657854227073 + "volume": 0.0004069657854227073, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "22415ae347c41536e6e38b0f14c7f599c71668d8fc07e91a276a7a4108e623c0" + }, + "usd_path": "batch7/D00223 Cup Bowl/IsaacSim_assets_69f2296259057a93105d480d/IsaacSim_asset_69f2296259057a93105d480d.usd", + "usd_sha256": "52b790c35e9f66d1e575db5ebc5b9cea7f887bca7522270ca32754070a88d263", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.14547500014305115, - 0.11450500041246414, - 0.07160899956215871 - ] + 0.12251000106334686, + 0.09696000069379807, + 0.062314001122103946 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52b790c35e9f66d1e575db5ebc5b9cea7f887bca7522270ca32754070a88d263", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.28 + "value_kg": 0.2800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52b790c35e9f66d1e575db5ebc5b9cea7f887bca7522270ca32754070a88d263", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52b790c35e9f66d1e575db5ebc5b9cea7f887bca7522270ca32754070a88d263", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "52b790c35e9f66d1e575db5ebc5b9cea7f887bca7522270ca32754070a88d263", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00231 Cup Kettle/IsaacSim_assets_69f22bd659057a93105d8b74/physics_69f22bd659057a93105d8b74.json b/batch7/D00231 Cup Kettle/IsaacSim_assets_69f22bd659057a93105d8b74/physics_69f22bd659057a93105d8b74.json index 41c7f6a5b3b34c380fdf27aba72e6f04ab795e1a..1e01ded9dcd22a8d22b54443b7b6ec382971f55f 100644 --- a/batch7/D00231 Cup Kettle/IsaacSim_assets_69f22bd659057a93105d8b74/physics_69f22bd659057a93105d8b74.json +++ b/batch7/D00231 Cup Kettle/IsaacSim_assets_69f22bd659057a93105d8b74/physics_69f22bd659057a93105d8b74.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09750200062990189, - 0.055337000638246536, - 0.18247799575328827 - ], "min": [ - -0.1198439970612526, - -0.05540100112557411, - -0.00011000000085914508 + -0.11027300357818604, + -0.08765900135040283, + 6.000000212225132e-06 + ], + "max": [ + 0.09457799792289734, + 0.08797299861907959, + 0.20463700592517853 ], "size": [ - 0.21734599769115448, - 0.11073800176382065, - 0.18258799575414741 - ] + 0.20485100150108337, + 0.17563199996948242, + 0.2046310059249663 + ], + "units": "m" }, "description": "A brushed stainless steel kettle with a rounded domed body, cylindrical spout, arched metal handle, fitted lid, and small knob. The exterior is metallic silver with rolled rim details and a hollow vessel form.", "name": "D00231 Stovetop Kettle", "object_type": "rigid_bodies", - "total_mass": 0.95 + "total_mass": 0.949999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00231", "parts": [ { "bounds": { - "center": [ - -0.0015305650778030112, - -3.623181043883846e-05, - 0.07906091650163927 + "min": [ + -0.11027300357818604, + -0.08765900135040283, + 6.000000212225132e-06 ], "max": [ - 0.09750200062990189, - 0.055337000638246536, - 0.18247799575328827 + 0.09457799792289734, + 0.08797299861907959, + 0.20463700592517853 ], - "min": [ - -0.1198439970612526, - -0.05540100112557411, - -0.00011000000085914508 - ] + "size": [ + 0.20485100150108337, + 0.17563199996948242, + 0.2046310059249663 + ], + "units": "m" }, "center_of_mass": [ 0.0015356097983044434, @@ -59,7 +65,7 @@ 0.0034657952308409182, 0.003977603566839707 ], - "mass": 0.95, + "mass": 0.949999988079071, "material": "brushed_stainless_steel", "name": "D00231 Cup Kettle", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00231 Cup Kettle", "part_name": "D00231 Cup Kettle" }, - "volume": 0.0032017516861902484 + "volume": 0.0032017516861902484, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "20925b210a75e2ac6a379090f210b5cfe7f05b2fbd02118f2ce0e53d068afb93" + }, + "usd_path": "batch7/D00231 Cup Kettle/IsaacSim_assets_69f22bd659057a93105d8b74/IsaacSim_asset_69f22bd659057a93105d8b74.usd", + "usd_sha256": "dff31e51b3b655a5594f2cbfa6e48becaf326c50560cb48846699577dca7fddb", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.21734599769115448, - 0.11073800176382065, - 0.18258799575414741 - ] + 0.20485100150108337, + 0.17563199996948242, + 0.2046310059249663 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dff31e51b3b655a5594f2cbfa6e48becaf326c50560cb48846699577dca7fddb", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.95 + "value_kg": 0.949999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dff31e51b3b655a5594f2cbfa6e48becaf326c50560cb48846699577dca7fddb", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.949999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dff31e51b3b655a5594f2cbfa6e48becaf326c50560cb48846699577dca7fddb", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "dff31e51b3b655a5594f2cbfa6e48becaf326c50560cb48846699577dca7fddb", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00240 Cup Teapot/IsaacSim_assets_69f22ee259057a93105de06a/physics_69f22ee259057a93105de06a.json b/batch7/D00240 Cup Teapot/IsaacSim_assets_69f22ee259057a93105de06a/physics_69f22ee259057a93105de06a.json index dd43e122ac1b929597fe70de26f8bc602958ef82..0d55d50aa4cb11245dc204f33e4a9941bf21d91a 100644 --- a/batch7/D00240 Cup Teapot/IsaacSim_assets_69f22ee259057a93105de06a/physics_69f22ee259057a93105de06a.json +++ b/batch7/D00240 Cup Teapot/IsaacSim_assets_69f22ee259057a93105de06a/physics_69f22ee259057a93105de06a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07198400050401688, - 0.06940499693155289, - 0.1786549985408783 - ], "min": [ - -0.09968400001525879, - -0.06944900006055832, - -6.000000212225132e-06 + -0.06864099949598312, + -0.05172999948263168, + -5.199999941396527e-05 + ], + "max": [ + 0.05650300160050392, + 0.05187100172042847, + 0.11706200242042542 ], "size": [ - 0.17166800051927567, - 0.1388539969921112, - 0.17866099854109052 - ] + 0.12514400109648705, + 0.10360100120306015, + 0.11711400241983938 + ], + "units": "m" }, "description": "A matte black cast-iron teapot with a rounded bulbous body, short spout, fitted lid, and arched metal handle wrapped in tan woven material.", "name": "D00240 Cup Teapot", "object_type": "rigid_bodies", - "total_mass": 1.6 + "total_mass": 1.600000023841858, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00240", "parts": [ { "bounds": { - "center": [ - 0.0023538409550693425, - -2.2492733010267415e-06, - 0.060851662460700985 + "min": [ + -0.06864099949598312, + -0.05172999948263168, + -5.199999941396527e-05 ], "max": [ - 0.07198400050401688, - 0.06940499693155289, - 0.1786549985408783 + 0.05650300160050392, + 0.05187100172042847, + 0.11706200242042542 ], - "min": [ - -0.09968400001525879, - -0.06944900006055832, - -6.000000212225132e-06 - ] + "size": [ + 0.12514400109648705, + 0.10360100120306015, + 0.11711400241983938 + ], + "units": "m" }, "center_of_mass": [ 0.002176371964222682, @@ -59,7 +65,7 @@ 0.0018226914546230755, 0.002092652262944233 ], - "mass": 1.6, + "mass": 1.600000023841858, "material": "black_enamel_coated_cast_iron", "name": "D00240 Cup Teapot", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00240 Cup Teapot", "part_name": "D00240 Cup Teapot" }, - "volume": 0.0006032943270404807 + "volume": 0.0006032943270404807, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8765d92dc822255f0b576a6e6558a42911758d501587ebc3755a184dd2eed4d2" + }, + "usd_path": "batch7/D00240 Cup Teapot/IsaacSim_assets_69f22ee259057a93105de06a/IsaacSim_asset_69f22ee259057a93105de06a.usd", + "usd_sha256": "e523d4e79c7aff9252660ee0d0da7ecc351cafcd69330ffc31c494a0536ea93a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.17166800051927567, - 0.1388539969921112, - 0.17866099854109052 - ] + 0.12514400109648705, + 0.10360100120306015, + 0.11711400241983938 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e523d4e79c7aff9252660ee0d0da7ecc351cafcd69330ffc31c494a0536ea93a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.6 + "value_kg": 1.600000023841858, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e523d4e79c7aff9252660ee0d0da7ecc351cafcd69330ffc31c494a0536ea93a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.600000023841858, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e523d4e79c7aff9252660ee0d0da7ecc351cafcd69330ffc31c494a0536ea93a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e523d4e79c7aff9252660ee0d0da7ecc351cafcd69330ffc31c494a0536ea93a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00264 Decorative Plate Chopping Board/IsaacSim_assets_69f235b759057a93105eb970/physics_69f235b759057a93105eb970.json b/batch7/D00264 Decorative Plate Chopping Board/IsaacSim_assets_69f235b759057a93105eb970/physics_69f235b759057a93105eb970.json index ff5edc527f17fe79dc50c5c4007d148d028e9361..83e8878c7ee6fb0edd739d2db6a4390e740faf58 100644 --- a/batch7/D00264 Decorative Plate Chopping Board/IsaacSim_assets_69f235b759057a93105eb970/physics_69f235b759057a93105eb970.json +++ b/batch7/D00264 Decorative Plate Chopping Board/IsaacSim_assets_69f235b759057a93105eb970/physics_69f235b759057a93105eb970.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14274899661540985, - 0.11721000075340271, - 0.023088999092578888 - ], "min": [ - -0.12338099628686905, - -0.11727400124073029, - -0.00011700000322889537 + -0.19902600347995758, + -0.1236329972743988, + -3.7999998312443495e-05 + ], + "max": [ + 0.20048899948596954, + 0.12358800321817398, + 0.0201019998639822 ], "size": [ - 0.2661299929022789, - 0.234484001994133, - 0.023205999095807783 - ] + 0.3995150029659271, + 0.24722100049257278, + 0.020139999862294644 + ], + "units": "m" }, "description": "A collection of flat cutting boards in round, oval, and rectangular forms, mostly light or dark grained wood with rounded edges, plus several brushed silver metal plates.", "name": "D00264 Oval Wooden Board", "object_type": "rigid_bodies", - "total_mass": 2.1 + "total_mass": 2.0999999046325684, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00264", "parts": [ { "bounds": { - "center": [ - -0.003457464417873606, - -4.9771265675783234e-05, - 0.01335149369284036 + "min": [ + -0.19902600347995758, + -0.1236329972743988, + -3.7999998312443495e-05 ], "max": [ - 0.14274899661540985, - 0.11721000075340271, - 0.023088999092578888 + 0.20048899948596954, + 0.12358800321817398, + 0.0201019998639822 ], - "min": [ - -0.12338099628686905, - -0.11727400124073029, - -0.00011700000322889537 - ] + "size": [ + 0.3995150029659271, + 0.24722100049257278, + 0.020139999862294644 + ], + "units": "m" }, "center_of_mass": [ -0.0001506270018655852, @@ -59,7 +65,7 @@ 0.02128652193731088, 0.029386457277819415 ], - "mass": 2.1, + "mass": 2.0999999046325684, "material": "sealed_hardwood_bamboo_wood", "name": "D00264 Decorative Plate Chopping Board", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00264 Decorative Plate Chopping Board", "part_name": "D00264 Decorative Plate Chopping Board" }, - "volume": 0.0015825401212516352 + "volume": 0.0015825401212516352, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "923ffa4b5e6373fb262e21ac2fcf6bf2be55eb2ad5e895d8af02b6a1ddfcd7c8" + }, + "usd_path": "batch7/D00264 Decorative Plate Chopping Board/IsaacSim_assets_69f235b759057a93105eb970/IsaacSim_asset_69f235b759057a93105eb970.usd", + "usd_sha256": "667c7827a069cf1780611c771f8983a08bd2e4e8947c89f4b75de28ae339f060", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2661299929022789, - 0.234484001994133, - 0.023205999095807783 - ] + 0.3995150029659271, + 0.24722100049257278, + 0.020139999862294644 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "667c7827a069cf1780611c771f8983a08bd2e4e8947c89f4b75de28ae339f060", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.1 + "value_kg": 2.0999999046325684, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "667c7827a069cf1780611c771f8983a08bd2e4e8947c89f4b75de28ae339f060", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.0999999046325684, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "667c7827a069cf1780611c771f8983a08bd2e4e8947c89f4b75de28ae339f060", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "667c7827a069cf1780611c771f8983a08bd2e4e8947c89f4b75de28ae339f060", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00274 Dish Rack/IsaacSim_assets_69f238cf59057a93105f1680/physics_69f238cf59057a93105f1680.json b/batch7/D00274 Dish Rack/IsaacSim_assets_69f238cf59057a93105f1680/physics_69f238cf59057a93105f1680.json index a1ac9dd8433856b53c12bb39b6abfce3087e9fde..bab109e6bc74c69cc49c376e23899f6dd01af215 100644 --- a/batch7/D00274 Dish Rack/IsaacSim_assets_69f238cf59057a93105f1680/physics_69f238cf59057a93105f1680.json +++ b/batch7/D00274 Dish Rack/IsaacSim_assets_69f238cf59057a93105f1680/physics_69f238cf59057a93105f1680.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17766499519348145, - 0.12858499586582184, - 0.15559899806976318 - ], "min": [ - -0.17497199773788452, - -0.15880799293518066, - -0.0005189999938011169 + -0.12221000343561172, + -0.1455570012331009, + -2.9000000722589903e-05 + ], + "max": [ + 0.12205199897289276, + 0.14538100361824036, + 0.08606100082397461 ], "size": [ - 0.35263699293136597, - 0.2873929888010025, - 0.1561179980635643 - ] + 0.24426200240850449, + 0.29093800485134125, + 0.0860900008246972 + ], + "units": "m" }, "description": "A rectangular molded plastic dish-drying tray with rounded corners, raised rim walls, and vertical plate dividers. The surface is smooth glossy plastic in light neutral colors, with some variants showing side ventilation slots or compartment dividers.", "name": "D00274 Dish Rack", "object_type": "rigid_bodies", - "total_mass": 0.6 + "total_mass": 0.6000000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00274", "parts": [ { "bounds": { - "center": [ - -0.0032028052619476723, - 0.0002803973303709006, - 0.05128829829820076 + "min": [ + -0.12221000343561172, + -0.1455570012331009, + -2.9000000722589903e-05 ], "max": [ - 0.17766499519348145, - 0.12858499586582184, - 0.15559899806976318 + 0.12205199897289276, + 0.14538100361824036, + 0.08606100082397461 ], - "min": [ - -0.17497199773788452, - -0.15880799293518066, - -0.0005189999938011169 - ] + "size": [ + 0.24426200240850449, + 0.29093800485134125, + 0.0860900008246972 + ], + "units": "m" }, "center_of_mass": [ -0.00011875001432511332, @@ -59,7 +65,7 @@ 0.005557085412155599, 0.008944716893924868 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "plastic", "name": "D00274 Dish Rack", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00274 Dish Rack", "part_name": "D00274 Dish Rack" }, - "volume": 0.0004915853721629807 + "volume": 0.0004915853721629807, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "329323261ed0ef9e865ece1bbae14fdce7298a528f714e9e478d8a9af55f950d" + }, + "usd_path": "batch7/D00274 Dish Rack/IsaacSim_assets_69f238cf59057a93105f1680/IsaacSim_asset_69f238cf59057a93105f1680.usd", + "usd_sha256": "0d3cd76b8fac01f64aa5126fb1cf19de61548a52d6bbfc8c97f74424c42e161c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.35263699293136597, - 0.2873929888010025, - 0.1561179980635643 - ] + 0.24426200240850449, + 0.29093800485134125, + 0.0860900008246972 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0d3cd76b8fac01f64aa5126fb1cf19de61548a52d6bbfc8c97f74424c42e161c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6 + "value_kg": 0.6000000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0d3cd76b8fac01f64aa5126fb1cf19de61548a52d6bbfc8c97f74424c42e161c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6000000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0d3cd76b8fac01f64aa5126fb1cf19de61548a52d6bbfc8c97f74424c42e161c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0d3cd76b8fac01f64aa5126fb1cf19de61548a52d6bbfc8c97f74424c42e161c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00282 Drawer/IsaacSim_assets_69f821edd09344200f14f8fb/physics_69f821edd09344200f14f8fb.json b/batch7/D00282 Drawer/IsaacSim_assets_69f821edd09344200f14f8fb/physics_69f821edd09344200f14f8fb.json index c0a8f051cae3ddc56a09bf944d9b5eafec4eb134..167f34b0402ec830eafa0969ebdb746c92a41a33 100644 --- a/batch7/D00282 Drawer/IsaacSim_assets_69f821edd09344200f14f8fb/physics_69f821edd09344200f14f8fb.json +++ b/batch7/D00282 Drawer/IsaacSim_assets_69f821edd09344200f14f8fb/physics_69f821edd09344200f14f8fb.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.45142000913619995, - 0.46936601400375366, - 1.1127400398254395 - ], "min": [ - -0.4450869858264923, - -0.38654500246047974, - -2.5999999706982635e-05 + -0.12723900377750397, + -0.1265760064125061, + -2.4000000848900527e-05 + ], + "max": [ + 0.1275860071182251, + 0.1362989991903305, + 0.11400199681520462 ], "size": [ - 0.8965069949626923, - 0.8559110164642334, - 1.1127660398251464 - ] + 0.25482501089572906, + 0.2628750056028366, + 0.11402599681605352 + ], + "units": "m" }, "description": "A light-colored wooden open-top drawer box with visible grain, thick side walls, and a recessed rectangular pull slot on the front face.", "name": "D00282 Drawer", "object_type": "rigid_bodies", - "total_mass": 2.1 + "total_mass": 2.0999999046325684, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00282", "parts": [ { "bounds": { - "center": [ - 0.0033627586277969546, - 0.12320258794543097, - 0.5556284489865095 + "min": [ + -0.12723900377750397, + -0.1265760064125061, + -2.4000000848900527e-05 ], "max": [ - 0.45142000913619995, - 0.46936601400375366, - 1.1127400398254395 + 0.1275860071182251, + 0.1362989991903305, + 0.11400199681520462 ], - "min": [ - -0.4450869858264923, - -0.38654500246047974, - -2.5999999706982635e-05 - ] + "size": [ + 0.25482501089572906, + 0.2628750056028366, + 0.11402599681605352 + ], + "units": "m" }, "center_of_mass": [ 0.00013816700433944717, @@ -59,7 +65,7 @@ 0.01417417131009379, 0.023108629875178165 ], - "mass": 2.1, + "mass": 2.0999999046325684, "material": "wood", "name": "D00282 Drawer", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00282 Drawer", "part_name": "D00282 Drawer" }, - "volume": 0.00722499419681463 + "volume": 0.00722499419681463, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e048d68711f5e768302d45b46de36670cf89928e5bce89489fb45cb3f2068d75" + }, + "usd_path": "batch7/D00282 Drawer/IsaacSim_assets_69f821edd09344200f14f8fb/IsaacSim_asset_69f821edd09344200f14f8fb.usd", + "usd_sha256": "596db2ee1b49473375b41a45a75bcfc2077198a3e27c2b7329fe36b135fc1b02", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.8965069949626923, - 0.8559110164642334, - 1.1127660398251464 - ] + 0.25482501089572906, + 0.2628750056028366, + 0.11402599681605352 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "596db2ee1b49473375b41a45a75bcfc2077198a3e27c2b7329fe36b135fc1b02", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.1 + "value_kg": 2.0999999046325684, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "596db2ee1b49473375b41a45a75bcfc2077198a3e27c2b7329fe36b135fc1b02", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.0999999046325684, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 57, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "596db2ee1b49473375b41a45a75bcfc2077198a3e27c2b7329fe36b135fc1b02", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 57, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "596db2ee1b49473375b41a45a75bcfc2077198a3e27c2b7329fe36b135fc1b02", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00293 Ensil/IsaacSim_assets_69f8244dd09344200f16ee33/physics_69f8244dd09344200f16ee33.json b/batch7/D00293 Ensil/IsaacSim_assets_69f8244dd09344200f16ee33/physics_69f8244dd09344200f16ee33.json index 703a576a42b79ca3f5d172905b1d7e071cec3290..4aa3e877c7ae395402e4ec302f6197b9239b28e6 100644 --- a/batch7/D00293 Ensil/IsaacSim_assets_69f8244dd09344200f16ee33/physics_69f8244dd09344200f16ee33.json +++ b/batch7/D00293 Ensil/IsaacSim_assets_69f8244dd09344200f16ee33/physics_69f8244dd09344200f16ee33.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03271599858999252, - 0.16796299815177917, - 0.048847001045942307 - ], "min": [ - -0.03415299952030182, - -0.2061930000782013, - -3.300000025774352e-05 + -0.014035999774932861, + -0.10703399777412415, + -1.9999999494757503e-05 + ], + "max": [ + 0.013929000124335289, + 0.08677799999713898, + 0.01752600073814392 ], "size": [ - 0.06686899811029434, - 0.37415599822998047, - 0.04888000104620005 - ] + 0.02796499989926815, + 0.19381199777126312, + 0.01754600073763868 + ], + "units": "m" }, "description": "A stainless-steel fork with four narrow tines, a rounded head, and a tapered metal neck. The handle is a smooth black cylindrical grip with rounded ends, likely rubberized plastic.", "name": "D00293 Dinner Fork", "object_type": "rigid_bodies", - "total_mass": 0.075 + "total_mass": 0.07500000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00293", "parts": [ { "bounds": { - "center": [ - -0.0005516471709155922, - -0.02181831474379319, - 0.01507731215032404 + "min": [ + -0.014035999774932861, + -0.10703399777412415, + -1.9999999494757503e-05 ], "max": [ - 0.03271599858999252, - 0.16796299815177917, - 0.048847001045942307 + 0.013929000124335289, + 0.08677799999713898, + 0.01752600073814392 ], - "min": [ - -0.03415299952030182, - -0.2061930000782013, - -3.300000025774352e-05 - ] + "size": [ + 0.02796499989926815, + 0.19381199777126312, + 0.01754600073763868 + ], + "units": "m" }, "center_of_mass": [ -3.639489477245592e-05, @@ -59,7 +65,7 @@ 0.00018350026205829674, 0.00018529027035797186 ], - "mass": 0.075, + "mass": 0.07500000298023224, "material": "stainless_steel", "name": "D00293 Ensil", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00293 Ensil", "part_name": "D00293 Ensil" }, - "volume": 6.0112942470797155e-05 + "volume": 6.0112942470797155e-05, + "source_prim_path": "/World/part_00_stainless_steel", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3c35dcb1a280896c313c80260c6b96edf795817052f34a512a14c5e47b1cb2be" + }, + "usd_path": "batch7/D00293 Ensil/IsaacSim_assets_69f8244dd09344200f16ee33/IsaacSim_asset_69f8244dd09344200f16ee33.usd", + "usd_sha256": "ccc37532b0496d83b9b6b7c1ff826fe1685913ce5d724cdb2832e1f62e2c04e8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.06686899811029434, - 0.37415599822998047, - 0.04888000104620005 - ] + 0.02796499989926815, + 0.19381199777126312, + 0.01754600073763868 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ccc37532b0496d83b9b6b7c1ff826fe1685913ce5d724cdb2832e1f62e2c04e8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.075 + "value_kg": 0.07500000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ccc37532b0496d83b9b6b7c1ff826fe1685913ce5d724cdb2832e1f62e2c04e8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.07500000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ccc37532b0496d83b9b6b7c1ff826fe1685913ce5d724cdb2832e1f62e2c04e8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ccc37532b0496d83b9b6b7c1ff826fe1685913ce5d724cdb2832e1f62e2c04e8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00301 Flour/IsaacSim_assets_69f2414d59057a93106007a2/physics_69f2414d59057a93106007a2.json b/batch7/D00301 Flour/IsaacSim_assets_69f2414d59057a93106007a2/physics_69f2414d59057a93106007a2.json index 87c9f38330a12fffc4988d668a9fcd1eaaf59516..9609f10d61a98f43b53980340a349507cf2108be 100644 --- a/batch7/D00301 Flour/IsaacSim_assets_69f2414d59057a93106007a2/physics_69f2414d59057a93106007a2.json +++ b/batch7/D00301 Flour/IsaacSim_assets_69f2414d59057a93106007a2/physics_69f2414d59057a93106007a2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05303601175546646, - 0.16508308053016663, - 0.03985009714961052 - ], "min": [ - -0.05421498790383339, - -2.9134837404853897e-06, - -0.03896090015769005 + -0.05829799920320511, + -0.0416099987924099, + -7.000000096013537e-06 + ], + "max": [ + 0.05687699839472771, + 0.04035999998450279, + 0.17276200652122498 ], "size": [ - 0.10725099965929985, - 0.1650859940139071, - 0.07881099730730057 - ] + 0.11517499759793282, + 0.08196999877691269, + 0.172769006521321 + ], + "units": "m" }, "description": "A brown paper bag featuring blue and white printed graphics and a folded, sealed top.", "name": "D00301 Flour", "object_type": "rigid_bodies", - "total_mass": 0.326 + "total_mass": 0.32600000500679016, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00301", "parts": [ { "bounds": { - "center": [ - -0.00042873268197208083, - 0.08776663744836895, - -0.0003917697857354698 + "min": [ + -0.05829799920320511, + -0.0416099987924099, + -7.000000096013537e-06 ], "max": [ - 0.05303601175546646, - 0.16508308053016663, - 0.03985009714961052 + 0.05687699839472771, + 0.04035999998450279, + 0.17276200652122498 ], - "min": [ - -0.05421498790383339, - -2.9134837404853897e-06, - -0.03896090015769005 - ] + "size": [ + 0.11517499759793282, + 0.08196999877691269, + 0.172769006521321 + ], + "units": "m" }, "center_of_mass": [ -0.0007155862248820901, @@ -59,7 +65,7 @@ 0.0008245955509201644, 0.001001235329939107 ], - "mass": 0.326, + "mass": 0.32600000500679016, "material": "paper", "name": "D00301 Flour", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00301 Flour", "part_name": "D00301 Flour" }, - "volume": 0.001281712354775936 + "volume": 0.001281712354775936, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "743c8bc47788afd64a1978513abe82e3c87f43aecc36ed7073f907ba638002de" + }, + "usd_path": "batch7/D00301 Flour/IsaacSim_assets_69f2414d59057a93106007a2/IsaacSim_asset_69f2414d59057a93106007a2.usd", + "usd_sha256": "aa12dc7e54a2dfb34af97b02180682dafee8a18f5ea4fdf8e22be1c1eeceec47", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.10725099965929985, - 0.1650859940139071, - 0.07881099730730057 - ] + 0.11517499759793282, + 0.08196999877691269, + 0.172769006521321 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa12dc7e54a2dfb34af97b02180682dafee8a18f5ea4fdf8e22be1c1eeceec47", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.326 + "value_kg": 0.32600000500679016, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa12dc7e54a2dfb34af97b02180682dafee8a18f5ea4fdf8e22be1c1eeceec47", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.32600000500679016, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 41, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa12dc7e54a2dfb34af97b02180682dafee8a18f5ea4fdf8e22be1c1eeceec47", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 41, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aa12dc7e54a2dfb34af97b02180682dafee8a18f5ea4fdf8e22be1c1eeceec47", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00309 Food/IsaacSim_assets_69f82514d09344200f178c97/physics_69f82514d09344200f178c97.json b/batch7/D00309 Food/IsaacSim_assets_69f82514d09344200f178c97/physics_69f82514d09344200f178c97.json index b485a15a167389fe42fc5b53bd06358dfe7b24b7..553adfcbb6e1d6df92ad51fd50eb6839a21ab6c2 100644 --- a/batch7/D00309 Food/IsaacSim_assets_69f82514d09344200f178c97/physics_69f82514d09344200f178c97.json +++ b/batch7/D00309 Food/IsaacSim_assets_69f82514d09344200f178c97/physics_69f82514d09344200f178c97.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07791845500469208, - 0.04754478856921196, - 0.03471706807613373 - ], "min": [ - -0.07320655137300491, - -6.0211594245629385e-05, - -0.048832934349775314 + -0.07148899883031845, + -0.03415000066161156, + -3.999999989900971e-06 + ], + "max": [ + 0.07679200172424316, + 0.04252199828624725, + 0.04845000058412552 ], "size": [ - 0.151125006377697, - 0.04760500016345759, - 0.08355000242590904 - ] + 0.14828100055456161, + 0.07667199894785881, + 0.04845400058411542 + ], + "units": "m" }, "description": "A golden-brown baked croissant with a flaky, layered surface and a crescent shape.", "name": "D00309 Croissant", "object_type": "rigid_bodies", - "total_mass": 0.06 + "total_mass": 0.05999999865889549, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00309", "parts": [ { "bounds": { - "center": [ - 0.0015843622424342022, - 0.01567977099767379, - -0.0025631580234653298 + "min": [ + -0.07148899883031845, + -0.03415000066161156, + -3.999999989900971e-06 ], "max": [ - 0.07791845500469208, - 0.04754478856921196, - 0.03471706807613373 + 0.07679200172424316, + 0.04252199828624725, + 0.04845000058412552 ], - "min": [ - -0.07320655137300491, - -6.0211594245629385e-05, - -0.048832934349775314 - ] + "size": [ + 0.14828100055456161, + 0.07667199894785881, + 0.04845400058411542 + ], + "units": "m" }, "center_of_mass": [ 0.002374038483132852, @@ -59,7 +65,7 @@ 6.84605647640428e-05, 7.739148547760022e-05 ], - "mass": 0.06, + "mass": 0.05999999865889549, "material": "baked_pastry", "name": "D00309 Food", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00309 Food", "part_name": "D00309 Food" }, - "volume": 0.0002492963543746441 + "volume": 0.0002492963543746441, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a4d4b60c31b23b5907695408ab631d7b092aca19a2da4c15e9c5b0645f5b6a60" + }, + "usd_path": "batch7/D00309 Food/IsaacSim_assets_69f82514d09344200f178c97/IsaacSim_asset_69f82514d09344200f178c97.usd", + "usd_sha256": "e923319b72eacab6f8f8aa00bf140d99854dcba58a509253d06467d249aca65e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.151125006377697, - 0.04760500016345759, - 0.08355000242590904 - ] + 0.14828100055456161, + 0.07667199894785881, + 0.04845400058411542 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e923319b72eacab6f8f8aa00bf140d99854dcba58a509253d06467d249aca65e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.06 + "value_kg": 0.05999999865889549, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e923319b72eacab6f8f8aa00bf140d99854dcba58a509253d06467d249aca65e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05999999865889549, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 12, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e923319b72eacab6f8f8aa00bf140d99854dcba58a509253d06467d249aca65e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 12, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e923319b72eacab6f8f8aa00bf140d99854dcba58a509253d06467d249aca65e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00318 Frame/IsaacSim_assets_69fefa9ff3726e6ad05d68fc/physics_69fefa9ff3726e6ad05d68fc.json b/batch7/D00318 Frame/IsaacSim_assets_69fefa9ff3726e6ad05d68fc/physics_69fefa9ff3726e6ad05d68fc.json index 93db90e94c52b79c9c2ecc4d8028141eee8c391e..ae22369613daed16ed853006943122335edbeb8e 100644 --- a/batch7/D00318 Frame/IsaacSim_assets_69fefa9ff3726e6ad05d68fc/physics_69fefa9ff3726e6ad05d68fc.json +++ b/batch7/D00318 Frame/IsaacSim_assets_69fefa9ff3726e6ad05d68fc/physics_69fefa9ff3726e6ad05d68fc.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11314094811677933, - 0.28907936811447144, - 0.048326700925827026 - ], "min": [ - -0.1106700524687767, - -1.564006379339844e-05, - -0.08464030176401138 + -0.1047310009598732, + -0.046751998364925385, + -9.999999747378752e-06 + ], + "max": [ + 0.10518500208854675, + 0.08555000275373459, + 0.26722899079322815 ], "size": [ - 0.22381100058555603, - 0.28909500817826483, - 0.1329670026898384 - ] + 0.20991600304841995, + 0.13230200111865997, + 0.26723899079297553 + ], + "units": "m" }, "description": "An ornate, antique-style gold picture frame with a textured surface and an MDF or cardboard easel back.", "name": "D00318 Frame", "object_type": "rigid_bodies", - "total_mass": 0.6 + "total_mass": 0.6000000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00318", "parts": [ { "bounds": { - "center": [ - 0.001211743556846915, - 0.11916553968000952, - -0.009317066162742764 + "min": [ + -0.1047310009598732, + -0.046751998364925385, + -9.999999747378752e-06 ], "max": [ - 0.11314094811677933, - 0.28907936811447144, - 0.048326700925827026 + 0.10518500208854675, + 0.08555000275373459, + 0.26722899079322815 ], - "min": [ - -0.1106700524687767, - -1.564006379339844e-05, - -0.08464030176401138 - ] + "size": [ + 0.20991600304841995, + 0.13230200111865997, + 0.26723899079297553 + ], + "units": "m" }, "center_of_mass": [ 0.0002446841247393696, @@ -59,7 +65,7 @@ 0.0030874023543151522, 0.004557430836556509 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "plastic", "name": "D00318 Frame", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00318 Frame", "part_name": "D00318 Frame" }, - "volume": 0.00397150428551432 + "volume": 0.00397150428551432, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f194b37fbef74e5556ad68a0c856d7e72354060cc294e1839821ab2c1e4dee02" + }, + "usd_path": "batch7/D00318 Frame/IsaacSim_assets_69fefa9ff3726e6ad05d68fc/IsaacSim_asset_69fefa9ff3726e6ad05d68fc.usd", + "usd_sha256": "829387af7e2b7acd31891ffc5f87d2597fe5009a25df20643e8672da47d762e2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.22381100058555603, - 0.28909500817826483, - 0.1329670026898384 - ] + 0.20991600304841995, + 0.13230200111865997, + 0.26723899079297553 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "829387af7e2b7acd31891ffc5f87d2597fe5009a25df20643e8672da47d762e2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6 + "value_kg": 0.6000000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "829387af7e2b7acd31891ffc5f87d2597fe5009a25df20643e8672da47d762e2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6000000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 198, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "829387af7e2b7acd31891ffc5f87d2597fe5009a25df20643e8672da47d762e2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 198, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "829387af7e2b7acd31891ffc5f87d2597fe5009a25df20643e8672da47d762e2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00330 Frying Pan Saucepan/IsaacSim_assets_69f5b5f0431507ff7cec712b/physics_69f5b5f0431507ff7cec712b.json b/batch7/D00330 Frying Pan Saucepan/IsaacSim_assets_69f5b5f0431507ff7cec712b/physics_69f5b5f0431507ff7cec712b.json index 12ff59b5000ed4b726890bf33d114a0e94d24a8d..077b52ec6c0b583af2f897cb86c00a3f1c8463db 100644 --- a/batch7/D00330 Frying Pan Saucepan/IsaacSim_assets_69f5b5f0431507ff7cec712b/physics_69f5b5f0431507ff7cec712b.json +++ b/batch7/D00330 Frying Pan Saucepan/IsaacSim_assets_69f5b5f0431507ff7cec712b/physics_69f5b5f0431507ff7cec712b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.27457666397094727, - 0.05994725972414017, - 0.12476502358913422 - ], "min": [ - -0.1481703370809555, - -1.7389086224284256e-06, - -0.12445197999477386 + -0.1490519940853119, + -0.12541699409484863, + -0.00016500000492669642 + ], + "max": [ + 0.2733269929885864, + 0.12577399611473083, + 0.05447699874639511 ], "size": [ - 0.42274700105190277, - 0.059948998632762596, - 0.24921700358390808 - ] + 0.4223789870738983, + 0.25119099020957947, + 0.05464199875132181 + ], + "units": "m" }, "description": "A stainless steel frying pan with a circular, slightly concave body and curved sides. It features a long metallic handle attached with two visible rivets.", "name": "D00330 Stainless Steel Frying Pan", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00330", "parts": [ { "bounds": { - "center": [ - -0.007680590113048162, - 0.01735493412834301, - 0.0001777181543265217 + "min": [ + -0.1490519940853119, + -0.12541699409484863, + -0.00016500000492669642 ], "max": [ - 0.27457666397094727, - 0.05994725972414017, - 0.12476502358913422 + 0.2733269929885864, + 0.12577399611473083, + 0.05447699874639511 ], - "min": [ - -0.1481703370809555, - -1.7389086224284256e-06, - -0.12445197999477386 - ] + "size": [ + 0.4223789870738983, + 0.25119099020957947, + 0.05464199875132181 + ], + "units": "m" }, "center_of_mass": [ 0.011327208652404863, @@ -59,7 +65,7 @@ 0.00910209792527614, 0.01258457947835873 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "stainless_steel", "name": "D00330 Frying Pan Saucepan", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00330 Frying Pan Saucepan", "part_name": "D00330 Frying Pan Saucepan" }, - "volume": 0.0026967862070748365 + "volume": 0.0026967862070748365, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8027d7712ce1a1962d96b2344c38a21d05adae1fcea61ad11d37a82cfdf55a8d" + }, + "usd_path": "batch7/D00330 Frying Pan Saucepan/IsaacSim_assets_69f5b5f0431507ff7cec712b/IsaacSim_asset_69f5b5f0431507ff7cec712b.usd", + "usd_sha256": "bc8f27b7603519440b4a59987ffbe52d1dc1e4acd828a79c0d373d3c67107b9c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.42274700105190277, - 0.059948998632762596, - 0.24921700358390808 - ] + 0.4223789870738983, + 0.25119099020957947, + 0.05464199875132181 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bc8f27b7603519440b4a59987ffbe52d1dc1e4acd828a79c0d373d3c67107b9c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bc8f27b7603519440b4a59987ffbe52d1dc1e4acd828a79c0d373d3c67107b9c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 36, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bc8f27b7603519440b4a59987ffbe52d1dc1e4acd828a79c0d373d3c67107b9c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 36, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bc8f27b7603519440b4a59987ffbe52d1dc1e4acd828a79c0d373d3c67107b9c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00355 Glass Jug/IsaacSim_assets_69f5bc35431507ff7cee8e57/physics_69f5bc35431507ff7cee8e57.json b/batch7/D00355 Glass Jug/IsaacSim_assets_69f5bc35431507ff7cee8e57/physics_69f5bc35431507ff7cee8e57.json index da8f3c500ebeb694965acdf2a8df4ba4bd0a174b..d9bbe44cc268898a31274c0c231c2f7054c660dc 100644 --- a/batch7/D00355 Glass Jug/IsaacSim_assets_69f5bc35431507ff7cee8e57/physics_69f5bc35431507ff7cee8e57.json +++ b/batch7/D00355 Glass Jug/IsaacSim_assets_69f5bc35431507ff7cee8e57/physics_69f5bc35431507ff7cee8e57.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.11420799791812897, - 0.0676959976553917, - 0.2651959955692291 - ], "min": [ - -0.14020900428295135, - -0.06775200366973877, - -3.000000106112566e-06 + -0.05996600165963173, + -0.05673399940133095, + -0.0001610000035725534 + ], + "max": [ + 0.0743430033326149, + 0.056554000824689865, + 0.17483800649642944 ], "size": [ - 0.2544170022010803, - 0.13544800132513046, - 0.26519899556933524 - ] + 0.13430900499224663, + 0.11328800022602081, + 0.174999006500002 + ], + "units": "m" }, "description": "A clear glass pitcher with a flared rim, pouring spout, thick rounded base, and curved transparent handle.", "name": "D00355 Glass Jug", "object_type": "rigid_bodies", - "total_mass": 1.1 + "total_mass": 1.100000023841858, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00355", "parts": [ { "bounds": { - "center": [ - 0.005238904873631558, - -4.2867235375019634e-05, - 0.09862801289065881 + "min": [ + -0.05996600165963173, + -0.05673399940133095, + -0.0001610000035725534 ], "max": [ - 0.11420799791812897, - 0.0676959976553917, - 0.2651959955692291 + 0.0743430033326149, + 0.056554000824689865, + 0.17483800649642944 ], - "min": [ - -0.14020900428295135, - -0.06775200366973877, - -3.000000106112566e-06 - ] + "size": [ + 0.13430900499224663, + 0.11328800022602081, + 0.174999006500002 + ], + "units": "m" }, "center_of_mass": [ 0.00011478452186116456, @@ -59,7 +65,7 @@ 0.003004281097067969, 0.0032974853293272826 ], - "mass": 1.1, + "mass": 1.100000023841858, "material": "glass", "name": "D00355 Glass Jug", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00355 Glass Jug", "part_name": "D00355 Glass Jug" }, - "volume": 0.0014664065373698667 + "volume": 0.0014664065373698667, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "df82dec1c2a3cfa8899819724d2a0180131f84f4c4873c57c161a76d28c18b80" + }, + "usd_path": "batch7/D00355 Glass Jug/IsaacSim_assets_69f5bc35431507ff7cee8e57/IsaacSim_asset_69f5bc35431507ff7cee8e57.usd", + "usd_sha256": "f5748365171efc504878637ae6e72c62d5158fc80284ed6234d38aed8e7e7269", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2544170022010803, - 0.13544800132513046, - 0.26519899556933524 - ] + 0.13430900499224663, + 0.11328800022602081, + 0.174999006500002 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f5748365171efc504878637ae6e72c62d5158fc80284ed6234d38aed8e7e7269", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.1 + "value_kg": 1.100000023841858, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f5748365171efc504878637ae6e72c62d5158fc80284ed6234d38aed8e7e7269", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.100000023841858, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f5748365171efc504878637ae6e72c62d5158fc80284ed6234d38aed8e7e7269", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f5748365171efc504878637ae6e72c62d5158fc80284ed6234d38aed8e7e7269", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00359 Glass Pitcher Milk Jug/IsaacSim_assets_69f5bd61431507ff7ceefba2/physics_69f5bd61431507ff7ceefba2.json b/batch7/D00359 Glass Pitcher Milk Jug/IsaacSim_assets_69f5bd61431507ff7ceefba2/physics_69f5bd61431507ff7ceefba2.json index 2d5a76f25c60dc4804e74b6d46e2adee8ec32862..9ee2fade1a2e1219b515762ad18b047d05e6248d 100644 --- a/batch7/D00359 Glass Pitcher Milk Jug/IsaacSim_assets_69f5bd61431507ff7ceefba2/physics_69f5bd61431507ff7ceefba2.json +++ b/batch7/D00359 Glass Pitcher Milk Jug/IsaacSim_assets_69f5bd61431507ff7ceefba2/physics_69f5bd61431507ff7ceefba2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09974999725818634, - 0.05404600128531456, - 0.19314299523830414 - ], "min": [ - -0.10722900182008743, - -0.053456999361515045, - -4.999999873689376e-06 + -0.05532100051641464, + -0.05114100128412247, + -0.00018899999849963933 + ], + "max": [ + 0.07428500056266785, + 0.05082099884748459, + 0.1634099930524826 ], "size": [ - 0.20697899907827377, - 0.1075030006468296, - 0.19314799523817783 - ] + 0.1296060010790825, + 0.10196200013160706, + 0.16359899305098224 + ], + "units": "m" }, "description": "A collection of translucent glass pitchers and bottles with narrow necks, spouts, handles, and several plastic or metal caps, alongside frosted plastic gallon-style jugs. The surfaces are clear to milky white with rounded bases, raised rims, and molded handles.", "name": "D00359 Glass Pitcher Milk Jug", "object_type": "rigid_bodies", - "total_mass": 4.6 + "total_mass": 4.599999904632568, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00359", "parts": [ { "bounds": { - "center": [ - 0.004122253953300925, - 4.033914870184963e-05, - 0.08561364184404383 + "min": [ + -0.05532100051641464, + -0.05114100128412247, + -0.00018899999849963933 ], "max": [ - 0.09974999725818634, - 0.05404600128531456, - 0.19314299523830414 + 0.07428500056266785, + 0.05082099884748459, + 0.1634099930524826 ], - "min": [ - -0.10722900182008743, - -0.053456999361515045, - -4.999999873689376e-06 - ] + "size": [ + 0.1296060010790825, + 0.10196200013160706, + 0.16359899305098224 + ], + "units": "m" }, "center_of_mass": [ -8.859363548098057e-05, @@ -59,7 +65,7 @@ 0.010675896940331437, 0.011824271080846775 ], - "mass": 4.6, + "mass": 4.599999904632568, "material": "glass", "name": "D00359 Glass Pitcher Milk Jug", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00359 Glass Pitcher Milk Jug", "part_name": "D00359 Glass Pitcher Milk Jug" }, - "volume": 0.0011827380486333276 + "volume": 0.0011827380486333276, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "84066ee66aba520b5acafdbb89eb401e241fd6c2b35823848d2d7d94731986e1" + }, + "usd_path": "batch7/D00359 Glass Pitcher Milk Jug/IsaacSim_assets_69f5bd61431507ff7ceefba2/IsaacSim_asset_69f5bd61431507ff7ceefba2.usd", + "usd_sha256": "65aee4600c3b299cffd694a97ae6da1b463ffab818537656d12164ce616de4c5", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.20697899907827377, - 0.1075030006468296, - 0.19314799523817783 - ] + 0.1296060010790825, + 0.10196200013160706, + 0.16359899305098224 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "65aee4600c3b299cffd694a97ae6da1b463ffab818537656d12164ce616de4c5", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.6 + "value_kg": 4.599999904632568, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "65aee4600c3b299cffd694a97ae6da1b463ffab818537656d12164ce616de4c5", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.599999904632568, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 59, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "65aee4600c3b299cffd694a97ae6da1b463ffab818537656d12164ce616de4c5", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 59, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "65aee4600c3b299cffd694a97ae6da1b463ffab818537656d12164ce616de4c5", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00405 Jar Mug/IsaacSim_assets_69f5c6a6431507ff7cf228e2/physics_69f5c6a6431507ff7cf228e2.json b/batch7/D00405 Jar Mug/IsaacSim_assets_69f5c6a6431507ff7cf228e2/physics_69f5c6a6431507ff7cf228e2.json index 01d63402840fe8c78bd48332baf30cacdd9c1f53..d610cb2b5ebe0ad92e0e89bc618a56416a143284 100644 --- a/batch7/D00405 Jar Mug/IsaacSim_assets_69f5c6a6431507ff7cf228e2/physics_69f5c6a6431507ff7cf228e2.json +++ b/batch7/D00405 Jar Mug/IsaacSim_assets_69f5c6a6431507ff7cf228e2/physics_69f5c6a6431507ff7cf228e2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05602800101041794, - 0.032712001353502274, - 0.10063499957323074 - ], "min": [ - -0.03592099994421005, - -0.03278600051999092, - -0.00012799999967683107 + -0.03949899971485138, + -0.034384001046419144, + -1.4999999621068127e-05 + ], + "max": [ + 0.059188999235630035, + 0.034380000084638596, + 0.10734099894762039 ], "size": [ - 0.09194900095462799, - 0.0654980018734932, - 0.10076299957290757 - ] + 0.09868799895048141, + 0.06876400113105774, + 0.10735599894724146 + ], + "units": "m" }, "description": "A matte white ceramic mason jar mug with a screw-top rim and a curved handle.", "name": "D00405 Jar Mug", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.44999998807907104, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00405", "parts": [ { "bounds": { - "center": [ - -0.0010602958029751939, - -7.229604549829967e-06, - 0.04634999360037738 + "min": [ + -0.03949899971485138, + -0.034384001046419144, + -1.4999999621068127e-05 ], "max": [ - 0.05602800101041794, - 0.032712001353502274, - 0.10063499957323074 + 0.059188999235630035, + 0.034380000084638596, + 0.10734099894762039 ], - "min": [ - -0.03592099994421005, - -0.03278600051999092, - -0.00012799999967683107 - ] + "size": [ + 0.09868799895048141, + 0.06876400113105774, + 0.10735599894724146 + ], + "units": "m" }, "center_of_mass": [ -0.0016577857109858448, @@ -59,7 +65,7 @@ 0.0006456939964323209, 0.0007065913931316756 ], - "mass": 0.45, + "mass": 0.44999998807907104, "material": "ceramic", "name": "D00405 Jar Mug", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00405 Jar Mug", "part_name": "D00405 Jar Mug" }, - "volume": 0.00012513296441324655 + "volume": 0.00012513296441324655, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "472a44d63d3e595bb006e2f5c54b9e37a024d09856f7b5cb898d981967226f81" + }, + "usd_path": "batch7/D00405 Jar Mug/IsaacSim_assets_69f5c6a6431507ff7cf228e2/IsaacSim_asset_69f5c6a6431507ff7cf228e2.usd", + "usd_sha256": "d6237141224b29944ef3afb8dbff1ddd1c4b0d428d9032b3dc5bc50936c8aa67", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.09194900095462799, - 0.0654980018734932, - 0.10076299957290757 - ] + 0.09868799895048141, + 0.06876400113105774, + 0.10735599894724146 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6237141224b29944ef3afb8dbff1ddd1c4b0d428d9032b3dc5bc50936c8aa67", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.44999998807907104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6237141224b29944ef3afb8dbff1ddd1c4b0d428d9032b3dc5bc50936c8aa67", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.44999998807907104, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 84, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6237141224b29944ef3afb8dbff1ddd1c4b0d428d9032b3dc5bc50936c8aa67", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 84, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d6237141224b29944ef3afb8dbff1ddd1c4b0d428d9032b3dc5bc50936c8aa67", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00424 K/IsaacSim_assets_69f83100d09344200f2163e7/physics_69f83100d09344200f2163e7.json b/batch7/D00424 K/IsaacSim_assets_69f83100d09344200f2163e7/physics_69f83100d09344200f2163e7.json index 759987c2b015d7464acb4bcd82902ec91f7fa13e..7e7c95b5438a987561492d2ff3601584b2cc933c 100644 --- a/batch7/D00424 K/IsaacSim_assets_69f83100d09344200f2163e7/physics_69f83100d09344200f2163e7.json +++ b/batch7/D00424 K/IsaacSim_assets_69f83100d09344200f2163e7/physics_69f83100d09344200f2163e7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.16016468405723572, - 0.4186619818210602, - 0.041790205985307693 - ], "min": [ - -0.11906231194734573, - 1.7977525203605182e-05, - -0.04240879416465759 + -0.056880999356508255, + -0.01881299912929535, + -0.00015700000221841037 + ], + "max": [ + 0.07795199751853943, + 0.018573999404907227, + 0.20225100219249725 ], "size": [ - 0.27922699600458145, - 0.4186440042958566, - 0.08419900014996529 - ] + 0.13483299687504768, + 0.037386998534202576, + 0.20240800219471566 + ], + "units": "m" }, "description": "A white, solid, three-dimensional lowercase letter 'k' with flat faces and a matte finish.", "name": "D00424 Decorative Letter K", "object_type": "rigid_bodies", - "total_mass": 0.054 + "total_mass": 0.05400000140070915, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00424", "parts": [ { "bounds": { - "center": [ - -0.010942829101153916, - 0.18335209657702328, - 0.0001270232178391839 + "min": [ + -0.056880999356508255, + -0.01881299912929535, + -0.00015700000221841037 ], "max": [ - 0.16016468405723572, - 0.4186619818210602, - 0.041790205985307693 + 0.07795199751853943, + 0.018573999404907227, + 0.20225100219249725 ], - "min": [ - -0.11906231194734573, - 1.7977525203605182e-05, - -0.04240879416465759 - ] + "size": [ + 0.13483299687504768, + 0.037386998534202576, + 0.20240800219471566 + ], + "units": "m" }, "center_of_mass": [ 0.005354357753995433, @@ -59,7 +65,7 @@ 0.00016735305937414768, 0.0002324862888443375 ], - "mass": 0.054, + "mass": 0.05400000140070915, "material": "painted_wood", "name": "D00424 K", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00424 K", "part_name": "D00424 K" }, - "volume": 0.0008870601255212291 + "volume": 0.0008870601255212291, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9beafefd295f4bf0e817ab72ca7621acc53355bbe45205366e93fa587aabbafa" + }, + "usd_path": "batch7/D00424 K/IsaacSim_assets_69f83100d09344200f2163e7/IsaacSim_asset_69f83100d09344200f2163e7.usd", + "usd_sha256": "35a308b6c631309104501d497501659a8c7134e837598ecf4671b17f1ec53917", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.27922699600458145, - 0.4186440042958566, - 0.08419900014996529 - ] + 0.13483299687504768, + 0.037386998534202576, + 0.20240800219471566 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "35a308b6c631309104501d497501659a8c7134e837598ecf4671b17f1ec53917", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.054 + "value_kg": 0.05400000140070915, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "35a308b6c631309104501d497501659a8c7134e837598ecf4671b17f1ec53917", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.05400000140070915, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "35a308b6c631309104501d497501659a8c7134e837598ecf4671b17f1ec53917", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "35a308b6c631309104501d497501659a8c7134e837598ecf4671b17f1ec53917", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00441 Kitchen Bowl/IsaacSim_assets_69f5d07e431507ff7cf572c8/physics_69f5d07e431507ff7cf572c8.json b/batch7/D00441 Kitchen Bowl/IsaacSim_assets_69f5d07e431507ff7cf572c8/physics_69f5d07e431507ff7cf572c8.json index 05efee6d5ab33451725d6c23e449cf4f4efad2fa..d340935a16f67d630aff1b133da30a8de366cbd4 100644 --- a/batch7/D00441 Kitchen Bowl/IsaacSim_assets_69f5d07e431507ff7cf572c8/physics_69f5d07e431507ff7cf572c8.json +++ b/batch7/D00441 Kitchen Bowl/IsaacSim_assets_69f5d07e431507ff7cf572c8/physics_69f5d07e431507ff7cf572c8.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0749180018901825, - 0.0745989978313446, - 0.08036799728870392 - ], "min": [ - -0.07504499703645706, - -0.07527899742126465, - -3.000000106112566e-06 + -0.05627800151705742, + -0.056196000427007675, + -9.999999974752427e-07 + ], + "max": [ + 0.056178998202085495, + 0.056161001324653625, + 0.06162700057029724 ], "size": [ - 0.14996299892663956, - 0.14987799525260925, - 0.08037099728881003 - ] + 0.11245699971914291, + 0.1123570017516613, + 0.061628000570294716 + ], + "units": "m" }, "description": "An off-white ceramic bowl with a small base and slightly distressed edges.", "name": "D00441 Kitchen Bowl", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00441", "parts": [ { "bounds": { - "center": [ - -2.8172258323727447e-05, - -0.00033909220817326605, - 0.04251524822499309 + "min": [ + -0.05627800151705742, + -0.056196000427007675, + -9.999999974752427e-07 ], "max": [ - 0.0749180018901825, - 0.0745989978313446, - 0.08036799728870392 + 0.056178998202085495, + 0.056161001324653625, + 0.06162700057029724 ], - "min": [ - -0.07504499703645706, - -0.07527899742126465, - -3.000000106112566e-06 - ] + "size": [ + 0.11245699971914291, + 0.1123570017516613, + 0.061628000570294716 + ], + "units": "m" }, "center_of_mass": [ -4.746996514915633e-05, @@ -59,7 +65,7 @@ 0.00046610376904702674, 0.0006946281096747541 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic", "name": "D00441 Kitchen Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00441 Kitchen Bowl", "part_name": "D00441 Kitchen Bowl" }, - "volume": 0.00012465689592658285 + "volume": 0.00012465689592658285, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "9fcd131fe2d228e6296bca34856bc310019f1ab6132790259cbd4d8a660c9aa3" + }, + "usd_path": "batch7/D00441 Kitchen Bowl/IsaacSim_assets_69f5d07e431507ff7cf572c8/IsaacSim_asset_69f5d07e431507ff7cf572c8.usd", + "usd_sha256": "98796cb53b78b8870789b4093c36d2e9982dcb6a08480150bb7902403143fc69", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.14996299892663956, - 0.14987799525260925, - 0.08037099728881003 - ] + 0.11245699971914291, + 0.1123570017516613, + 0.061628000570294716 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "98796cb53b78b8870789b4093c36d2e9982dcb6a08480150bb7902403143fc69", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "98796cb53b78b8870789b4093c36d2e9982dcb6a08480150bb7902403143fc69", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 79, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "98796cb53b78b8870789b4093c36d2e9982dcb6a08480150bb7902403143fc69", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 79, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "98796cb53b78b8870789b4093c36d2e9982dcb6a08480150bb7902403143fc69", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00451 Kitchen Knife Holder/IsaacSim_assets_69f5d515431507ff7cf6e3c3/physics_69f5d515431507ff7cf6e3c3.json b/batch7/D00451 Kitchen Knife Holder/IsaacSim_assets_69f5d515431507ff7cf6e3c3/physics_69f5d515431507ff7cf6e3c3.json index eac3e1f3770ef2761abb0fd67ab2598e8d31d2e6..e16e0e6a975897477d4f4eaa715256db6d21bfb0 100644 --- a/batch7/D00451 Kitchen Knife Holder/IsaacSim_assets_69f5d515431507ff7cf6e3c3/physics_69f5d515431507ff7cf6e3c3.json +++ b/batch7/D00451 Kitchen Knife Holder/IsaacSim_assets_69f5d515431507ff7cf6e3c3/physics_69f5d515431507ff7cf6e3c3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09055700153112411, - 0.06058099865913391, - 0.31175199151039124 - ], "min": [ - -0.08493799716234207, - -0.04196799919009209, - 3.999999989900971e-06 + -0.06897100061178207, + -0.09300000220537186, + -3.999999989900971e-06 + ], + "max": [ + 0.06848800182342529, + 0.08440099656581879, + 0.20873799920082092 ], "size": [ - 0.1754949986934662, - 0.102548997849226, - 0.31174799151040133 - ] + 0.13745900243520737, + 0.17740099877119064, + 0.20874199920081082 + ], + "units": "m" }, "description": "A slanted rectangular knife block with a smaller front compartment, rounded edges, and multiple narrow blade slots. It appears in wood-grain, brushed metal, black coated, and transparent plastic variants.", "name": "D00451 Kitchen Knife Holder", "object_type": "rigid_bodies", - "total_mass": 2.0 + "total_mass": 2.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00451", "parts": [ { "bounds": { - "center": [ - 0.0015151976322364078, - 0.00546816443260296, - 0.11538145019197248 + "min": [ + -0.06897100061178207, + -0.09300000220537186, + -3.999999989900971e-06 ], "max": [ - 0.09055700153112411, - 0.06058099865913391, - 0.31175199151039124 + 0.06848800182342529, + 0.08440099656581879, + 0.20873799920082092 ], - "min": [ - -0.08493799716234207, - -0.04196799919009209, - 3.999999989900971e-06 - ] + "size": [ + 0.13745900243520737, + 0.17740099877119064, + 0.20874199920081082 + ], + "units": "m" }, "center_of_mass": [ -0.0001882279955697362, @@ -67,10 +73,27 @@ "object_name": "D00451 Kitchen Knife Holder", "part_name": "D00451 Kitchen Knife Holder" }, - "volume": 0.003644900961921975 + "volume": 0.003644900961921975, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d4a9df9cc0f886b8b29f0b0192df97b898fe3f223fbba3036e59bfed7e3665e3" + }, + "usd_path": "batch7/D00451 Kitchen Knife Holder/IsaacSim_assets_69f5d515431507ff7cf6e3c3/IsaacSim_asset_69f5d515431507ff7cf6e3c3.usd", + "usd_sha256": "5ee5f22f977af05b4d15314c8556ab82a580b694d9a54499788472e829ac9fa3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1754949986934662, - 0.102548997849226, - 0.31174799151040133 - ] + 0.13745900243520737, + 0.17740099877119064, + 0.20874199920081082 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ee5f22f977af05b4d15314c8556ab82a580b694d9a54499788472e829ac9fa3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.0 + "value_kg": 2.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ee5f22f977af05b4d15314c8556ab82a580b694d9a54499788472e829ac9fa3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 88, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ee5f22f977af05b4d15314c8556ab82a580b694d9a54499788472e829ac9fa3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 88, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5ee5f22f977af05b4d15314c8556ab82a580b694d9a54499788472e829ac9fa3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch7/D00463 Kitchen Sponge/IsaacSim_assets_69f5da68431507ff7cf878f3/physics_69f5da68431507ff7cf878f3.json b/batch7/D00463 Kitchen Sponge/IsaacSim_assets_69f5da68431507ff7cf878f3/physics_69f5da68431507ff7cf878f3.json index d7f8a5a32e0127b80f8d861de45960d3be874807..2283b541d4a2efdf42a50747759205708c62a7b5 100644 --- a/batch7/D00463 Kitchen Sponge/IsaacSim_assets_69f5da68431507ff7cf878f3/physics_69f5da68431507ff7cf878f3.json +++ b/batch7/D00463 Kitchen Sponge/IsaacSim_assets_69f5da68431507ff7cf878f3/physics_69f5da68431507ff7cf878f3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05576600134372711, - 0.035576000809669495, - 0.031585000455379486 - ], "min": [ - -0.05522400140762329, - -0.03409900143742561, - 9.999999974752427e-07 + -0.03263700008392334, + -0.05353200063109398, + -3.899999865097925e-05 + ], + "max": [ + 0.032777998596429825, + 0.05508900061249733, + 0.033904001116752625 ], "size": [ - 0.1109900027513504, - 0.06967500224709511, - 0.03158400045538201 - ] + 0.06541499868035316, + 0.10862100124359131, + 0.033943001115403604 + ], + "units": "m" }, "description": "A rectangular yellow porous sponge block with a rough green scouring pad bonded to the top surface. The body has soft rounded edges and an open-cell foam texture.", "name": "D00463 Kitchen Sponge", "object_type": "rigid_bodies", - "total_mass": 0.014 + "total_mass": 0.014000000432133675, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00463", "parts": [ { "bounds": { - "center": [ - 0.0001608149820647032, - 0.0007146728499058283, - 0.015678540733637954 + "min": [ + -0.03263700008392334, + -0.05353200063109398, + -3.899999865097925e-05 ], "max": [ - 0.05576600134372711, - 0.035576000809669495, - 0.031585000455379486 + 0.032777998596429825, + 0.05508900061249733, + 0.033904001116752625 ], - "min": [ - -0.05522400140762329, - -0.03409900143742561, - 9.999999974752427e-07 - ] + "size": [ + 0.06541499868035316, + 0.10862100124359131, + 0.033943001115403604 + ], + "units": "m" }, "center_of_mass": [ 7.21730126876868e-05, @@ -59,7 +65,7 @@ 1.5056601616541415e-05, 1.8683725601976853e-05 ], - "mass": 0.014, + "mass": 0.014000000432133675, "material": "polyurethane_foam", "name": "D00463 Kitchen Sponge", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00463 Kitchen Sponge", "part_name": "D00463 Kitchen Sponge" }, - "volume": 0.0002401230195479654 + "volume": 0.0002401230195479654, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d1de7e58644d53cc66db98f7b7779a460444ad74271f9058b354d8701e5b096f" + }, + "usd_path": "batch7/D00463 Kitchen Sponge/IsaacSim_assets_69f5da68431507ff7cf878f3/IsaacSim_asset_69f5da68431507ff7cf878f3.usd", + "usd_sha256": "2e9eb0c2795e22530f1e21a3b39aa61a21bee05b9c2fb654f961dadb002a0112", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1109900027513504, - 0.06967500224709511, - 0.03158400045538201 - ] + 0.06541499868035316, + 0.10862100124359131, + 0.033943001115403604 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2e9eb0c2795e22530f1e21a3b39aa61a21bee05b9c2fb654f961dadb002a0112", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.014 + "value_kg": 0.014000000432133675, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2e9eb0c2795e22530f1e21a3b39aa61a21bee05b9c2fb654f961dadb002a0112", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.014000000432133675, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 28, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2e9eb0c2795e22530f1e21a3b39aa61a21bee05b9c2fb654f961dadb002a0112", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 28, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2e9eb0c2795e22530f1e21a3b39aa61a21bee05b9c2fb654f961dadb002a0112", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00004 Bag/IsaacSim_assets_69f80ea9d09344200f059396/physics_69f80ea9d09344200f059396.json b/batch8/D00004 Bag/IsaacSim_assets_69f80ea9d09344200f059396/physics_69f80ea9d09344200f059396.json index 8d07ce875b37300b6b835835376d859743bd779f..5bc9052ac804cfd972105a2a6d626df975f471ec 100644 --- a/batch8/D00004 Bag/IsaacSim_assets_69f80ea9d09344200f059396/physics_69f80ea9d09344200f059396.json +++ b/batch8/D00004 Bag/IsaacSim_assets_69f80ea9d09344200f059396/physics_69f80ea9d09344200f059396.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1559000015258789, - 0.15080399811267853, - 0.2985300123691559 - ], "min": [ - -0.15970399975776672, - -0.1440179944038391, - 0.0 + -0.16966000199317932, + -0.1530119925737381, + -9.000000136438757e-05 + ], + "max": [ + 0.16721099615097046, + 0.15600700676441193, + 0.3104259967803955 ], "size": [ - 0.31560400128364563, - 0.29482199251651764, - 0.2985300123691559 - ] + 0.3368709981441498, + 0.30901899933815, + 0.3105159967817599 + ], + "units": "m" }, "description": "A structured, tan canvas tote bag with an open top and two fabric handles.", "name": "D00004 Bag", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00004", "parts": [ { "bounds": { - "center": [ - -0.0017557981127226607, - 0.001975372797565107, - 0.13227559966969463 + "min": [ + -0.16966000199317932, + -0.1530119925737381, + -9.000000136438757e-05 ], "max": [ - 0.1559000015258789, - 0.15080399811267853, - 0.2985300123691559 + 0.16721099615097046, + 0.15600700676441193, + 0.3104259967803955 ], - "min": [ - -0.15970399975776672, - -0.1440179944038391, - 0.0 - ] + "size": [ + 0.3368709981441498, + 0.30901899933815, + 0.3105159967817599 + ], + "units": "m" }, "center_of_mass": [ -0.0007585617690461945, @@ -67,10 +73,27 @@ "object_name": "D00004 Bag", "part_name": "D00004 Bag" }, - "volume": 0.001272648547616943 + "volume": 0.001272648547616943, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5b226c6b0e0c489bf91143051249e4069a03378c2d0764c8c2d803dcfd944948" + }, + "usd_path": "batch8/D00004 Bag/IsaacSim_assets_69f80ea9d09344200f059396/IsaacSim_asset_69f80ea9d09344200f059396.usd", + "usd_sha256": "86b82b082ded35cd870e545e78ed47231c9819e65d2cf60b3a5352f48478d211", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.31560400128364563, - 0.29482199251651764, - 0.2985300123691559 - ] + 0.3368709981441498, + 0.30901899933815, + 0.3105159967817599 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "86b82b082ded35cd870e545e78ed47231c9819e65d2cf60b3a5352f48478d211", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "86b82b082ded35cd870e545e78ed47231c9819e65d2cf60b3a5352f48478d211", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "86b82b082ded35cd870e545e78ed47231c9819e65d2cf60b3a5352f48478d211", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "86b82b082ded35cd870e545e78ed47231c9819e65d2cf60b3a5352f48478d211", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "86b82b082ded35cd870e545e78ed47231c9819e65d2cf60b3a5352f48478d211", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:10.142297+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "fd198ce88c14ce4b2755a007eb91e92cdb5bc6dc270d11e1f34c9eb7d1c9b853", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00062 Bowl Kitchen Pot/IsaacSim_assets_69f1f78c59057a9310596274/physics_69f1f78c59057a9310596274.json b/batch8/D00062 Bowl Kitchen Pot/IsaacSim_assets_69f1f78c59057a9310596274/physics_69f1f78c59057a9310596274.json index 06d4ba00f0b26b79b286e44301467b76a1eaa353..9a5977914a406a22979dcdef8a756459cc2174a5 100644 --- a/batch8/D00062 Bowl Kitchen Pot/IsaacSim_assets_69f1f78c59057a9310596274/physics_69f1f78c59057a9310596274.json +++ b/batch8/D00062 Bowl Kitchen Pot/IsaacSim_assets_69f1f78c59057a9310596274/physics_69f1f78c59057a9310596274.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14713793992996216, - 0.10940498858690262, - 0.10835190862417221 - ], "min": [ - -0.1475260704755783, - -2.9009503123234026e-05, - -0.1084400936961174 + -0.14046600461006165, + -0.10485000163316727, + 4.999999873689376e-06 + ], + "max": [ + 0.1409039944410324, + 0.10537300258874893, + 0.10614900290966034 ], "size": [ - 0.29466401040554047, - 0.10943399809002585, - 0.2167920023202896 - ] + 0.28136999905109406, + 0.2102230042219162, + 0.10614400290978665 + ], + "units": "m" }, "description": "A cylindrical stainless steel cooking pot with a brushed metal finish and two riveted loop handles.", "name": "D00062 Stainless Steel Cooking Pot", "object_type": "rigid_bodies", - "total_mass": 2.0 + "total_mass": 2.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00062", "parts": [ { "bounds": { - "center": [ - -0.00022910767223999006, - 0.04996743259588318, - -6.70433634210562e-05 + "min": [ + -0.14046600461006165, + -0.10485000163316727, + 4.999999873689376e-06 ], "max": [ - 0.14713793992996216, - 0.10940498858690262, - 0.10835190862417221 + 0.1409039944410324, + 0.10537300258874893, + 0.10614900290966034 ], - "min": [ - -0.1475260704755783, - -2.9009503123234026e-05, - -0.1084400936961174 - ] + "size": [ + 0.28136999905109406, + 0.2102230042219162, + 0.10614400290978665 + ], + "units": "m" }, "center_of_mass": [ 0.00020094163144880148, @@ -67,10 +73,27 @@ "object_name": "D00062 Bowl Kitchen Pot", "part_name": "D00062 Bowl Kitchen Pot" }, - "volume": 0.003149333996873807 + "volume": 0.003149333996873807, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1f1c931dfc74af264ca62891bb1f28274caff8cade6bc52f591d9bc369ca4dad" + }, + "usd_path": "batch8/D00062 Bowl Kitchen Pot/IsaacSim_assets_69f1f78c59057a9310596274/IsaacSim_asset_69f1f78c59057a9310596274.usd", + "usd_sha256": "4b16f9dccfe52843728fac38dadd87965d5c26e2f2e8a34edbdf7a83c5f16410", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,78 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.29466401040554047, - 0.10943399809002585, - 0.2167920023202896 - ] + 0.28136999905109406, + 0.2102230042219162, + 0.10614400290978665 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4b16f9dccfe52843728fac38dadd87965d5c26e2f2e8a34edbdf7a83c5f16410", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 2.0 + "value_kg": 2.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4b16f9dccfe52843728fac38dadd87965d5c26e2f2e8a34edbdf7a83c5f16410", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 2.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 76, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4b16f9dccfe52843728fac38dadd87965d5c26e2f2e8a34edbdf7a83c5f16410", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 76, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4b16f9dccfe52843728fac38dadd87965d5c26e2f2e8a34edbdf7a83c5f16410", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "4b16f9dccfe52843728fac38dadd87965d5c26e2f2e8a34edbdf7a83c5f16410", + "supplemental_accepted": false, + "planned_test_count": 12, + "result_count": 12, + "passed": 10, + "skipped": 1, + "failed": 1, + "issues": [ + "slope_drop:fail" + ], + "warnings": [], + "completed_at": "2026-10-13T21:01:23.214698+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "46ac6504c17bcf2fcff995aa7ce3cb1f1c1f440de157c8ff18ebee93b218dd59", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00098 Candle Holder Vase/IsaacSim_assets_69f1ff8259057a93105a1956/physics_69f1ff8259057a93105a1956.json b/batch8/D00098 Candle Holder Vase/IsaacSim_assets_69f1ff8259057a93105a1956/physics_69f1ff8259057a93105a1956.json index eec6a4d855ce832f7f9e95ef7a9c65ffdd973f2c..abff88dc1de13f75bb7229c9c93fb3cebbb1951d 100644 --- a/batch8/D00098 Candle Holder Vase/IsaacSim_assets_69f1ff8259057a93105a1956/physics_69f1ff8259057a93105a1956.json +++ b/batch8/D00098 Candle Holder Vase/IsaacSim_assets_69f1ff8259057a93105a1956/physics_69f1ff8259057a93105a1956.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06376100331544876, - 0.058031998574733734, - 0.19366499781608582 - ], "min": [ - -0.06518200039863586, - -0.05741500109434128, + -0.06518100202083588, + -0.057413000613451004, 3.000000106112566e-06 ], + "max": [ + 0.06376200169324875, + 0.05803399905562401, + 0.19366499781608582 + ], "size": [ 0.12894300371408463, 0.11544699966907501, 0.1936619978159797 - ] + ], + "units": "m" }, "description": "An off-white matte ceramic vessel with a bulbous rounded base, narrow neck, flared rim, and two small side cups with round openings.", "name": "D00098 Candle Holder Vase", "object_type": "rigid_bodies", - "total_mass": 0.9 + "total_mass": 0.8999999761581421, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00098", "parts": [ { "bounds": { - "center": [ - 6.608045314837605e-05, - 0.00011549021310528816, - 0.08543795794076119 + "min": [ + -0.06518100202083588, + -0.057413000613451004, + 3.000000106112566e-06 ], "max": [ - 0.06376100331544876, - 0.058031998574733734, + 0.06376200169324875, + 0.05803399905562401, 0.19366499781608582 ], - "min": [ - -0.06518200039863586, - -0.05741500109434128, - 3.000000106112566e-06 - ] + "size": [ + 0.12894300371408463, + 0.11544699966907501, + 0.1936619978159797 + ], + "units": "m" }, "center_of_mass": [ -4.2556302312143205e-05, @@ -59,7 +65,7 @@ 0.0018954767499936944, 0.0020001043734621613 ], - "mass": 0.9, + "mass": 0.8999999761581421, "material": "ceramic", "name": "D00098 Candle Holder Vase", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00098 Candle Holder Vase", "part_name": "D00098 Candle Holder Vase" }, - "volume": 0.0008873700030663314 + "volume": 0.0008873700030663314, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "74d9af8f6bc4ad05e122a3114f313bb8d696e6e49033d954c9acacddc5bb8836" + }, + "usd_path": "batch8/D00098 Candle Holder Vase/IsaacSim_assets_69f1ff8259057a93105a1956/IsaacSim_asset_69f1ff8259057a93105a1956.usd", + "usd_sha256": "a3ce4196b05d30bbb382a5094d57339f2bd0df582e212ad5aa06eee1631bb79e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -89,22 +112,73 @@ 0.12894300371408463, 0.11544699966907501, 0.1936619978159797 - ] + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a3ce4196b05d30bbb382a5094d57339f2bd0df582e212ad5aa06eee1631bb79e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.9 + "value_kg": 0.8999999761581421, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a3ce4196b05d30bbb382a5094d57339f2bd0df582e212ad5aa06eee1631bb79e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.8999999761581421, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 106, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a3ce4196b05d30bbb382a5094d57339f2bd0df582e212ad5aa06eee1631bb79e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 106, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a3ce4196b05d30bbb382a5094d57339f2bd0df582e212ad5aa06eee1631bb79e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "a3ce4196b05d30bbb382a5094d57339f2bd0df582e212ad5aa06eee1631bb79e", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:15:58.891513+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "08e3c4c6da3041e35eff3c7664bdfa5d8b22dfaa99018fbe150b81d9625db841", + "qualification": "native-fleet-evidence/shard-02/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00116 Ceramic Jug/IsaacSim_assets_69f203e059057a93105a7cc7/physics_69f203e059057a93105a7cc7.json b/batch8/D00116 Ceramic Jug/IsaacSim_assets_69f203e059057a93105a7cc7/physics_69f203e059057a93105a7cc7.json index 97ed3533eebccf1b94cfcbe4108b3abce6e72784..3e5b6b190c151dbc45e17c14409540f0db5285ec 100644 --- a/batch8/D00116 Ceramic Jug/IsaacSim_assets_69f203e059057a93105a7cc7/physics_69f203e059057a93105a7cc7.json +++ b/batch8/D00116 Ceramic Jug/IsaacSim_assets_69f203e059057a93105a7cc7/physics_69f203e059057a93105a7cc7.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05525600165128708, - 0.038805000483989716, - 0.1002269983291626 - ], "min": [ - -0.04217600077390671, - -0.038697000592947006, - 0.0 + -0.04217499867081642, + -0.03869500011205673, + 9.999999974752427e-07 + ], + "max": [ + 0.05525700002908707, + 0.03880700096487999, + 0.10022799670696259 ], "size": [ - 0.09743200242519379, + 0.09743199869990349, 0.07750200107693672, - 0.1002269983291626 - ] + 0.10022699670696511 + ], + "units": "m" }, "description": "A collection of hollow pitchers and bottles with glazed ceramic bodies, clear and tinted glass vessels, and one transparent plastic bottle. The forms include handled pouring jugs, cylindrical bottles, a square glass flask with cork, and narrow-neck bottles in brown, blue, gray, cream, amber, green, and clear finishes.", "name": "D00116 Ceramic Jug", "object_type": "rigid_bodies", - "total_mass": 4.6 + "total_mass": 4.599999904632568, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00116", "parts": [ { "bounds": { - "center": [ - -0.0012028801236877431, - 6.680453461802668e-05, - 0.04666713045401236 + "min": [ + -0.04217499867081642, + -0.03869500011205673, + 9.999999974752427e-07 ], "max": [ - 0.05525600165128708, - 0.038805000483989716, - 0.1002269983291626 + 0.05525700002908707, + 0.03880700096487999, + 0.10022799670696259 ], - "min": [ - -0.04217600077390671, - -0.038697000592947006, - 0.0 - ] + "size": [ + 0.09743199869990349, + 0.07750200107693672, + 0.10022699670696511 + ], + "units": "m" }, "center_of_mass": [ -0.0009647538062474247, @@ -59,7 +65,7 @@ 0.006193226592521277, 0.006649049569838688 ], - "mass": 4.6, + "mass": 4.599999904632568, "material": "glazed_ceramic", "name": "D00116 Ceramic Jug", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00116 Ceramic Jug", "part_name": "D00116 Ceramic Jug" }, - "volume": 9.844403431088591e-05 + "volume": 9.844403431088591e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "97a36934a991b76302df6797f114365a377ffde9fccd263164cd5d764c5f4a24" + }, + "usd_path": "batch8/D00116 Ceramic Jug/IsaacSim_assets_69f203e059057a93105a7cc7/IsaacSim_asset_69f203e059057a93105a7cc7.usd", + "usd_sha256": "079bfd5b99742335994ead0d801d144b6cc0e5f94206d1e0f85f90c23e2f9fc3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.09743200242519379, + 0.09743199869990349, 0.07750200107693672, - 0.1002269983291626 - ] + 0.10022699670696511 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "079bfd5b99742335994ead0d801d144b6cc0e5f94206d1e0f85f90c23e2f9fc3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.6 + "value_kg": 4.599999904632568, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "079bfd5b99742335994ead0d801d144b6cc0e5f94206d1e0f85f90c23e2f9fc3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.599999904632568, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 256, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "079bfd5b99742335994ead0d801d144b6cc0e5f94206d1e0f85f90c23e2f9fc3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 256, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "079bfd5b99742335994ead0d801d144b6cc0e5f94206d1e0f85f90c23e2f9fc3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "079bfd5b99742335994ead0d801d144b6cc0e5f94206d1e0f85f90c23e2f9fc3", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:01.354986+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "a55f247837b094a2581e7be51ed6137cca22e0cab645518492fe3b3329e45752", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00474 Knife/IsaacSim_assets_69f5dbbc431507ff7cf8e000/physics_69f5dbbc431507ff7cf8e000.json b/batch8/D00474 Knife/IsaacSim_assets_69f5dbbc431507ff7cf8e000/physics_69f5dbbc431507ff7cf8e000.json index 595b9407cf116adea3f5cdcbbee519a0c4efe962..51b86a9d55c3f522e65ebfdf7c4826764579682a 100644 --- a/batch8/D00474 Knife/IsaacSim_assets_69f5dbbc431507ff7cf8e000/physics_69f5dbbc431507ff7cf8e000.json +++ b/batch8/D00474 Knife/IsaacSim_assets_69f5dbbc431507ff7cf8e000/physics_69f5dbbc431507ff7cf8e000.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09717009961605072, - 0.015148214064538479, - 0.015095866285264492 - ], "min": [ - -0.13875797390937805, + -0.13875800371170044, -0.025947999209165573, - -7.184433343354613e-05 + -7.000000186963007e-05 + ], + "max": [ + 0.09716899693012238, + 0.015149000100791454, + 0.015073999762535095 ], "size": [ - 0.23592807352542877, - 0.04109621327370405, - 0.015167710618698038 - ] + 0.23592700064182281, + 0.04109699930995703, + 0.015143999764404725 + ], + "units": "m" }, "description": "A chef's knife with a brushed steel blade and a dark wooden handle secured by three brass rivets.", "name": "D00474 Knife", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00474", "parts": [ { "bounds": { - "center": [ - -0.012114265116714583, - 0.0005182509236666788, - 0.007553671422110294 + "min": [ + -0.13875800371170044, + -0.025947999209165573, + -7.000000186963007e-05 ], "max": [ - 0.09717009961605072, - 0.015148214064538479, - 0.015095866285264492 + 0.09716899693012238, + 0.015149000100791454, + 0.015073999762535095 ], - "min": [ - -0.13875797390937805, - -0.025947999209165573, - -7.184433343354613e-05 - ] + "size": [ + 0.23592700064182281, + 0.04109699930995703, + 0.015143999764404725 + ], + "units": "m" }, "center_of_mass": [ 0.00780994658061293, @@ -67,10 +73,27 @@ "object_name": "D00474 Knife", "part_name": "D00474 Knife" }, - "volume": 6.790675712089424e-05 + "volume": 6.790675712089424e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7e2bddf252867312cdaad636e8df6fd33e4ca3807d47c32202a69f59cefce055" + }, + "usd_path": "batch8/D00474 Knife/IsaacSim_assets_69f5dbbc431507ff7cf8e000/IsaacSim_asset_69f5dbbc431507ff7cf8e000.usd", + "usd_sha256": "e2a5260370a29c10591597665d6b7dd50267277d9f155394da80681603811cd9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.23592807352542877, - 0.04109621327370405, - 0.015167710618698038 - ] + 0.23592700064182281, + 0.04109699930995703, + 0.015143999764404725 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e2a5260370a29c10591597665d6b7dd50267277d9f155394da80681603811cd9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e2a5260370a29c10591597665d6b7dd50267277d9f155394da80681603811cd9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e2a5260370a29c10591597665d6b7dd50267277d9f155394da80681603811cd9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e2a5260370a29c10591597665d6b7dd50267277d9f155394da80681603811cd9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00492 Lettuce/IsaacSim_assets_69f5e263431507ff7cfacb40/physics_69f5e263431507ff7cfacb40.json b/batch8/D00492 Lettuce/IsaacSim_assets_69f5e263431507ff7cfacb40/physics_69f5e263431507ff7cfacb40.json index 0b5e83343fdaba6051473e4e0da95bb798e02f32..41b231ca2d9de49b322dc229191356200d478950 100644 --- a/batch8/D00492 Lettuce/IsaacSim_assets_69f5e263431507ff7cfacb40/physics_69f5e263431507ff7cfacb40.json +++ b/batch8/D00492 Lettuce/IsaacSim_assets_69f5e263431507ff7cfacb40/physics_69f5e263431507ff7cfacb40.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07562796026468277, - 0.0774330273270607, - 0.13403752446174622 - ], "min": [ - -0.07212407141923904, - -0.07130752503871918, - -1.0998014658980537e-05 + -0.07212699949741364, + -0.07130700349807739, + -1.1000000085914508e-05 + ], + "max": [ + 0.07562799751758575, + 0.07743199914693832, + 0.1340389996767044 ], "size": [ - 0.14775203168392181, - 0.14874055236577988, - 0.1340485224764052 - ] + 0.1477549970149994, + 0.14873900264501572, + 0.13404999967679032 + ], + "units": "m" }, "description": "A spherical head of light green iceberg cabbage with textured, overlapping leaves and a short, flat stem at the bottom.", "name": "D00492 Lettuce", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00492", "parts": [ { "bounds": { - "center": [ - 0.0014315103318045786, - 0.0016662705814984209, - 0.06564564909489815 + "min": [ + -0.07212699949741364, + -0.07130700349807739, + -1.1000000085914508e-05 ], "max": [ - 0.07562796026468277, - 0.0774330273270607, - 0.13403752446174622 + 0.07562799751758575, + 0.07743199914693832, + 0.1340389996767044 ], - "min": [ - -0.07212407141923904, - -0.07130752503871918, - -1.0998014658980537e-05 - ] + "size": [ + 0.1477549970149994, + 0.14873900264501572, + 0.13404999967679032 + ], + "units": "m" }, "center_of_mass": [ 0.0029202411234852737, @@ -59,7 +65,7 @@ 0.0015321154267937216, 0.0017217421759995993 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "organic_vegetable", "name": "D00492 Lettuce", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00492 Lettuce", "part_name": "D00492 Lettuce" }, - "volume": 0.0014389742974282823 + "volume": 0.0014389742974282823, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d2c640e729afbc6e2acef06adbce58f77de18bad278e179c988494076eb07f49" + }, + "usd_path": "batch8/D00492 Lettuce/IsaacSim_assets_69f5e263431507ff7cfacb40/IsaacSim_asset_69f5e263431507ff7cfacb40.usd", + "usd_sha256": "b2d3a80fdd4cc33c5f4c037e9d5de1d41c86c2877a355fd687f1313500f06dd1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.14775203168392181, - 0.14874055236577988, - 0.1340485224764052 - ] + 0.1477549970149994, + 0.14873900264501572, + 0.13404999967679032 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b2d3a80fdd4cc33c5f4c037e9d5de1d41c86c2877a355fd687f1313500f06dd1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b2d3a80fdd4cc33c5f4c037e9d5de1d41c86c2877a355fd687f1313500f06dd1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 114, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b2d3a80fdd4cc33c5f4c037e9d5de1d41c86c2877a355fd687f1313500f06dd1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 114, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b2d3a80fdd4cc33c5f4c037e9d5de1d41c86c2877a355fd687f1313500f06dd1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00506 Medium Bowl/IsaacSim_assets_69f5e6b6431507ff7cfbfe76/physics_69f5e6b6431507ff7cfbfe76.json b/batch8/D00506 Medium Bowl/IsaacSim_assets_69f5e6b6431507ff7cfbfe76/physics_69f5e6b6431507ff7cfbfe76.json index ae85ec6f399b4ebf431fc0a38ec424d15e2245fb..28c016e939b18830ffbca30219b53e0f8fdacbea 100644 --- a/batch8/D00506 Medium Bowl/IsaacSim_assets_69f5e6b6431507ff7cfbfe76/physics_69f5e6b6431507ff7cfbfe76.json +++ b/batch8/D00506 Medium Bowl/IsaacSim_assets_69f5e6b6431507ff7cfbfe76/physics_69f5e6b6431507ff7cfbfe76.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08378836512565613, - 0.08372516930103302, - 0.08193416893482208 - ], "min": [ - -0.08348645269870758, - -0.08325565606355667, - -0.00017972463683690876 + -0.08348000049591064, + -0.08326900005340576, + -0.0001289999927394092 + ], + "max": [ + 0.08377499878406525, + 0.08373499661684036, + 0.08180999755859375 ], "size": [ - 0.1672748178243637, - 0.1669808253645897, - 0.08211389357165899 - ] + 0.1672549992799759, + 0.16700399667024612, + 0.08193899755133316 + ], + "units": "m" }, "description": "A matte white ceramic bowl with a rolled rim and a flat, distinct circular base.", "name": "D00506 Medium Bowl", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00506", "parts": [ { "bounds": { - "center": [ - 0.00012925310707759854, - 6.94114662116986e-05, - 0.04094364415025134 + "min": [ + -0.08348000049591064, + -0.08326900005340576, + -0.0001289999927394092 ], "max": [ - 0.08378836512565613, - 0.08372516930103302, - 0.08193416893482208 + 0.08377499878406525, + 0.08373499661684036, + 0.08180999755859375 ], - "min": [ - -0.08348645269870758, - -0.08325565606355667, - -0.00017972463683690876 - ] + "size": [ + 0.1672549992799759, + 0.16700399667024612, + 0.08193899755133316 + ], + "units": "m" }, "center_of_mass": [ 0.00013721125857236064, @@ -59,7 +65,7 @@ 0.0010473408737696871, 0.001620008945255264 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic", "name": "D00506 Medium Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00506 Medium Bowl", "part_name": "D00506 Medium Bowl" }, - "volume": 0.00029150314650095295 + "volume": 0.00029150314650095295, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1eb0f6f91a4e119242dc99b4b4555a98300d5f613a9d4f4f5c6c88142498196e" + }, + "usd_path": "batch8/D00506 Medium Bowl/IsaacSim_assets_69f5e6b6431507ff7cfbfe76/IsaacSim_asset_69f5e6b6431507ff7cfbfe76.usd", + "usd_sha256": "f753bda55d0ae648df7af58843364c855f51e73362f0b5cdadaf808cc1bb246b", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1672748178243637, - 0.1669808253645897, - 0.08211389357165899 - ] + 0.1672549992799759, + 0.16700399667024612, + 0.08193899755133316 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f753bda55d0ae648df7af58843364c855f51e73362f0b5cdadaf808cc1bb246b", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f753bda55d0ae648df7af58843364c855f51e73362f0b5cdadaf808cc1bb246b", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 79, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f753bda55d0ae648df7af58843364c855f51e73362f0b5cdadaf808cc1bb246b", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 79, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f753bda55d0ae648df7af58843364c855f51e73362f0b5cdadaf808cc1bb246b", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00538 Muffin Tin/IsaacSim_assets_69f5f245431507ff7cff4bad/physics_69f5f245431507ff7cff4bad.json b/batch8/D00538 Muffin Tin/IsaacSim_assets_69f5f245431507ff7cff4bad/physics_69f5f245431507ff7cff4bad.json index d17a2a925c091c6a75e8deb81dc3bcf31eb36bbc..baf3bb320f3a0b9c0aa9cf01bf333fa0590616b5 100644 --- a/batch8/D00538 Muffin Tin/IsaacSim_assets_69f5f245431507ff7cff4bad/physics_69f5f245431507ff7cff4bad.json +++ b/batch8/D00538 Muffin Tin/IsaacSim_assets_69f5f245431507ff7cff4bad/physics_69f5f245431507ff7cff4bad.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17809152603149414, - 0.10715647041797638, - 0.04338281229138374 - ], "min": [ - -0.16668963432312012, - -0.107052743434906, - -0.0005592838861048222 + -0.16668899357318878, + -0.10704600065946579, + -0.0005440000095404685 + ], + "max": [ + 0.17809100449085236, + 0.1071539968252182, + 0.04332900047302246 ], "size": [ - 0.34478116035461426, - 0.21420921385288239, - 0.043942096177488565 - ] + 0.34477999806404114, + 0.214199997484684, + 0.04387300048256293 + ], + "units": "m" }, "description": "A rectangular metallic muffin pan with twelve circular depressions and a textured, dark gray finish.", "name": "D00538 Muffin Tin", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.44999998807907104, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00538", "parts": [ { "bounds": { - "center": [ - -0.0008239628167275361, - -4.3529780195000566e-06, - 0.02435731724133991 + "min": [ + -0.16668899357318878, + -0.10704600065946579, + -0.0005440000095404685 ], "max": [ - 0.17809152603149414, - 0.10715647041797638, - 0.04338281229138374 + 0.17809100449085236, + 0.1071539968252182, + 0.04332900047302246 ], - "min": [ - -0.16668963432312012, - -0.107052743434906, - -0.0005592838861048222 - ] + "size": [ + 0.34477999806404114, + 0.214199997484684, + 0.04387300048256293 + ], + "units": "m" }, "center_of_mass": [ -0.0013835156956351791, @@ -59,7 +65,7 @@ 0.0036177622832887254, 0.004968813469772727 ], - "mass": 0.45, + "mass": 0.44999998807907104, "material": "steel", "name": "D00538 Muffin Tin", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00538 Muffin Tin", "part_name": "D00538 Muffin Tin" }, - "volume": 0.0026251818702864547 + "volume": 0.0026251818702864547, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4664d9237d91f77dd384d73e9f7dc8625b7ff806435594146cf49818b2108fbd" + }, + "usd_path": "batch8/D00538 Muffin Tin/IsaacSim_assets_69f5f245431507ff7cff4bad/IsaacSim_asset_69f5f245431507ff7cff4bad.usd", + "usd_sha256": "4bbdfc64b3e6b0f659fc77b6b99f52ee2bc59590081e6bbedb446d77295ccae9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.34478116035461426, - 0.21420921385288239, - 0.043942096177488565 - ] + 0.34477999806404114, + 0.214199997484684, + 0.04387300048256293 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4bbdfc64b3e6b0f659fc77b6b99f52ee2bc59590081e6bbedb446d77295ccae9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.44999998807907104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4bbdfc64b3e6b0f659fc77b6b99f52ee2bc59590081e6bbedb446d77295ccae9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.44999998807907104, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 128, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4bbdfc64b3e6b0f659fc77b6b99f52ee2bc59590081e6bbedb446d77295ccae9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 128, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4bbdfc64b3e6b0f659fc77b6b99f52ee2bc59590081e6bbedb446d77295ccae9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00541 Muffin Tray/IsaacSim_assets_69f5f2df431507ff7cff77d3/physics_69f5f2df431507ff7cff77d3.json b/batch8/D00541 Muffin Tray/IsaacSim_assets_69f5f2df431507ff7cff77d3/physics_69f5f2df431507ff7cff77d3.json index 50c58d31e5fcf8182e968e31f9177ee0b5cdee26..a5a1a7d7ebf80471bbf3085163c8c1e7391dbb23 100644 --- a/batch8/D00541 Muffin Tray/IsaacSim_assets_69f5f2df431507ff7cff77d3/physics_69f5f2df431507ff7cff77d3.json +++ b/batch8/D00541 Muffin Tray/IsaacSim_assets_69f5f2df431507ff7cff77d3/physics_69f5f2df431507ff7cff77d3.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2162315994501114, - 0.13911673426628113, - 0.038261529058218 - ], "min": [ - -0.18939557671546936, - -0.13900543749332428, - 3.3891105886141304e-06 + -0.18937300145626068, + -0.13900600373744965, + 3.999999989900971e-06 + ], + "max": [ + 0.21623000502586365, + 0.13911500573158264, + 0.038263000547885895 ], "size": [ - 0.40562717616558075, - 0.2781221717596054, - 0.03825813994762939 - ] + 0.40560300648212433, + 0.2781210094690323, + 0.038259000547895994 + ], + "units": "m" }, "description": "A rectangular, dark grey metallic 12-cup muffin pan with a wide flange on one end containing a hanging hole.", "name": "D00541 Muffin Tray", "object_type": "rigid_bodies", - "total_mass": 0.6 + "total_mass": 0.6000000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00541", "parts": [ { "bounds": { - "center": [ - -0.0008486794648220641, - 1.356573010443729e-05, - 0.0226381747151459 + "min": [ + -0.18937300145626068, + -0.13900600373744965, + 3.999999989900971e-06 ], "max": [ - 0.2162315994501114, - 0.13911673426628113, - 0.038261529058218 + 0.21623000502586365, + 0.13911500573158264, + 0.038263000547885895 ], - "min": [ - -0.18939557671546936, - -0.13900543749332428, - 3.3891105886141304e-06 - ] + "size": [ + 0.40560300648212433, + 0.2781210094690323, + 0.038259000547895994 + ], + "units": "m" }, "center_of_mass": [ 0.0014716592675083817, @@ -59,7 +65,7 @@ 0.00656517401256658, 0.009772980359102994 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "non_stick_coated_carbon_steel", "name": "D00541 Muffin Tray", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00541 Muffin Tray", "part_name": "D00541 Muffin Tray" }, - "volume": 0.003559558878712945 + "volume": 0.003559558878712945, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "74de9e99de1d87ef5eb82026965a60caa8f6e145a90aa0add85e0431152bcd5c" + }, + "usd_path": "batch8/D00541 Muffin Tray/IsaacSim_assets_69f5f2df431507ff7cff77d3/IsaacSim_asset_69f5f2df431507ff7cff77d3.usd", + "usd_sha256": "b90cbb99597cae7cc1ed40b87e415ff5bd0311ee2f990aa0b66eaf55044ffb23", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.40562717616558075, - 0.2781221717596054, - 0.03825813994762939 - ] + 0.40560300648212433, + 0.2781210094690323, + 0.038259000547895994 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b90cbb99597cae7cc1ed40b87e415ff5bd0311ee2f990aa0b66eaf55044ffb23", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6 + "value_kg": 0.6000000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b90cbb99597cae7cc1ed40b87e415ff5bd0311ee2f990aa0b66eaf55044ffb23", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6000000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 128, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b90cbb99597cae7cc1ed40b87e415ff5bd0311ee2f990aa0b66eaf55044ffb23", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 128, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b90cbb99597cae7cc1ed40b87e415ff5bd0311ee2f990aa0b66eaf55044ffb23", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00543 Mug Cup/IsaacSim_assets_69f5f378431507ff7cffa466/physics_69f5f378431507ff7cffa466.json b/batch8/D00543 Mug Cup/IsaacSim_assets_69f5f378431507ff7cffa466/physics_69f5f378431507ff7cffa466.json index 3ec6d291cf7699c0bb861a72627bac9d1f1466a0..745c7b0b5b1818e77f902cfa2b3b3440adc616b1 100644 --- a/batch8/D00543 Mug Cup/IsaacSim_assets_69f5f378431507ff7cffa466/physics_69f5f378431507ff7cffa466.json +++ b/batch8/D00543 Mug Cup/IsaacSim_assets_69f5f378431507ff7cffa466/physics_69f5f378431507ff7cffa466.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.05792746692895889, - 0.03461434692144394, - 0.08007565885782242 - ], "min": [ - -0.039960332214832306, - -0.034452229738235474, - -4.631956835510209e-05 + -0.03996200114488602, + -0.03445399925112724, + -2.099999983329326e-05 + ], + "max": [ + 0.05792500078678131, + 0.034609001129865646, + 0.08006799966096878 ], "size": [ - 0.0978877991437912, - 0.06906657665967941, - 0.08012197842617752 - ] + 0.09788700193166733, + 0.06906300038099289, + 0.08008899966080207 + ], + "units": "m" }, "description": "A solid light gray ceramic coffee mug with a cylindrical body and a curved side handle. The object features a smooth, lightly glazed finish and a subtle stepped base.", "name": "D00543 Mug Cup", "object_type": "rigid_bodies", - "total_mass": 0.35 + "total_mass": 0.3499999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00543", "parts": [ { "bounds": { - "center": [ - -0.0022108436489081326, - 3.512676674092406e-05, - 0.0372137822775665 + "min": [ + -0.03996200114488602, + -0.03445399925112724, + -2.099999983329326e-05 ], "max": [ - 0.05792746692895889, - 0.03461434692144394, - 0.08007565885782242 + 0.05792500078678131, + 0.034609001129865646, + 0.08006799966096878 ], - "min": [ - -0.039960332214832306, - -0.034452229738235474, - -4.631956835510209e-05 - ] + "size": [ + 0.09788700193166733, + 0.06906300038099289, + 0.08008899966080207 + ], + "units": "m" }, "center_of_mass": [ -0.0025206140654614588, @@ -59,7 +65,7 @@ 0.00035710686497349435, 0.00039634305973595887 ], - "mass": 0.35, + "mass": 0.3499999940395355, "material": "ceramic", "name": "D00543 Mug Cup", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00543 Mug Cup", "part_name": "D00543 Mug Cup" }, - "volume": 0.000100720040530747 + "volume": 0.000100720040530747, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ed3962584bf7decfdcc78e67e93ebf41aa147aa892032a610b08ad98bfab6480" + }, + "usd_path": "batch8/D00543 Mug Cup/IsaacSim_assets_69f5f378431507ff7cffa466/IsaacSim_asset_69f5f378431507ff7cffa466.usd", + "usd_sha256": "08ef387ffdeeb96373c75ba237ddad0b30e40fac4df27bcdf0a263fb97bd2124", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.0978877991437912, - 0.06906657665967941, - 0.08012197842617752 - ] + 0.09788700193166733, + 0.06906300038099289, + 0.08008899966080207 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "08ef387ffdeeb96373c75ba237ddad0b30e40fac4df27bcdf0a263fb97bd2124", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.35 + "value_kg": 0.3499999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "08ef387ffdeeb96373c75ba237ddad0b30e40fac4df27bcdf0a263fb97bd2124", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3499999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 45, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "08ef387ffdeeb96373c75ba237ddad0b30e40fac4df27bcdf0a263fb97bd2124", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 45, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "08ef387ffdeeb96373c75ba237ddad0b30e40fac4df27bcdf0a263fb97bd2124", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00575 Orange Bowl/IsaacSim_assets_69f6020b431507ff7c03cbf0/physics_69f6020b431507ff7c03cbf0.json b/batch8/D00575 Orange Bowl/IsaacSim_assets_69f6020b431507ff7c03cbf0/physics_69f6020b431507ff7c03cbf0.json index 0749ff552243d160a1dd8970ae84bcca5b518eae..de9bbe7db523691bd18efabd7f6643568cc29655 100644 --- a/batch8/D00575 Orange Bowl/IsaacSim_assets_69f6020b431507ff7c03cbf0/physics_69f6020b431507ff7c03cbf0.json +++ b/batch8/D00575 Orange Bowl/IsaacSim_assets_69f6020b431507ff7c03cbf0/physics_69f6020b431507ff7c03cbf0.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10581828653812408, - 0.10548634827136993, - 0.10676867514848709 - ], "min": [ - -0.10543330758810043, - -0.10586535185575485, - -0.00017164564633276314 + -0.10542099922895432, + -0.10587900131940842, + -0.00011000000085914508 + ], + "max": [ + 0.10581099987030029, + 0.10548599809408188, + 0.10674300044775009 ], "size": [ - 0.21125159412622452, - 0.2113517001271248, - 0.10694032079481985 - ] + 0.2112319990992546, + 0.2113649994134903, + 0.10685300044860924 + ], + "units": "m" }, "description": "A solid terracotta-colored ceramic bowl with a smooth, semi-gloss finish and a slightly thickened rim.", "name": "D00575 Orange Bowl", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00575", "parts": [ { "bounds": { - "center": [ - 9.229782683290186e-05, - -0.0001517484057291896, - 0.05203118826789209 + "min": [ + -0.10542099922895432, + -0.10587900131940842, + -0.00011000000085914508 ], "max": [ - 0.10581828653812408, - 0.10548634827136993, - 0.10676867514848709 + 0.10581099987030029, + 0.10548599809408188, + 0.10674300044775009 ], - "min": [ - -0.10543330758810043, - -0.10586535185575485, - -0.00017164564633276314 - ] + "size": [ + 0.2112319990992546, + 0.2113649994134903, + 0.10685300044860924 + ], + "units": "m" }, "center_of_mass": [ 0.0004738591211236688, @@ -59,7 +65,7 @@ 0.0017937123336609446, 0.0027260212587703436 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic", "name": "D00575 Orange Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00575 Orange Bowl", "part_name": "D00575 Orange Bowl" }, - "volume": 0.0005551723179256259 + "volume": 0.0005551723179256259, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "77d2972405167148e021358d86a2d42e96d3ed80cfa43a5fb86ca06d686908a8" + }, + "usd_path": "batch8/D00575 Orange Bowl/IsaacSim_assets_69f6020b431507ff7c03cbf0/IsaacSim_asset_69f6020b431507ff7c03cbf0.usd", + "usd_sha256": "ed9f9ffd6a8b105ae10c9dd98888bd0f25cc96076ffb516592d12cdb35930ed4", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.21125159412622452, - 0.2113517001271248, - 0.10694032079481985 - ] + 0.2112319990992546, + 0.2113649994134903, + 0.10685300044860924 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ed9f9ffd6a8b105ae10c9dd98888bd0f25cc96076ffb516592d12cdb35930ed4", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ed9f9ffd6a8b105ae10c9dd98888bd0f25cc96076ffb516592d12cdb35930ed4", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 80, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ed9f9ffd6a8b105ae10c9dd98888bd0f25cc96076ffb516592d12cdb35930ed4", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 80, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "ed9f9ffd6a8b105ae10c9dd98888bd0f25cc96076ffb516592d12cdb35930ed4", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00601 Pepper/IsaacSim_assets_69f60e93431507ff7c072a06/physics_69f60e93431507ff7c072a06.json b/batch8/D00601 Pepper/IsaacSim_assets_69f60e93431507ff7c072a06/physics_69f60e93431507ff7c072a06.json index 829895530d13afbedc8820c56a10308bbd561de1..58b0d62575580cb8244c0b9b4c6a6c4c634b0bc4 100644 --- a/batch8/D00601 Pepper/IsaacSim_assets_69f60e93431507ff7c072a06/physics_69f60e93431507ff7c072a06.json +++ b/batch8/D00601 Pepper/IsaacSim_assets_69f60e93431507ff7c072a06/physics_69f60e93431507ff7c072a06.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.02650599554181099, - 0.028639422729611397, - 0.04619240388274193 - ], "min": [ - -0.029384996742010117, - -0.025366036221385002, - -2.199594928242732e-05 + -0.029385000467300415, + -0.025366000831127167, + -2.2000000171829015e-05 + ], + "max": [ + 0.026505999267101288, + 0.02863599918782711, + 0.04619000107049942 ], "size": [ - 0.055890992283821106, - 0.0540054589509964, - 0.046214399832024355 - ] + 0.0558909997344017, + 0.05400200001895428, + 0.04621200107067125 + ], + "units": "m" }, "description": "A plump, bright red bell pepper with a glossy, slightly ribbed exterior and a thick, curved green stem.", "name": "D00601 Pepper", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00601", "parts": [ { "bounds": { - "center": [ - -0.0016455019106959119, - 0.0020649815931735446, - 0.02282553245537033 + "min": [ + -0.029385000467300415, + -0.025366000831127167, + -2.2000000171829015e-05 ], "max": [ - 0.02650599554181099, - 0.028639422729611397, - 0.04619240388274193 + 0.026505999267101288, + 0.02863599918782711, + 0.04619000107049942 ], - "min": [ - -0.029384996742010117, - -0.025366036221385002, - -2.199594928242732e-05 - ] + "size": [ + 0.0558909997344017, + 0.05400200001895428, + 0.04621200107067125 + ], + "units": "m" }, "center_of_mass": [ -0.0013325828065660938, @@ -59,7 +65,7 @@ 6.136308207138735e-05, 6.262573553241246e-05 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "organic", "name": "D00601 Pepper", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00601 Pepper", "part_name": "D00601 Pepper" }, - "volume": 7.376616246623802e-05 + "volume": 7.376616246623802e-05, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "fd5a3a0075e8741284705cd202b1ba9a1a344f777c98792e4ccbc54edf3d7957" + }, + "usd_path": "batch8/D00601 Pepper/IsaacSim_assets_69f60e93431507ff7c072a06/IsaacSim_asset_69f60e93431507ff7c072a06.usd", + "usd_sha256": "b5be6e72cfde2be7790d49561b772c0570541f90d86f53bf79505fe69b1b6434", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.055890992283821106, - 0.0540054589509964, - 0.046214399832024355 - ] + 0.0558909997344017, + 0.05400200001895428, + 0.04621200107067125 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b5be6e72cfde2be7790d49561b772c0570541f90d86f53bf79505fe69b1b6434", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b5be6e72cfde2be7790d49561b772c0570541f90d86f53bf79505fe69b1b6434", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 54, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b5be6e72cfde2be7790d49561b772c0570541f90d86f53bf79505fe69b1b6434", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 54, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b5be6e72cfde2be7790d49561b772c0570541f90d86f53bf79505fe69b1b6434", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00614 Picture Frame/IsaacSim_assets_69f613c0431507ff7c08aec6/physics_69f613c0431507ff7c08aec6.json b/batch8/D00614 Picture Frame/IsaacSim_assets_69f613c0431507ff7c08aec6/physics_69f613c0431507ff7c08aec6.json index a04503ccc77904762d5667681772c632c98c8227..aca14dd29b1511eb61ac954d301281075a43efe3 100644 --- a/batch8/D00614 Picture Frame/IsaacSim_assets_69f613c0431507ff7c08aec6/physics_69f613c0431507ff7c08aec6.json +++ b/batch8/D00614 Picture Frame/IsaacSim_assets_69f613c0431507ff7c08aec6/physics_69f613c0431507ff7c08aec6.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12172380834817886, - 0.0984048992395401, - 0.2763591706752777 - ], "min": [ - -0.11150512099266052, - -0.0543958954513073, + -0.11150500178337097, + -0.054395999759435654, -1.2000000424450263e-05 ], + "max": [ + 0.12172400206327438, + 0.09840500354766846, + 0.27636000514030457 + ], "size": [ - 0.23322892934083939, - 0.1528007946908474, - 0.27637117067570216 - ] + 0.23322900384664536, + 0.1528010033071041, + 0.276372005140729 + ], + "units": "m" }, "description": "A rectangular white picture frame with a decorative molded border and a plain off-white matting. The frame is supported by a brown cardboard easel back.", "name": "D00614 Picture Frame", "object_type": "rigid_bodies", - "total_mass": 0.6 + "total_mass": 0.6000000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00614", "parts": [ { "bounds": { - "center": [ - -3.241243500428367e-05, - 0.002179964378020748, - 0.12706241827415643 + "min": [ + -0.11150500178337097, + -0.054395999759435654, + -1.2000000424450263e-05 ], "max": [ - 0.12172380834817886, - 0.0984048992395401, - 0.2763591706752777 + 0.12172400206327438, + 0.09840500354766846, + 0.27636000514030457 ], - "min": [ - -0.11150512099266052, - -0.0543958954513073, - -1.2000000424450263e-05 - ] + "size": [ + 0.23322900384664536, + 0.1528010033071041, + 0.276372005140729 + ], + "units": "m" }, "center_of_mass": [ -0.004163913291156568, @@ -59,7 +65,7 @@ 0.0036647722532452097, 0.005388883002575258 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "painted_wood_mdf", "name": "D00614 Picture Frame", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00614 Picture Frame", "part_name": "D00614 Picture Frame" }, - "volume": 0.0046125817628405 + "volume": 0.0046125817628405, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "56bd42c1c73baaaabf17ea1e1199b921ddb1e921e23021180d1ff08eead2e370" + }, + "usd_path": "batch8/D00614 Picture Frame/IsaacSim_assets_69f613c0431507ff7c08aec6/IsaacSim_asset_69f613c0431507ff7c08aec6.usd", + "usd_sha256": "03927e5ede0a4a0a97630775f4d03aa828ac2cd54af612baaa3b1fd0492580b9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.23322892934083939, - 0.1528007946908474, - 0.27637117067570216 - ] + 0.23322900384664536, + 0.1528010033071041, + 0.276372005140729 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "03927e5ede0a4a0a97630775f4d03aa828ac2cd54af612baaa3b1fd0492580b9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6 + "value_kg": 0.6000000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "03927e5ede0a4a0a97630775f4d03aa828ac2cd54af612baaa3b1fd0492580b9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6000000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 37, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "03927e5ede0a4a0a97630775f4d03aa828ac2cd54af612baaa3b1fd0492580b9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 37, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "03927e5ede0a4a0a97630775f4d03aa828ac2cd54af612baaa3b1fd0492580b9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00623 Plate/IsaacSim_assets_69f617ae431507ff7c09dcdf/physics_69f617ae431507ff7c09dcdf.json b/batch8/D00623 Plate/IsaacSim_assets_69f617ae431507ff7c09dcdf/physics_69f617ae431507ff7c09dcdf.json index 6bc35ca1495055b9a18dbf6b7eeed51f0cfbd85a..241e1cc1bad87086a3802ce32bcdbf009ee3cb93 100644 --- a/batch8/D00623 Plate/IsaacSim_assets_69f617ae431507ff7c09dcdf/physics_69f617ae431507ff7c09dcdf.json +++ b/batch8/D00623 Plate/IsaacSim_assets_69f617ae431507ff7c09dcdf/physics_69f617ae431507ff7c09dcdf.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09582559764385223, - 0.09570625424385071, - 0.021113811060786247 - ], "min": [ - -0.09534694999456406, - -0.09549393504858017, - -0.00013334616960491985 + -0.09536399692296982, + -0.09549299627542496, + -0.00013000000035390258 + ], + "max": [ + 0.09583199769258499, + 0.09570600092411041, + 0.02111399918794632 ], "size": [ - 0.1911725476384163, - 0.19120018929243088, - 0.021247157230391167 - ] + 0.1911959946155548, + 0.19119899719953537, + 0.021243999188300222 + ], + "units": "m" }, "description": "A plain white circular dinner plate with a wide, slightly elevated rim. It features a smooth, glossy finish characteristic of glazed ceramic or porcelain.", "name": "D00623 Plate", "object_type": "rigid_bodies", - "total_mass": 0.65 + "total_mass": 0.6499999761581421, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00623", "parts": [ { "bounds": { - "center": [ - 0.0002524162206982555, - 8.335825159191651e-05, - 0.009933339250195362 + "min": [ + -0.09536399692296982, + -0.09549299627542496, + -0.00013000000035390258 ], "max": [ - 0.09582559764385223, - 0.09570625424385071, - 0.021113811060786247 + 0.09583199769258499, + 0.09570600092411041, + 0.02111399918794632 ], - "min": [ - -0.09534694999456406, - -0.09549393504858017, - -0.00013334616960491985 - ] + "size": [ + 0.1911959946155548, + 0.19119899719953537, + 0.021243999188300222 + ], + "units": "m" }, "center_of_mass": [ 0.0002196289962508565, @@ -59,7 +65,7 @@ 0.0011935310894656272, 0.002340596530456493 ], - "mass": 0.65, + "mass": 0.6499999761581421, "material": "ceramic", "name": "D00623 Plate", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00623 Plate", "part_name": "D00623 Plate" }, - "volume": 0.0004419815723015691 + "volume": 0.0004419815723015691, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f69f77b699a90563ce02c470d5fd1ee9ac220fb438164b4053124f8a408deff3" + }, + "usd_path": "batch8/D00623 Plate/IsaacSim_assets_69f617ae431507ff7c09dcdf/IsaacSim_asset_69f617ae431507ff7c09dcdf.usd", + "usd_sha256": "d5c31c8b62f8b8c1235fcf348709debd1fd4f302881e6bc23f91fad8997fd0ef", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1911725476384163, - 0.19120018929243088, - 0.021247157230391167 - ] + 0.1911959946155548, + 0.19119899719953537, + 0.021243999188300222 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d5c31c8b62f8b8c1235fcf348709debd1fd4f302881e6bc23f91fad8997fd0ef", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.65 + "value_kg": 0.6499999761581421, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d5c31c8b62f8b8c1235fcf348709debd1fd4f302881e6bc23f91fad8997fd0ef", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6499999761581421, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 35, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d5c31c8b62f8b8c1235fcf348709debd1fd4f302881e6bc23f91fad8997fd0ef", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 35, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d5c31c8b62f8b8c1235fcf348709debd1fd4f302881e6bc23f91fad8997fd0ef", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00625 Plate Bowl/IsaacSim_assets_69f618fb431507ff7c0a42be/physics_69f618fb431507ff7c0a42be.json b/batch8/D00625 Plate Bowl/IsaacSim_assets_69f618fb431507ff7c0a42be/physics_69f618fb431507ff7c0a42be.json index 4127e3a969d3adb63ac3b8a7c06c704a0496de63..a3202653bd4b5e1eb2cd61191d6d74b16afc2016 100644 --- a/batch8/D00625 Plate Bowl/IsaacSim_assets_69f618fb431507ff7c0a42be/physics_69f618fb431507ff7c0a42be.json +++ b/batch8/D00625 Plate Bowl/IsaacSim_assets_69f618fb431507ff7c0a42be/physics_69f618fb431507ff7c0a42be.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.103157639503479, - 0.10279172658920288, - 0.04696980491280556 - ], "min": [ - -0.10304096341133118, - -0.10302941501140594, - -6.782308628316969e-05 + -0.10303399711847305, + -0.10303299874067307, + -5.500000042957254e-05 + ], + "max": [ + 0.10315000265836716, + 0.10279499739408493, + 0.04696299880743027 ], "size": [ - 0.20619860291481018, - 0.20582114160060883, - 0.04703762799908873 - ] + 0.2061839997768402, + 0.205827996134758, + 0.04701799880785984 + ], + "units": "m" }, "description": "A white, shallow ceramic bowl with a wide rim and smooth glaze.", "name": "D00625 Plate Bowl", "object_type": "rigid_bodies", - "total_mass": 0.6 + "total_mass": 0.6000000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00625", "parts": [ { "bounds": { - "center": [ - 7.84531733920535e-05, - -9.83735769771231e-05, - 0.02525987324479687 + "min": [ + -0.10303399711847305, + -0.10303299874067307, + -5.500000042957254e-05 ], "max": [ - 0.103157639503479, - 0.10279172658920288, - 0.04696980491280556 + 0.10315000265836716, + 0.10279499739408493, + 0.04696299880743027 ], - "min": [ - -0.10304096341133118, - -0.10302941501140594, - -6.782308628316969e-05 - ] + "size": [ + 0.2061839997768402, + 0.205827996134758, + 0.04701799880785984 + ], + "units": "m" }, "center_of_mass": [ 0.00016830712399958878, @@ -59,7 +65,7 @@ 0.0017073560619057064, 0.0031145961647290193 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "ceramic", "name": "D00625 Plate Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00625 Plate Bowl", "part_name": "D00625 Plate Bowl" }, - "volume": 0.00015256943586082602 + "volume": 0.00015256943586082602, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "0b440e25d8bdedd1c2f3e5954060ec9d4bdd81152d88f4c2ae7c26c97d1ef5fa" + }, + "usd_path": "batch8/D00625 Plate Bowl/IsaacSim_assets_69f618fb431507ff7c0a42be/IsaacSim_asset_69f618fb431507ff7c0a42be.usd", + "usd_sha256": "e8031bebabe778046f31f8c097e2ff89e566fabbba44381aaa52d2a565c236f9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.20619860291481018, - 0.20582114160060883, - 0.04703762799908873 - ] + 0.2061839997768402, + 0.205827996134758, + 0.04701799880785984 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e8031bebabe778046f31f8c097e2ff89e566fabbba44381aaa52d2a565c236f9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6 + "value_kg": 0.6000000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e8031bebabe778046f31f8c097e2ff89e566fabbba44381aaa52d2a565c236f9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6000000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 52, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e8031bebabe778046f31f8c097e2ff89e566fabbba44381aaa52d2a565c236f9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 52, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "e8031bebabe778046f31f8c097e2ff89e566fabbba44381aaa52d2a565c236f9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00633 Plates Bowl/IsaacSim_assets_69f61e2e431507ff7c0bdc78/physics_69f61e2e431507ff7c0bdc78.json b/batch8/D00633 Plates Bowl/IsaacSim_assets_69f61e2e431507ff7c0bdc78/physics_69f61e2e431507ff7c0bdc78.json index 7310daabaac51b1b5cfec6df13caddb54826f6be..923a3c9dc8918e520a5f5a02ab0b214168a42fd5 100644 --- a/batch8/D00633 Plates Bowl/IsaacSim_assets_69f61e2e431507ff7c0bdc78/physics_69f61e2e431507ff7c0bdc78.json +++ b/batch8/D00633 Plates Bowl/IsaacSim_assets_69f61e2e431507ff7c0bdc78/physics_69f61e2e431507ff7c0bdc78.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10999797284603119, - 0.1098894402384758, - 0.06386896967887878 - ], "min": [ - -0.10985635966062546, - -0.11010231077671051, - -8.417769277002662e-05 + -0.10983700305223465, + -0.11009600013494492, + -6.500000017695129e-05 + ], + "max": [ + 0.11000200361013412, + 0.1098949983716011, + 0.06382100284099579 ], "size": [ - 0.21985433250665665, - 0.2199917510151863, - 0.06395314737164881 - ] + 0.21983900666236877, + 0.21999099850654602, + 0.06388600284117274 + ], + "units": "m" }, "description": "A plain white ceramic bowl with a shallow profile and a smooth, matte finish.", "name": "D00633 Plates Bowl", "object_type": "rigid_bodies", - "total_mass": 0.45 + "total_mass": 0.44999998807907104, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00633", "parts": [ { "bounds": { - "center": [ - 0.00011226233022545278, - -1.3131939220493785e-05, - 0.028059339323954942 + "min": [ + -0.10983700305223465, + -0.11009600013494492, + -6.500000017695129e-05 ], "max": [ - 0.10999797284603119, - 0.1098894402384758, - 0.06386896967887878 + 0.11000200361013412, + 0.1098949983716011, + 0.06382100284099579 ], - "min": [ - -0.10985635966062546, - -0.11010231077671051, - -8.417769277002662e-05 - ] + "size": [ + 0.21983900666236877, + 0.21999099850654602, + 0.06388600284117274 + ], + "units": "m" }, "center_of_mass": [ 0.0002325569392776057, @@ -59,7 +65,7 @@ 0.0017680467798621147, 0.003240111035839157 ], - "mass": 0.45, + "mass": 0.44999998807907104, "material": "ceramic", "name": "D00633 Plates Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00633 Plates Bowl", "part_name": "D00633 Plates Bowl" }, - "volume": 0.0004779105384980745 + "volume": 0.0004779105384980745, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "463c672d2bca8ce1bd9c2f3fce657cd982b855daeb0f1df1f17b262bf3ef2666" + }, + "usd_path": "batch8/D00633 Plates Bowl/IsaacSim_assets_69f61e2e431507ff7c0bdc78/IsaacSim_asset_69f61e2e431507ff7c0bdc78.usd", + "usd_sha256": "b21cc9c314d48858159d7dbcd0faedf827ac9bbefb1c6f557776559c19c42af6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.21985433250665665, - 0.2199917510151863, - 0.06395314737164881 - ] + 0.21983900666236877, + 0.21999099850654602, + 0.06388600284117274 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b21cc9c314d48858159d7dbcd0faedf827ac9bbefb1c6f557776559c19c42af6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.45 + "value_kg": 0.44999998807907104, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b21cc9c314d48858159d7dbcd0faedf827ac9bbefb1c6f557776559c19c42af6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.44999998807907104, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 54, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b21cc9c314d48858159d7dbcd0faedf827ac9bbefb1c6f557776559c19c42af6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 54, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b21cc9c314d48858159d7dbcd0faedf827ac9bbefb1c6f557776559c19c42af6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00634 Platter/IsaacSim_assets_69f61e31431507ff7c0bdd2e/physics_69f61e31431507ff7c0bdd2e.json b/batch8/D00634 Platter/IsaacSim_assets_69f61e31431507ff7c0bdd2e/physics_69f61e31431507ff7c0bdd2e.json index 833c16b53f1d7b2d1fc111ed3ce2fd105e1ebd45..e5cab22b1ce7e60a9883c1b00bc139615a52dc71 100644 --- a/batch8/D00634 Platter/IsaacSim_assets_69f61e31431507ff7c0bdd2e/physics_69f61e31431507ff7c0bdd2e.json +++ b/batch8/D00634 Platter/IsaacSim_assets_69f61e31431507ff7c0bdd2e/physics_69f61e31431507ff7c0bdd2e.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1303827315568924, - 0.1311737447977066, - 0.057617392390966415 - ], "min": [ - -0.1311613917350769, - -0.13019892573356628, - -5.698236054740846e-05 + -0.13114699721336365, + -0.13015900552272797, + -5.8000001445179805e-05 + ], + "max": [ + 0.1303810030221939, + 0.13116499781608582, + 0.05760699883103371 ], "size": [ - 0.2615441232919693, - 0.2613726705312729, - 0.057674374751513824 - ] + 0.26152800023555756, + 0.2613240033388138, + 0.057664998832478886 + ], + "units": "m" }, "description": "A low-profile white ceramic plate or serving dish with a smooth, glazed finish and a slightly raised rim.", "name": "D00634 Platter", "object_type": "rigid_bodies", - "total_mass": 0.6 + "total_mass": 0.6000000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00634", "parts": [ { "bounds": { - "center": [ - -2.7466866184464277e-05, - 0.00025673167140881023, - 0.032155778606922446 + "min": [ + -0.13114699721336365, + -0.13015900552272797, + -5.8000001445179805e-05 ], "max": [ - 0.1303827315568924, - 0.1311737447977066, - 0.057617392390966415 + 0.1303810030221939, + 0.13116499781608582, + 0.05760699883103371 ], - "min": [ - -0.1311613917350769, - -0.13019892573356628, - -5.698236054740846e-05 - ] + "size": [ + 0.26152800023555756, + 0.2613240033388138, + 0.057664998832478886 + ], + "units": "m" }, "center_of_mass": [ 0.00038327375427533127, @@ -59,7 +65,7 @@ 0.0024375489774678227, 0.00469534053162296 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "ceramic", "name": "D00634 Platter", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00634 Platter", "part_name": "D00634 Platter" }, - "volume": 0.0008223991760448523 + "volume": 0.0008223991760448523, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "e439f67a40b2a0c30001b74d8ac054a5ca3c7fc32112d110192763ead792f422" + }, + "usd_path": "batch8/D00634 Platter/IsaacSim_assets_69f61e31431507ff7c0bdd2e/IsaacSim_asset_69f61e31431507ff7c0bdd2e.usd", + "usd_sha256": "4a1139c942ac72c9c8f9ddc4604900f44cfaf25cd9615af7d6ab5b663cf1c792", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2615441232919693, - 0.2613726705312729, - 0.057674374751513824 - ] + 0.26152800023555756, + 0.2613240033388138, + 0.057664998832478886 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4a1139c942ac72c9c8f9ddc4604900f44cfaf25cd9615af7d6ab5b663cf1c792", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6 + "value_kg": 0.6000000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4a1139c942ac72c9c8f9ddc4604900f44cfaf25cd9615af7d6ab5b663cf1c792", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6000000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 55, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4a1139c942ac72c9c8f9ddc4604900f44cfaf25cd9615af7d6ab5b663cf1c792", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 55, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "4a1139c942ac72c9c8f9ddc4604900f44cfaf25cd9615af7d6ab5b663cf1c792", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00639 Pot Bowl/IsaacSim_assets_69f62063431507ff7c0c8b98/physics_69f62063431507ff7c0c8b98.json b/batch8/D00639 Pot Bowl/IsaacSim_assets_69f62063431507ff7c0c8b98/physics_69f62063431507ff7c0c8b98.json index d71e9d766ed8c2ffbf5f756a0ee14c0ebf393087..a80b6cab7a199dfcb9ab3efeae31a04a288b2bf7 100644 --- a/batch8/D00639 Pot Bowl/IsaacSim_assets_69f62063431507ff7c0c8b98/physics_69f62063431507ff7c0c8b98.json +++ b/batch8/D00639 Pot Bowl/IsaacSim_assets_69f62063431507ff7c0c8b98/physics_69f62063431507ff7c0c8b98.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.13862945139408112, - 0.10704965144395828, - 0.09096229821443558 - ], "min": [ - -0.1383487731218338, - -0.10693316161632538, - -0.00019379319564905018 + -0.13834300637245178, + -0.10698900371789932, + -0.0001829999964684248 + ], + "max": [ + 0.1385750025510788, + 0.10703200101852417, + 0.09094700217247009 ], "size": [ - 0.2769782245159149, - 0.21398281306028366, - 0.09115609141008463 - ] + 0.2769180089235306, + 0.2140210047364235, + 0.09113000216893852 + ], + "units": "m" }, "description": "A black cast iron pot with a cylindrical body, flat base, and two small loop handles on opposite sides.", "name": "D00639 Pot Bowl", "object_type": "rigid_bodies", - "total_mass": 4.5 + "total_mass": 4.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00639", "parts": [ { "bounds": { - "center": [ - -0.0003150864193952027, - -2.9765923144313074e-05, - 0.038353915208748285 + "min": [ + -0.13834300637245178, + -0.10698900371789932, + -0.0001829999964684248 ], "max": [ - 0.13862945139408112, - 0.10704965144395828, - 0.09096229821443558 + 0.1385750025510788, + 0.10703200101852417, + 0.09094700217247009 ], - "min": [ - -0.1383487731218338, - -0.10693316161632538, - -0.00019379319564905018 - ] + "size": [ + 0.2769180089235306, + 0.2140210047364235, + 0.09113000216893852 + ], + "units": "m" }, "center_of_mass": [ -0.00015645979138775764, @@ -67,10 +73,27 @@ "object_name": "D00639 Pot Bowl", "part_name": "D00639 Pot Bowl" }, - "volume": 0.00043320772056416667 + "volume": 0.00043320772056416667, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "921b4bd55908e60ebb9be524e91287c60cea47ec9d62d54b82a7da23f551316c" + }, + "usd_path": "batch8/D00639 Pot Bowl/IsaacSim_assets_69f62063431507ff7c0c8b98/IsaacSim_asset_69f62063431507ff7c0c8b98.usd", + "usd_sha256": "2a1c2d89c17511ad4ba66047daebe77f855277a4295d28a6470d9f266d32f3d7", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2769782245159149, - 0.21398281306028366, - 0.09115609141008463 - ] + 0.2769180089235306, + 0.2140210047364235, + 0.09113000216893852 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2a1c2d89c17511ad4ba66047daebe77f855277a4295d28a6470d9f266d32f3d7", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 4.5 + "value_kg": 4.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2a1c2d89c17511ad4ba66047daebe77f855277a4295d28a6470d9f266d32f3d7", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 4.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 41, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2a1c2d89c17511ad4ba66047daebe77f855277a4295d28a6470d9f266d32f3d7", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 41, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "2a1c2d89c17511ad4ba66047daebe77f855277a4295d28a6470d9f266d32f3d7", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00640 Pot Bowl Pan/IsaacSim_assets_69f62187431507ff7c0ce5be/physics_69f62187431507ff7c0ce5be.json b/batch8/D00640 Pot Bowl Pan/IsaacSim_assets_69f62187431507ff7c0ce5be/physics_69f62187431507ff7c0ce5be.json index 2f13f67740af23a2bcb44de69319829e44224e43..3441fa5dbca4503f047dd747ff2b0a6213175fde 100644 --- a/batch8/D00640 Pot Bowl Pan/IsaacSim_assets_69f62187431507ff7c0ce5be/physics_69f62187431507ff7c0ce5be.json +++ b/batch8/D00640 Pot Bowl Pan/IsaacSim_assets_69f62187431507ff7c0ce5be/physics_69f62187431507ff7c0ce5be.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1076425313949585, - 0.07527599483728409, - 0.06497462093830109 - ], "min": [ - -0.17213687300682068, - -0.07440418004989624, - -3.0425007935264148e-06 + -0.17213499546051025, + -0.0744049996137619, + -6.070699712029867e-19 + ], + "max": [ + 0.10763899981975555, + 0.07527600228786469, + 0.06496600061655045 ], "size": [ - 0.2797794044017792, - 0.14968017488718033, - 0.06497766343909461 - ] + 0.2797739952802658, + 0.1496810019016266, + 0.06496600061655045 + ], + "units": "m" }, "description": "A brushed stainless steel saucepan with a long primary handle, a smaller loop-style helper handle, and internal etched volume markings up to 3L.", "name": "D00640 Pot Bowl Pan", "object_type": "rigid_bodies", - "total_mass": 1.8 + "total_mass": 1.7999999523162842, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00640", "parts": [ { "bounds": { - "center": [ - 0.0010049216140706246, - 0.00041911617212195013, - 0.02924794332459051 + "min": [ + -0.17213499546051025, + -0.0744049996137619, + -6.070699712029867e-19 ], "max": [ - 0.1076425313949585, - 0.07527599483728409, - 0.06497462093830109 + 0.10763899981975555, + 0.07527600228786469, + 0.06496600061655045 ], - "min": [ - -0.17213687300682068, - -0.07440418004989624, - -3.0425007935264148e-06 - ] + "size": [ + 0.2797739952802658, + 0.1496810019016266, + 0.06496600061655045 + ], + "units": "m" }, "center_of_mass": [ -0.009173887637503394, @@ -59,7 +65,7 @@ 0.005601093695514633, 0.006936641983899872 ], - "mass": 1.8, + "mass": 1.7999999523162842, "material": "stainless_steel", "name": "D00640 Pot Bowl Pan", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00640 Pot Bowl Pan", "part_name": "D00640 Pot Bowl Pan" }, - "volume": 0.001215720856632045 + "volume": 0.001215720856632045, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4f5a5da048335729e51705ff0f7adda131ab56691dbada6e6a916be88e3e6a2e" + }, + "usd_path": "batch8/D00640 Pot Bowl Pan/IsaacSim_assets_69f62187431507ff7c0ce5be/IsaacSim_asset_69f62187431507ff7c0ce5be.usd", + "usd_sha256": "a8d5691fd9c0a346aa0700e8a3c36a5c1f51f9f94735525f5cd6ad79dbc66cdb", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.2797794044017792, - 0.14968017488718033, - 0.06497766343909461 - ] + 0.2797739952802658, + 0.1496810019016266, + 0.06496600061655045 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a8d5691fd9c0a346aa0700e8a3c36a5c1f51f9f94735525f5cd6ad79dbc66cdb", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.8 + "value_kg": 1.7999999523162842, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a8d5691fd9c0a346aa0700e8a3c36a5c1f51f9f94735525f5cd6ad79dbc66cdb", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.7999999523162842, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 57, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a8d5691fd9c0a346aa0700e8a3c36a5c1f51f9f94735525f5cd6ad79dbc66cdb", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 57, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "a8d5691fd9c0a346aa0700e8a3c36a5c1f51f9f94735525f5cd6ad79dbc66cdb", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00641 Pot Frying Pan/IsaacSim_assets_69f622d1431507ff7c0d4b8a/physics_69f622d1431507ff7c0d4b8a.json b/batch8/D00641 Pot Frying Pan/IsaacSim_assets_69f622d1431507ff7c0d4b8a/physics_69f622d1431507ff7c0d4b8a.json index 94b15c12fc01a9a2752c31a2e4fcbce21e05d0f0..fa50de562d5b17cebc118119ff09ab6dff0214b2 100644 --- a/batch8/D00641 Pot Frying Pan/IsaacSim_assets_69f622d1431507ff7c0d4b8a/physics_69f622d1431507ff7c0d4b8a.json +++ b/batch8/D00641 Pot Frying Pan/IsaacSim_assets_69f622d1431507ff7c0d4b8a/physics_69f622d1431507ff7c0d4b8a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.2465595006942749, - 0.11453083157539368, - 0.05328300595283508 - ], "min": [ - -0.1351245790719986, - -0.11311571300029755, - -2.5947741960408166e-05 + -0.13512399792671204, + -0.11311499774456024, + -2.5999999706982635e-05 + ], + "max": [ + 0.24659599363803864, + 0.1145310029387474, + 0.053282998502254486 ], "size": [ - 0.3816840797662735, - 0.22764654457569122, - 0.05330895369479549 - ] + 0.38171999156475067, + 0.22764600068330765, + 0.05330899850196147 + ], + "units": "m" }, "description": "A 10-inch stainless steel frying pan with a black, heat-resistant handle grip.", "name": "D00641 Pot Frying Pan", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00641", "parts": [ { "bounds": { - "center": [ - -0.007079092202194757, - 0.000713620057945845, - 0.016949279533724364 + "min": [ + -0.13512399792671204, + -0.11311499774456024, + -2.5999999706982635e-05 ], "max": [ - 0.2465595006942749, - 0.11453083157539368, - 0.05328300595283508 + 0.24659599363803864, + 0.1145310029387474, + 0.053282998502254486 ], - "min": [ - -0.1351245790719986, - -0.11311571300029755, - -2.5947741960408166e-05 - ] + "size": [ + 0.38171999156475067, + 0.22764600068330765, + 0.05330899850196147 + ], + "units": "m" }, "center_of_mass": [ 0.0101517943927074, @@ -59,7 +65,7 @@ 0.00748044566337241, 0.010292465247165063 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "stainless_steel", "name": "D00641 Pot Frying Pan", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00641 Pot Frying Pan", "part_name": "D00641 Pot Frying Pan" }, - "volume": 0.0020920102775311175 + "volume": 0.0020920102775311175, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ff737cfba8f034eae444b151591a6fe7c830d6bdcc697d8f51e1cd9b52c080d2" + }, + "usd_path": "batch8/D00641 Pot Frying Pan/IsaacSim_assets_69f622d1431507ff7c0d4b8a/IsaacSim_asset_69f622d1431507ff7c0d4b8a.usd", + "usd_sha256": "28e0832f6cc358ea7004ea8c12e7fe73e63eafff140469c2736788c85913a858", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3816840797662735, - 0.22764654457569122, - 0.05330895369479549 - ] + 0.38171999156475067, + 0.22764600068330765, + 0.05330899850196147 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "28e0832f6cc358ea7004ea8c12e7fe73e63eafff140469c2736788c85913a858", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "28e0832f6cc358ea7004ea8c12e7fe73e63eafff140469c2736788c85913a858", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 37, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "28e0832f6cc358ea7004ea8c12e7fe73e63eafff140469c2736788c85913a858", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 37, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "28e0832f6cc358ea7004ea8c12e7fe73e63eafff140469c2736788c85913a858", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00655 Potted Plant/IsaacSim_assets_69f62a0f431507ff7c0f59be/physics_69f62a0f431507ff7c0f59be.json b/batch8/D00655 Potted Plant/IsaacSim_assets_69f62a0f431507ff7c0f59be/physics_69f62a0f431507ff7c0f59be.json index e96eaade3f6943944114e05cb51b2cb71b8a256d..98708215e1d36a914c4be40f2352c6dbd15fc1f7 100644 --- a/batch8/D00655 Potted Plant/IsaacSim_assets_69f62a0f431507ff7c0f59be/physics_69f62a0f431507ff7c0f59be.json +++ b/batch8/D00655 Potted Plant/IsaacSim_assets_69f62a0f431507ff7c0f59be/physics_69f62a0f431507ff7c0f59be.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.14530053734779358, - 0.14953064918518066, - 0.4926390051841736 - ], "min": [ -0.1691190004348755, - -0.12178821861743927, - -0.00012011208309559152 + -0.12178800255060196, + -0.00011200000153621659 + ], + "max": [ + 0.1453000009059906, + 0.14953699707984924, + 0.4926390051841736 ], "size": [ - 0.31441953778266907, - 0.27131886780261993, - 0.4927591172672692 - ] + 0.3144190013408661, + 0.2713249996304512, + 0.4927510051857098 + ], + "units": "m" }, "description": "A potted snake plant with tall, stiff, sword-like green leaves featuring light green and yellow banding. The plant is housed in a smooth, dark gray cylindrical ceramic pot filled with small brown clay pebbles at the base.", "name": "D00655 Potted Plant", "object_type": "rigid_bodies", - "total_mass": 3.5 + "total_mass": 3.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00655", "parts": [ { "bounds": { - "center": [ - 8.087081834651764e-05, - 0.0007484926175591942, - 0.22425519498008065 + "min": [ + -0.1691190004348755, + -0.12178800255060196, + -0.00011200000153621659 ], "max": [ - 0.14530053734779358, - 0.14953064918518066, + 0.1453000009059906, + 0.14953699707984924, 0.4926390051841736 ], - "min": [ - -0.1691190004348755, - -0.12178821861743927, - -0.00012011208309559152 - ] + "size": [ + 0.3144190013408661, + 0.2713249996304512, + 0.4927510051857098 + ], + "units": "m" }, "center_of_mass": [ -0.0012651520102730715, @@ -67,10 +73,27 @@ "object_name": "D00655 Potted Plant", "part_name": "D00655 Potted Plant" }, - "volume": 0.020132384613215877 + "volume": 0.020132384613215877, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "4e6f4554d8053508c41ebb16d4fe8fe06ff1130dffac48b7efb6c188e5281fd3" + }, + "usd_path": "batch8/D00655 Potted Plant/IsaacSim_assets_69f62a0f431507ff7c0f59be/IsaacSim_asset_69f62a0f431507ff7c0f59be.usd", + "usd_sha256": "c6f03e750b4b45b28746afc3e7229f349c4b04126b4beab062af3c0c2393003a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.31441953778266907, - 0.27131886780261993, - 0.4927591172672692 - ] + 0.3144190013408661, + 0.2713249996304512, + 0.4927510051857098 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c6f03e750b4b45b28746afc3e7229f349c4b04126b4beab062af3c0c2393003a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 3.5 + "value_kg": 3.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c6f03e750b4b45b28746afc3e7229f349c4b04126b4beab062af3c0c2393003a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 3.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c6f03e750b4b45b28746afc3e7229f349c4b04126b4beab062af3c0c2393003a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "c6f03e750b4b45b28746afc3e7229f349c4b04126b4beab062af3c0c2393003a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00663 Red Bowl/IsaacSim_assets_69f62bcf431507ff7c0fda20/physics_69f62bcf431507ff7c0fda20.json b/batch8/D00663 Red Bowl/IsaacSim_assets_69f62bcf431507ff7c0fda20/physics_69f62bcf431507ff7c0fda20.json index e6a315ffe963a8e9f119d3fbc881a19ee96ca900..187896b9faa16f55c6925b3bd852ebd57ab7777d 100644 --- a/batch8/D00663 Red Bowl/IsaacSim_assets_69f62bcf431507ff7c0fda20/physics_69f62bcf431507ff7c0fda20.json +++ b/batch8/D00663 Red Bowl/IsaacSim_assets_69f62bcf431507ff7c0fda20/physics_69f62bcf431507ff7c0fda20.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.07275117933750153, - 0.07263191789388657, - 0.07150571048259735 - ], "min": [ - -0.072552889585495, - -0.0726747214794159, - -7.370758976321667e-05 + -0.072564996778965, + -0.07270000129938126, + -7.300000288523734e-05 + ], + "max": [ + 0.07275199890136719, + 0.07263000309467316, + 0.07148800045251846 ], "size": [ - 0.14530406892299652, - 0.14530663937330246, - 0.07157941807236057 - ] + 0.14531699568033218, + 0.1453300043940544, + 0.0715610004554037 + ], + "units": "m" }, "description": "A deep red ceramic bowl with a smooth, glazed interior and exterior, featuring a slight rolled rim and a distinct, unglazed foot ring.", "name": "D00663 Red Bowl", "object_type": "rigid_bodies", - "total_mass": 0.5 + "total_mass": 0.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00663", "parts": [ { "bounds": { - "center": [ - 0.00012859605819026868, - -5.693661632862812e-05, - 0.037261018457803614 + "min": [ + -0.072564996778965, + -0.07270000129938126, + -7.300000288523734e-05 ], "max": [ - 0.07275117933750153, - 0.07263191789388657, - 0.07150571048259735 + 0.07275199890136719, + 0.07263000309467316, + 0.07148800045251846 ], - "min": [ - -0.072552889585495, - -0.0726747214794159, - -7.370758976321667e-05 - ] + "size": [ + 0.14531699568033218, + 0.1453300043940544, + 0.0715610004554037 + ], + "units": "m" }, "center_of_mass": [ 0.0001325690047388951, @@ -67,10 +73,27 @@ "object_name": "D00663 Red Bowl", "part_name": "D00663 Red Bowl" }, - "volume": 0.000784403285741963 + "volume": 0.000784403285741963, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ca15bdf17533f1ee4555285b6a7fabde97f0f8b00507633c745bd2c624f8a82b" + }, + "usd_path": "batch8/D00663 Red Bowl/IsaacSim_assets_69f62bcf431507ff7c0fda20/IsaacSim_asset_69f62bcf431507ff7c0fda20.usd", + "usd_sha256": "bd4fa9b1eb47d110da4208c74314d7be76ca25126c8b66b3222d002f3f0274dc", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.14530406892299652, - 0.14530663937330246, - 0.07157941807236057 - ] + 0.14531699568033218, + 0.1453300043940544, + 0.0715610004554037 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bd4fa9b1eb47d110da4208c74314d7be76ca25126c8b66b3222d002f3f0274dc", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.5 + "value_kg": 0.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bd4fa9b1eb47d110da4208c74314d7be76ca25126c8b66b3222d002f3f0274dc", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 83, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bd4fa9b1eb47d110da4208c74314d7be76ca25126c8b66b3222d002f3f0274dc", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 83, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "bd4fa9b1eb47d110da4208c74314d7be76ca25126c8b66b3222d002f3f0274dc", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00680 Salad/IsaacSim_assets_69f6332a431507ff7c1204fa/physics_69f6332a431507ff7c1204fa.json b/batch8/D00680 Salad/IsaacSim_assets_69f6332a431507ff7c1204fa/physics_69f6332a431507ff7c1204fa.json index eecd03e1fcb4d07ffe0fe61a6faf05af87f89475..e7d92a0e6bf450e276c63090d3e657a83650393a 100644 --- a/batch8/D00680 Salad/IsaacSim_assets_69f6332a431507ff7c1204fa/physics_69f6332a431507ff7c1204fa.json +++ b/batch8/D00680 Salad/IsaacSim_assets_69f6332a431507ff7c1204fa/physics_69f6332a431507ff7c1204fa.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { + "min": [ + -0.09388600289821625, + -0.092010997235775, + -0.0002899999963119626 + ], "max": [ - 0.09123188257217407, - 0.0929504930973053, + 0.09123200178146362, + 0.09295099973678589, 0.059324000030756 ], - "min": [ - -0.09386952966451645, - -0.09201493859291077, - -0.0002899733663070947 - ], "size": [ - 0.18510141223669052, - 0.18496543169021606, - 0.05961397339706309 - ] + 0.18511800467967987, + 0.18496199697256088, + 0.05961400002706796 + ], + "units": "m" }, "description": "A light beige ceramic or stoneware bowl filled with a mixed salad containing leafy greens, cherry tomatoes, cucumbers, red onions, olives, and feta cheese.", "name": "D00680 Salad", "object_type": "rigid_bodies", - "total_mass": 1.2 + "total_mass": 1.2000000476837158, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00680", "parts": [ { "bounds": { - "center": [ - -0.00041994413419395646, - -0.00025696712040943566, - 0.033733970767086355 + "min": [ + -0.09388600289821625, + -0.092010997235775, + -0.0002899999963119626 ], "max": [ - 0.09123188257217407, - 0.0929504930973053, + 0.09123200178146362, + 0.09295099973678589, 0.059324000030756 ], - "min": [ - -0.09386952966451645, - -0.09201493859291077, - -0.0002899733663070947 - ] + "size": [ + 0.18511800467967987, + 0.18496199697256088, + 0.05961400002706796 + ], + "units": "m" }, "center_of_mass": [ -0.0005143941824426305, @@ -59,7 +65,7 @@ 0.0024347013630703434, 0.0042976524646767544 ], - "mass": 1.2, + "mass": 1.2000000476837158, "material": "ceramic", "name": "D00680 Salad", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00680 Salad", "part_name": "D00680 Salad" }, - "volume": 0.0012164310990198986 + "volume": 0.0012164310990198986, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "6d13437f1d7d67ae12f924d2b6db8ee3bc4b2f90ba9a9a2191d4e8a025ad569e" + }, + "usd_path": "batch8/D00680 Salad/IsaacSim_assets_69f6332a431507ff7c1204fa/IsaacSim_asset_69f6332a431507ff7c1204fa.usd", + "usd_sha256": "74309d4095147f0c08577c1c1d59531b931b0e0fdce7c753ab78621f22db4d23", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.18510141223669052, - 0.18496543169021606, - 0.05961397339706309 - ] + 0.18511800467967987, + 0.18496199697256088, + 0.05961400002706796 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74309d4095147f0c08577c1c1d59531b931b0e0fdce7c753ab78621f22db4d23", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.2 + "value_kg": 1.2000000476837158, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74309d4095147f0c08577c1c1d59531b931b0e0fdce7c753ab78621f22db4d23", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.2000000476837158, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74309d4095147f0c08577c1c1d59531b931b0e0fdce7c753ab78621f22db4d23", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "74309d4095147f0c08577c1c1d59531b931b0e0fdce7c753ab78621f22db4d23", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00681 Salad Bowl/IsaacSim_assets_69f6332d431507ff7c12052b/physics_69f6332d431507ff7c12052b.json b/batch8/D00681 Salad Bowl/IsaacSim_assets_69f6332d431507ff7c12052b/physics_69f6332d431507ff7c12052b.json index b1b137d37ed0cecc5fe33a62e10f927f2e20e950..3d4a4ac5cd70a24524bd43928fb0bab4e29c4236 100644 --- a/batch8/D00681 Salad Bowl/IsaacSim_assets_69f6332d431507ff7c12052b/physics_69f6332d431507ff7c12052b.json +++ b/batch8/D00681 Salad Bowl/IsaacSim_assets_69f6332d431507ff7c12052b/physics_69f6332d431507ff7c12052b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.08147487789392471, - 0.08231697976589203, - 0.0824771374464035 - ], "min": [ - -0.08200547844171524, - -0.0810999795794487, - -3.128287789877504e-05 + -0.08200699836015701, + -0.08111199736595154, + -2.9000000722589903e-05 + ], + "max": [ + 0.08147499710321426, + 0.08231300115585327, + 0.0824740007519722 ], "size": [ - 0.16348035633563995, - 0.16341695934534073, - 0.08250842032430228 - ] + 0.16348199546337128, + 0.1634249985218048, + 0.08250300075269479 + ], + "units": "m" }, "description": "An off-white ceramic bowl with a matte finish, a distinct foot ring, and a slightly irregular rim.", "name": "D00681 Salad Bowl", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00681", "parts": [ { "bounds": { - "center": [ - -0.00012254470911233882, - 0.00028784381746257433, - 0.04268703258627142 + "min": [ + -0.08200699836015701, + -0.08111199736595154, + -2.9000000722589903e-05 ], "max": [ - 0.08147487789392471, - 0.08231697976589203, - 0.0824771374464035 + 0.08147499710321426, + 0.08231300115585327, + 0.0824740007519722 ], - "min": [ - -0.08200547844171524, - -0.0810999795794487, - -3.128287789877504e-05 - ] + "size": [ + 0.16348199546337128, + 0.1634249985218048, + 0.08250300075269479 + ], + "units": "m" }, "center_of_mass": [ -0.0004638893733506073, @@ -59,7 +65,7 @@ 0.000986582445786696, 0.0015045492181457061 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic", "name": "D00681 Salad Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00681 Salad Bowl", "part_name": "D00681 Salad Bowl" }, - "volume": 0.00026679266645698624 + "volume": 0.00026679266645698624, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "bf22ece289da1f4301de8b5b41907d2824f37edce3b4d681dd6108584602b437" + }, + "usd_path": "batch8/D00681 Salad Bowl/IsaacSim_assets_69f6332d431507ff7c12052b/IsaacSim_asset_69f6332d431507ff7c12052b.usd", + "usd_sha256": "6d24eda125e3da9de9e033ef8c95f1cc6f4e1896c3b374fe893be3b812b79839", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.16348035633563995, - 0.16341695934534073, - 0.08250842032430228 - ] + 0.16348199546337128, + 0.1634249985218048, + 0.08250300075269479 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d24eda125e3da9de9e033ef8c95f1cc6f4e1896c3b374fe893be3b812b79839", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d24eda125e3da9de9e033ef8c95f1cc6f4e1896c3b374fe893be3b812b79839", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 83, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d24eda125e3da9de9e033ef8c95f1cc6f4e1896c3b374fe893be3b812b79839", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 83, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6d24eda125e3da9de9e033ef8c95f1cc6f4e1896c3b374fe893be3b812b79839", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch8/D00694 Sauce/IsaacSim_assets_69f9fb853c860d0afbb97f2f/physics_69f9fb853c860d0afbb97f2f.json b/batch8/D00694 Sauce/IsaacSim_assets_69f9fb853c860d0afbb97f2f/physics_69f9fb853c860d0afbb97f2f.json index 0c568289ca2df46cc64b50b854a9b887c47401b6..f72857a63ace137993a742ea023032686fcf58f5 100644 --- a/batch8/D00694 Sauce/IsaacSim_assets_69f9fb853c860d0afbb97f2f/physics_69f9fb853c860d0afbb97f2f.json +++ b/batch8/D00694 Sauce/IsaacSim_assets_69f9fb853c860d0afbb97f2f/physics_69f9fb853c860d0afbb97f2f.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.030724000185728073, - 0.03240099921822548, - 0.21689899265766144 - ], "min": [ - -0.030587000772356987, - -0.030896000564098358, - -6.399999983841553e-05 + -0.03661299869418144, + -0.036876000463962555, + -8.600000001024455e-05 + ], + "max": [ + 0.03659899905323982, + 0.036747999489307404, + 0.2278060019016266 ], "size": [ - 0.06131100095808506, - 0.06329699978232384, - 0.21696299265749985 - ] + 0.07321199774742126, + 0.07362399995326996, + 0.22789200190163683 + ], + "units": "m" }, "description": "A translucent red plastic squeeze bottle with a ribbed green screw cap and tapered nozzle. The body is cylindrical with rounded shoulders and a slightly rounded base.", "name": "D00694 Sauce", "object_type": "rigid_bodies", - "total_mass": 0.28 + "total_mass": 0.2800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00694", "parts": [ { "bounds": { - "center": [ - 4.834447753079487e-05, - 0.0009228660352603159, - 0.09401235361088726 + "min": [ + -0.03661299869418144, + -0.036876000463962555, + -8.600000001024455e-05 ], "max": [ - 0.030724000185728073, - 0.03240099921822548, - 0.21689899265766144 + 0.03659899905323982, + 0.036747999489307404, + 0.2278060019016266 ], - "min": [ - -0.030587000772356987, - -0.030896000564098358, - -6.399999983841553e-05 - ] + "size": [ + 0.07321199774742126, + 0.07362399995326996, + 0.22789200190163683 + ], + "units": "m" }, "center_of_mass": [ -7.523411378500996e-05, @@ -59,7 +65,7 @@ 0.0008729452809263687, 0.0008737437980830435 ], - "mass": 0.28, + "mass": 0.2800000011920929, "material": "plastic", "name": "D00694 Sauce", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00694 Sauce", "part_name": "D00694 Sauce" }, - "volume": 0.0007415874127353972 + "volume": 0.0007415874127353972, + "source_prim_path": "/World/part_00_plastic", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5bff7949dd8cf9456e9eacef4ba9a3f2706c9a30447b8ec3e4581d7241693116" + }, + "usd_path": "batch8/D00694 Sauce/IsaacSim_assets_69f9fb853c860d0afbb97f2f/IsaacSim_asset_69f9fb853c860d0afbb97f2f.usd", + "usd_sha256": "53bb8568447039f82320d143d774ca908edbcc10951ca7e6be9f2cb078ce0bb2", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.06131100095808506, - 0.06329699978232384, - 0.21696299265749985 - ] + 0.07321199774742126, + 0.07362399995326996, + 0.22789200190163683 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53bb8568447039f82320d143d774ca908edbcc10951ca7e6be9f2cb078ce0bb2", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.28 + "value_kg": 0.2800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53bb8568447039f82320d143d774ca908edbcc10951ca7e6be9f2cb078ce0bb2", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.2800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 46, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53bb8568447039f82320d143d774ca908edbcc10951ca7e6be9f2cb078ce0bb2", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 46, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "53bb8568447039f82320d143d774ca908edbcc10951ca7e6be9f2cb078ce0bb2", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00007 Bamboo Bowl/IsaacSim_assets_69f1ec8759057a9310585daa/physics_69f1ec8759057a9310585daa.json b/batch9/D00007 Bamboo Bowl/IsaacSim_assets_69f1ec8759057a9310585daa/physics_69f1ec8759057a9310585daa.json index 4f9c3e420ed50b8b5a5a1907ae28936199b437b2..a7fbfc379bb1029d9d39d072209a43afa558ba30 100644 --- a/batch9/D00007 Bamboo Bowl/IsaacSim_assets_69f1ec8759057a9310585daa/physics_69f1ec8759057a9310585daa.json +++ b/batch9/D00007 Bamboo Bowl/IsaacSim_assets_69f1ec8759057a9310585daa/physics_69f1ec8759057a9310585daa.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12053361535072327, - 0.11592816561460495, - 0.12048302590847015 - ], "min": [ - -0.12110438197851181, - -7.383257616311312e-05, - -0.1208609789609909 + -0.06003599986433983, + -0.05980699881911278, + -9.999999974752427e-07 + ], + "max": [ + 0.05978100001811981, + 0.05986100062727928, + 0.057808998972177505 ], "size": [ - 0.24163799732923508, - 0.11600199819076806, - 0.24134400486946106 - ] + 0.11981699988245964, + 0.11966799944639206, + 0.05780999897217498 + ], + "units": "m" }, "description": "A white ceramic bowl with a textured, woven basket pattern on its exterior.", "name": "D00007 Bamboo Bowl", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00007", "parts": [ { "bounds": { - "center": [ - -0.00026257632037662664, - 0.05624508581997074, - -0.00014546472482153378 + "min": [ + -0.06003599986433983, + -0.05980699881911278, + -9.999999974752427e-07 ], "max": [ - 0.12053361535072327, - 0.11592816561460495, - 0.12048302590847015 + 0.05978100001811981, + 0.05986100062727928, + 0.057808998972177505 ], - "min": [ - -0.12110438197851181, - -7.383257616311312e-05, - -0.1208609789609909 - ] + "size": [ + 0.11981699988245964, + 0.11966799944639206, + 0.05780999897217498 + ], + "units": "m" }, "center_of_mass": [ -1.1860353047362007e-05, @@ -59,7 +65,7 @@ 0.0005584559544458159, 0.000848431535324169 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "ceramic", "name": "D00007 Bamboo Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00007 Bamboo Bowl", "part_name": "D00007 Bamboo Bowl" }, - "volume": 0.00010543359755473455 + "volume": 0.00010543359755473455, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ab6bbb690277f82898f6af14f1bd1f6deb741ab9c78413b52ce8c483a8fa0884" + }, + "usd_path": "batch9/D00007 Bamboo Bowl/IsaacSim_assets_69f1ec8759057a9310585daa/IsaacSim_asset_69f1ec8759057a9310585daa.usd", + "usd_sha256": "d01172ab035bdde453c1a157d487f956f426aff361e9e4969908fee30dd556b8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.24163799732923508, - 0.11600199819076806, - 0.24134400486946106 - ] + 0.11981699988245964, + 0.11966799944639206, + 0.05780999897217498 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d01172ab035bdde453c1a157d487f956f426aff361e9e4969908fee30dd556b8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d01172ab035bdde453c1a157d487f956f426aff361e9e4969908fee30dd556b8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 143, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d01172ab035bdde453c1a157d487f956f426aff361e9e4969908fee30dd556b8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 143, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d01172ab035bdde453c1a157d487f956f426aff361e9e4969908fee30dd556b8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "d01172ab035bdde453c1a157d487f956f426aff361e9e4969908fee30dd556b8", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:33:40.419671+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "25bd14cc08db2f6284df6228dfd779d33cbebed98cd38e0b7dbfc47d91d4604e", + "qualification": "native-fleet-evidence/shard-01/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00021 Bell Pepper/IsaacSim_assets_69f1f00f59057a931058ad25/physics_69f1f00f59057a931058ad25.json b/batch9/D00021 Bell Pepper/IsaacSim_assets_69f1f00f59057a931058ad25/physics_69f1f00f59057a931058ad25.json index 63182d764f690aa71c74fc40304b5550d142b289..5942aefdbce77cc65e65dda14f6af5aaae24eecd 100644 --- a/batch9/D00021 Bell Pepper/IsaacSim_assets_69f1f00f59057a931058ad25/physics_69f1f00f59057a931058ad25.json +++ b/batch9/D00021 Bell Pepper/IsaacSim_assets_69f1f00f59057a931058ad25/physics_69f1f00f59057a931058ad25.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0418037548661232, - 0.0718923881649971, - 0.04171429201960564 - ], "min": [ - -0.04643719643354416, - 0.0, - -0.0465867854654789 + -0.046411000192165375, + -0.04173700138926506, + -4.999999873689376e-06 + ], + "max": [ + 0.041776999831199646, + 0.04661000147461891, + 0.0718970000743866 ], "size": [ - 0.08824095129966736, - 0.0718923881649971, - 0.08830107748508453 - ] + 0.08818800002336502, + 0.08834700286388397, + 0.07190200007426029 + ], + "units": "m" }, "description": "A glossy red bell pepper with rounded lobes and a green, slightly curved stem. The surface appears waxy and organic with shallow wrinkles and small natural blemishes.", "name": "D00021 Bell Pepper", "object_type": "rigid_bodies", - "total_mass": 0.17 + "total_mass": 0.17000000178813934, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00021", "parts": [ { "bounds": { - "center": [ - -0.0018590442571709256, - 0.03541899657886644, - -0.0012615805751210395 + "min": [ + -0.046411000192165375, + -0.04173700138926506, + -4.999999873689376e-06 ], "max": [ - 0.0418037548661232, - 0.0718923881649971, - 0.04171429201960564 + 0.041776999831199646, + 0.04661000147461891, + 0.0718970000743866 ], - "min": [ - -0.04643719643354416, - 0.0, - -0.0465867854654789 - ] + "size": [ + 0.08818800002336502, + 0.08834700286388397, + 0.07190200007426029 + ], + "units": "m" }, "center_of_mass": [ -0.0015588959343580424, @@ -59,7 +65,7 @@ 0.0001305925823591767, 0.00013258048174629377 ], - "mass": 0.17, + "mass": 0.17000000178813934, "material": "organic_vegetable_tissue", "name": "D00021 Bell Pepper", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00021 Bell Pepper", "part_name": "D00021 Bell Pepper" }, - "volume": 0.0003074173090445887 + "volume": 0.0003074173090445887, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c9a88c145b40214dd65d8239cd9621f6c7ef4e4c535ba186d4be236a50cf2a44" + }, + "usd_path": "batch9/D00021 Bell Pepper/IsaacSim_assets_69f1f00f59057a931058ad25/IsaacSim_asset_69f1f00f59057a931058ad25.usd", + "usd_sha256": "b1b4322a8977a6150b8f5c86757ce5ec68e565469cb2a33c4abfc094abb060d8", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.08824095129966736, - 0.0718923881649971, - 0.08830107748508453 - ] + 0.08818800002336502, + 0.08834700286388397, + 0.07190200007426029 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b1b4322a8977a6150b8f5c86757ce5ec68e565469cb2a33c4abfc094abb060d8", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.17 + "value_kg": 0.17000000178813934, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b1b4322a8977a6150b8f5c86757ce5ec68e565469cb2a33c4abfc094abb060d8", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.17000000178813934, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 82, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b1b4322a8977a6150b8f5c86757ce5ec68e565469cb2a33c4abfc094abb060d8", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 82, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "b1b4322a8977a6150b8f5c86757ce5ec68e565469cb2a33c4abfc094abb060d8", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "b1b4322a8977a6150b8f5c86757ce5ec68e565469cb2a33c4abfc094abb060d8", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:01:22.179799+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "9bbc6667fb5810c6c95124d6ca15039215593b61ef9fed593ba7fe2505060517", + "qualification": "native-fleet-evidence/shard-00/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00022 Bell Pepper Tomato/IsaacSim_assets_69f1f09d59057a931058ba54/physics_69f1f09d59057a931058ba54.json b/batch9/D00022 Bell Pepper Tomato/IsaacSim_assets_69f1f09d59057a931058ba54/physics_69f1f09d59057a931058ba54.json index 83595439ff3358f296fa680a0527cc76ee8608fd..e06df593a2bfd097c0cfb767060508219e9ecc1b 100644 --- a/batch9/D00022 Bell Pepper Tomato/IsaacSim_assets_69f1f09d59057a931058ba54/physics_69f1f09d59057a931058ba54.json +++ b/batch9/D00022 Bell Pepper Tomato/IsaacSim_assets_69f1f09d59057a931058ba54/physics_69f1f09d59057a931058ba54.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.03794800117611885, - 0.031505998224020004, - 0.05863700062036514 - ], "min": [ - -0.042458001524209976, - -0.03102800063788891, - -7.300000288523734e-05 + -0.04639999940991402, + -0.046448998153209686, + -1.2000000424450263e-05 + ], + "max": [ + 0.05508799850940704, + 0.05470399931073189, + 0.08373100310564041 ], "size": [ - 0.08040600270032883, - 0.06253399886190891, - 0.05871000062325038 - ] + 0.10148799791932106, + 0.10115299746394157, + 0.08374300310606486 + ], + "units": "m" }, "description": "A red, lobed bell pepper with a smooth, glossy skin and a curved green stem protruding from the top. The object consists of organic plant material.", "name": "D00022 Red Bell Pepper", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00022", "parts": [ { "bounds": { - "center": [ - 0.001916000460320315, - 0.0005913077994464184, - 0.029191029463172067 + "min": [ + -0.04639999940991402, + -0.046448998153209686, + -1.2000000424450263e-05 ], "max": [ - 0.03794800117611885, - 0.031505998224020004, - 0.05863700062036514 + 0.05508799850940704, + 0.05470399931073189, + 0.08373100310564041 ], - "min": [ - -0.042458001524209976, - -0.03102800063788891, - -7.300000288523734e-05 - ] + "size": [ + 0.10148799791932106, + 0.10115299746394157, + 0.08374300310606486 + ], + "units": "m" }, "center_of_mass": [ 0.002165672117207008, @@ -59,7 +65,7 @@ 0.0001995199756620339, 0.00020567813013948124 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "waxy_organic_matter", "name": "D00022 Bell Pepper Tomato", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00022 Bell Pepper Tomato", "part_name": "D00022 Bell Pepper Tomato" }, - "volume": 0.00043953374925673276 + "volume": 0.00043953374925673276, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3298bc723f8c851d0f300471c3db8e6b92e3f0bf9047abe3c117a70838a97a6e" + }, + "usd_path": "batch9/D00022 Bell Pepper Tomato/IsaacSim_assets_69f1f09d59057a931058ba54/IsaacSim_asset_69f1f09d59057a931058ba54.usd", + "usd_sha256": "0e28c1a78455c8d3bb8dec20c0c486ca9a1bfb7f56bd7b0b9c4df4406ce41224", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.08040600270032883, - 0.06253399886190891, - 0.05871000062325038 - ] + 0.10148799791932106, + 0.10115299746394157, + 0.08374300310606486 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0e28c1a78455c8d3bb8dec20c0c486ca9a1bfb7f56bd7b0b9c4df4406ce41224", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0e28c1a78455c8d3bb8dec20c0c486ca9a1bfb7f56bd7b0b9c4df4406ce41224", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0e28c1a78455c8d3bb8dec20c0c486ca9a1bfb7f56bd7b0b9c4df4406ce41224", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0e28c1a78455c8d3bb8dec20c0c486ca9a1bfb7f56bd7b0b9c4df4406ce41224", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "0e28c1a78455c8d3bb8dec20c0c486ca9a1bfb7f56bd7b0b9c4df4406ce41224", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:39:42.216448+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "4321f1068da888110b40a14d99a42c8e3300f2a5a99facaf91f2dbc96ea8eb9a", + "qualification": "native-fleet-evidence/shard-02/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00041 Board Plate/IsaacSim_assets_69f1f2ec59057a931058eff1/physics_69f1f2ec59057a931058eff1.json b/batch9/D00041 Board Plate/IsaacSim_assets_69f1f2ec59057a931058eff1/physics_69f1f2ec59057a931058eff1.json index cc78bbe093265a96b7b30ede61498d6fbb80cbd7..6e663bbce41d83f55e8355edb124c6e43948d680 100644 --- a/batch9/D00041 Board Plate/IsaacSim_assets_69f1f2ec59057a931058eff1/physics_69f1f2ec59057a931058eff1.json +++ b/batch9/D00041 Board Plate/IsaacSim_assets_69f1f2ec59057a931058eff1/physics_69f1f2ec59057a931058eff1.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1419716477394104, - 0.01680787280201912, - 0.06215677782893181 - ], "min": [ - -0.10960935056209564, - -1.7127553292084485e-05, - -0.06198522076010704 + -0.14216400682926178, + -0.08217299729585648, + -9.999999974752427e-07 + ], + "max": [ + 0.18805299699306488, + 0.08226200193166733, + 0.02057800069451332 ], "size": [ - 0.25158099830150604, - 0.016825000355311204, - 0.12414199858903885 - ] + 0.33021700382232666, + 0.1644349992275238, + 0.020579000694510796 + ], + "units": "m" }, "description": "A rectangular white ceramic serving tray with a raised rim and a handle featuring a small circular hole.", "name": "D00041 Ceramic Serving Paddle Board", "object_type": "rigid_bodies", - "total_mass": 1.0 + "total_mass": 1.0, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00041", "parts": [ { "bounds": { - "center": [ - -0.008073529080398552, - 0.007620212733026362, - 0.00010379404903531823 + "min": [ + -0.14216400682926178, + -0.08217299729585648, + -9.999999974752427e-07 ], "max": [ - 0.1419716477394104, - 0.01680787280201912, - 0.06215677782893181 + 0.18805299699306488, + 0.08226200193166733, + 0.02057800069451332 ], - "min": [ - -0.10960935056209564, - -1.7127553292084485e-05, - -0.06198522076010704 - ] + "size": [ + 0.33021700382232666, + 0.1644349992275238, + 0.020579000694510796 + ], + "units": "m" }, "center_of_mass": [ -0.011861050326774298, @@ -67,10 +73,27 @@ "object_name": "D00041 Board Plate", "part_name": "D00041 Board Plate" }, - "volume": 0.0006578051944731458 + "volume": 0.0006578051944731458, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "c20644e1a34c896dde8d64a30e35a95debe46deb4c1c3913c2a53bab2a9abbe8" + }, + "usd_path": "batch9/D00041 Board Plate/IsaacSim_assets_69f1f2ec59057a931058eff1/IsaacSim_asset_69f1f2ec59057a931058eff1.usd", + "usd_sha256": "596c3ea2ed04d5112b992a4b9a8bfa6cd17a2a93e55ef8170437ac32454d07db", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.25158099830150604, - 0.016825000355311204, - 0.12414199858903885 - ] + 0.33021700382232666, + 0.1644349992275238, + 0.020579000694510796 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "596c3ea2ed04d5112b992a4b9a8bfa6cd17a2a93e55ef8170437ac32454d07db", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 1.0 + "value_kg": 1.0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "596c3ea2ed04d5112b992a4b9a8bfa6cd17a2a93e55ef8170437ac32454d07db", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 1.0, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 1, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "596c3ea2ed04d5112b992a4b9a8bfa6cd17a2a93e55ef8170437ac32454d07db", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 1, + "approximations": [ + "sdf" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "596c3ea2ed04d5112b992a4b9a8bfa6cd17a2a93e55ef8170437ac32454d07db", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "596c3ea2ed04d5112b992a4b9a8bfa6cd17a2a93e55ef8170437ac32454d07db", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T20:44:12.057146+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "90ed8371fa481f014dd44125f8e7ca6cea5ecb1794e55afc7b7d36cc733b745e", + "qualification": "native-fleet-evidence/shard-03/native-batch-000/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00139_Clay/IsaacSim_assets_6a3a6f3b7cb6171b56ec0b1a/physics_6a3a6f3b7cb6171b56ec0b1a.json b/batch9/D00139_Clay/IsaacSim_assets_6a3a6f3b7cb6171b56ec0b1a/physics_6a3a6f3b7cb6171b56ec0b1a.json index 048501284a7389918f98cad8a75a15223e0d1651..7e1e042e5ab427df0c37e918ccd617a68b160580 100644 --- a/batch9/D00139_Clay/IsaacSim_assets_6a3a6f3b7cb6171b56ec0b1a/physics_6a3a6f3b7cb6171b56ec0b1a.json +++ b/batch9/D00139_Clay/IsaacSim_assets_6a3a6f3b7cb6171b56ec0b1a/physics_6a3a6f3b7cb6171b56ec0b1a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12830144, - 0.12876608, - 0.13322875 - ], "min": [ - -0.13247084, - 0.0, - -0.13305248 + -0.13251200318336487, + -0.13321399688720703, + 2.700000004551839e-05 + ], + "max": [ + 0.12834200263023376, + 0.1330379992723465, + 0.12873999774456024 ], "size": [ - 0.26077227999999997, - 0.12876608, - 0.26628123000000004 - ] + 0.26085400581359863, + 0.26625199615955353, + 0.12871299774451472 + ], + "units": "m" }, "description": "A rectangular block of brownish-orange modeling clay with slightly rounded edges and a textured surface.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.8 + "total_mass": 0.800000011920929, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00139", "parts": [ { "bounds": { - "center": [ - -0.0018656770451043084, - 0.06326338455384647, - -0.00018211341250943112 + "min": [ + -0.13251200318336487, + -0.13321399688720703, + 2.700000004551839e-05 ], "max": [ - 0.12830144, - 0.12876608, - 0.13322875 + 0.12834200263023376, + 0.1330379992723465, + 0.12873999774456024 ], - "min": [ - -0.13247084, - 0.0, - -0.13305248 - ] + "size": [ + 0.26085400581359863, + 0.26625199615955353, + 0.12871299774451472 + ], + "units": "m" }, "center_of_mass": [ -0.002172440103712756, @@ -59,7 +65,7 @@ 0.005620202166520944, 0.008955911518092018 ], - "mass": 0.8, + "mass": 0.800000011920929, "material": "clay", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.00845741117182627 + "volume": 0.00845741117182627, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a5d65ca379720d31b477f0057820dc95ff1d47223849a8a5929b83868410b281" + }, + "usd_path": "batch9/D00139_Clay/IsaacSim_assets_6a3a6f3b7cb6171b56ec0b1a/IsaacSim_asset_6a3a6f3b7cb6171b56ec0b1a.usd", + "usd_sha256": "267222607ab0059d7d4c4b7225c8b4e30ad7847ca5c7c724a3a8838ffdadd421", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.26077227999999997, - 0.12876608, - 0.26628123000000004 - ] + 0.26085400581359863, + 0.26625199615955353, + 0.12871299774451472 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "267222607ab0059d7d4c4b7225c8b4e30ad7847ca5c7c724a3a8838ffdadd421", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.8 + "value_kg": 0.800000011920929, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "267222607ab0059d7d4c4b7225c8b4e30ad7847ca5c7c724a3a8838ffdadd421", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.800000011920929, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 8, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "267222607ab0059d7d4c4b7225c8b4e30ad7847ca5c7c724a3a8838ffdadd421", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 8, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "267222607ab0059d7d4c4b7225c8b4e30ad7847ca5c7c724a3a8838ffdadd421", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "267222607ab0059d7d4c4b7225c8b4e30ad7847ca5c7c724a3a8838ffdadd421", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:02.645144+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "728980bb50d7087e4f885d145be8f96af420a7bb99d8cbda281efc55d249ad1f", + "qualification": "native-fleet-evidence/shard-03/native-batch-001/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00195_Cooking_Bowl/IsaacSim_assets_6a4908164a7a99d88817baeb/physics_6a4908164a7a99d88817baeb.json b/batch9/D00195_Cooking_Bowl/IsaacSim_assets_6a4908164a7a99d88817baeb/physics_6a4908164a7a99d88817baeb.json index 71a30bdabf0985f402f629959ee029e7446cd93a..7edfb66493b000b711b0c78dd1cc81e13388aad1 100644 --- a/batch9/D00195_Cooking_Bowl/IsaacSim_assets_6a4908164a7a99d88817baeb/physics_6a4908164a7a99d88817baeb.json +++ b/batch9/D00195_Cooking_Bowl/IsaacSim_assets_6a4908164a7a99d88817baeb/physics_6a4908164a7a99d88817baeb.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09923541, - 0.08905497, - 0.09931543 - ], "min": [ - -0.09928247, - 0.0, - -0.09898868 + -0.09928499907255173, + -0.09935099631547928, + -6.500000017695129e-05 + ], + "max": [ + 0.09923800081014633, + 0.09902399778366089, + 0.08911900222301483 ], "size": [ - 0.19851787999999998, - 0.08905497, - 0.19830410999999998 - ] + 0.19852299988269806, + 0.19837499409914017, + 0.08918400222319178 + ], + "units": "m" }, "description": "A dark gray, matte-finished ceramic bowl with a wide circular opening and a flat base.", "name": "generated reference 01", "object_type": "rigid_bodies", - "total_mass": 0.515 + "total_mass": 0.5149999856948853, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00195", "parts": [ { "bounds": { - "center": [ - -0.00010781419261196866, - 0.04176107996057566, - 7.965670843339272e-05 + "min": [ + -0.09928499907255173, + -0.09935099631547928, + -6.500000017695129e-05 ], "max": [ - 0.09923541, - 0.08905497, - 0.09931543 + 0.09923800081014633, + 0.09902399778366089, + 0.08911900222301483 ], - "min": [ - -0.09928247, - 0.0, - -0.09898868 - ] + "size": [ + 0.19852299988269806, + 0.19837499409914017, + 0.08918400222319178 + ], + "units": "m" }, "center_of_mass": [ -0.0004359100439163378, @@ -59,7 +65,7 @@ 0.001963066651317175, 0.0032162187362807263 ], - "mass": 0.515, + "mass": 0.5149999856948853, "material": "ceramic", "name": "generated reference 01", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "generated reference 01", "part_name": "generated reference 01" }, - "volume": 0.0005411364417468063 + "volume": 0.0005411364417468063, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "acb1f97fe19b47871ecead6801aa1528fef2d745dde300b12a5e817d057ec427" + }, + "usd_path": "batch9/D00195_Cooking_Bowl/IsaacSim_assets_6a4908164a7a99d88817baeb/IsaacSim_asset_6a4908164a7a99d88817baeb.usd", + "usd_sha256": "f9ef9f6ad5baa0be8f54f42123a5733438e36eb8367521f9a8c47d18cde9361d", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.19851787999999998, - 0.08905497, - 0.19830410999999998 - ] + 0.19852299988269806, + 0.19837499409914017, + 0.08918400222319178 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9ef9f6ad5baa0be8f54f42123a5733438e36eb8367521f9a8c47d18cde9361d", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.515 + "value_kg": 0.5149999856948853, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9ef9f6ad5baa0be8f54f42123a5733438e36eb8367521f9a8c47d18cde9361d", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5149999856948853, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 182, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9ef9f6ad5baa0be8f54f42123a5733438e36eb8367521f9a8c47d18cde9361d", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 182, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "f9ef9f6ad5baa0be8f54f42123a5733438e36eb8367521f9a8c47d18cde9361d", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "f9ef9f6ad5baa0be8f54f42123a5733438e36eb8367521f9a8c47d18cde9361d", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:06.826442+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "2f32aa55347b0153d9a63982ccbddc743c2068f46b503b3ae39226a13e8e9443", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00220 Cucumber/IsaacSim_assets_69f2291159057a93105d3f6a/physics_69f2291159057a93105d3f6a.json b/batch9/D00220 Cucumber/IsaacSim_assets_69f2291159057a93105d3f6a/physics_69f2291159057a93105d3f6a.json index 10d1aa39f9ad5919832c5cc00950b2fe3ec15784..db423d0c4ee381160598ebe0fd0c9027fbca10fa 100644 --- a/batch9/D00220 Cucumber/IsaacSim_assets_69f2291159057a93105d3f6a/physics_69f2291159057a93105d3f6a.json +++ b/batch9/D00220 Cucumber/IsaacSim_assets_69f2291159057a93105d3f6a/physics_69f2291159057a93105d3f6a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.10228700190782547, - 0.027737999334931374, - 0.05722000077366829 - ], "min": [ - -0.09997999668121338, - -0.02688699960708618, - -7.000000186963007e-05 + -0.11554399877786636, + -0.032496001571416855, + 3.999999989900971e-06 + ], + "max": [ + 0.11292999982833862, + 0.030412999913096428, + 0.06435099989175797 ], "size": [ - 0.20226699858903885, - 0.054624998942017555, - 0.05729000077553792 - ] + 0.228473998606205, + 0.06290900148451328, + 0.06434699989176806 + ], + "units": "m" }, "description": "A dark green cucumber with a textured, bumpy skin and a small stem attached at one end.", "name": "D00220 Cucumber", "object_type": "rigid_bodies", - "total_mass": 0.6 + "total_mass": 0.6000000238418579, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00220", "parts": [ { "bounds": { - "center": [ - 0.0040906009376577915, - 0.00045067668156186766, - 0.029985535399475984 + "min": [ + -0.11554399877786636, + -0.032496001571416855, + 3.999999989900971e-06 ], "max": [ - 0.10228700190782547, - 0.027737999334931374, - 0.05722000077366829 + 0.11292999982833862, + 0.030412999913096428, + 0.06435099989175797 ], - "min": [ - -0.09997999668121338, - -0.02688699960708618, - -7.000000186963007e-05 - ] + "size": [ + 0.228473998606205, + 0.06290900148451328, + 0.06434699989176806 + ], + "units": "m" }, "center_of_mass": [ 0.007136628982408436, @@ -59,7 +65,7 @@ 0.0016512908512684992, 0.001658948948821062 ], - "mass": 0.6, + "mass": 0.6000000238418579, "material": "organic_matter", "name": "D00220 Cucumber", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00220 Cucumber", "part_name": "D00220 Cucumber" }, - "volume": 0.00044295399297901515 + "volume": 0.00044295399297901515, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1a5ae446c6858698bf6e117699577da33b2731bdc239491b82e529aca868bf1f" + }, + "usd_path": "batch9/D00220 Cucumber/IsaacSim_assets_69f2291159057a93105d3f6a/IsaacSim_asset_69f2291159057a93105d3f6a.usd", + "usd_sha256": "28630e63627be528699dd6f5782cc98e293b9c4f6a4da3d21d620cb1cc5a63e1", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.20226699858903885, - 0.054624998942017555, - 0.05729000077553792 - ] + 0.228473998606205, + 0.06290900148451328, + 0.06434699989176806 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "28630e63627be528699dd6f5782cc98e293b9c4f6a4da3d21d620cb1cc5a63e1", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.6 + "value_kg": 0.6000000238418579, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "28630e63627be528699dd6f5782cc98e293b9c4f6a4da3d21d620cb1cc5a63e1", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.6000000238418579, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "28630e63627be528699dd6f5782cc98e293b9c4f6a4da3d21d620cb1cc5a63e1", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "28630e63627be528699dd6f5782cc98e293b9c4f6a4da3d21d620cb1cc5a63e1", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "28630e63627be528699dd6f5782cc98e293b9c4f6a4da3d21d620cb1cc5a63e1", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:39:08.561154+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "d636711e33afe40d57eb7c367745dadc8eed9498b4c569fef59a53cac98410da", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00236 Cup Pot/IsaacSim_assets_69f22d2e59057a93105daf19/physics_69f22d2e59057a93105daf19.json b/batch9/D00236 Cup Pot/IsaacSim_assets_69f22d2e59057a93105daf19/physics_69f22d2e59057a93105daf19.json index 30c1a09b011b1a82e4f233a69884b37d930d639c..0688d8aa3481446d7ccb1f46822a1818bd536192 100644 --- a/batch9/D00236 Cup Pot/IsaacSim_assets_69f22d2e59057a93105daf19/physics_69f22d2e59057a93105daf19.json +++ b/batch9/D00236 Cup Pot/IsaacSim_assets_69f22d2e59057a93105daf19/physics_69f22d2e59057a93105daf19.json @@ -230,13 +230,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "7ee2e4169d06b698a4da2436827ca7d574eb53252769d4886ce61f12f2287713" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "272edf3b2bfc5f2c86ef34c8069e2ef689fb144def7d48b5f1c58999ab40e81c" }, "usd_path": "batch9/D00236 Cup Pot/IsaacSim_assets_69f22d2e59057a93105daf19/IsaacSim_asset_69f22d2e59057a93105daf19.usd", - "usd_sha256": "8c5e9cc366af6fe460a0c939b391b822253694fdcc9e8bcbe92d50279d015559", + "usd_sha256": "6271832455d7f8299c42b87dbefb81f6c4ad9b69c823fae9f5f0cbf10c974712", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -263,9 +263,9 @@ 0.3205669969320297, 0.13773799693444744 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "8c5e9cc366af6fe460a0c939b391b822253694fdcc9e8bcbe92d50279d015559", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6271832455d7f8299c42b87dbefb81f6c4ad9b69c823fae9f5f0cbf10c974712", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -274,9 +274,9 @@ "status": "verified", "confidence": "high", "value_kg": 5.1500000059604645, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "8c5e9cc366af6fe460a0c939b391b822253694fdcc9e8bcbe92d50279d015559", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6271832455d7f8299c42b87dbefb81f6c4ad9b69c823fae9f5f0cbf10c974712", "scope": "authored_usd_mass_consistency", "part_sum_kg": 5.1500000059604645, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -285,9 +285,9 @@ "status": "verified", "confidence": "high", "shape_count": 118, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "8c5e9cc366af6fe460a0c939b391b822253694fdcc9e8bcbe92d50279d015559", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6271832455d7f8299c42b87dbefb81f6c4ad9b69c823fae9f5f0cbf10c974712", "scope": "authored_usd_collision_schema", "enabled_shape_count": 118, "approximations": [ @@ -299,18 +299,38 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "8c5e9cc366af6fe460a0c939b391b822253694fdcc9e8bcbe92d50279d015559", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "6271832455d7f8299c42b87dbefb81f6c4ad9b69c823fae9f5f0cbf10c974712", "scope": "authored_usd_joint_schema", "joint_count": 1, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "failed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "6271832455d7f8299c42b87dbefb81f6c4ad9b69c823fae9f5f0cbf10c974712", + "supplemental_accepted": false, + "planned_test_count": 14, + "result_count": 14, + "passed": 10, + "skipped": 3, + "failed": 1, + "issues": [ + "slope_drop:fail" + ], + "warnings": [], + "completed_at": "2026-10-13T21:39:09.626082+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "bd766fcbf4bf4a02cf84be4e6f2176c88e5f5becfd3bb7d3b7fd3d328057c030", + "qualification": "native-fleet-evidence/shard-02/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00243 Cupcake Pan/IsaacSim_assets_69f22f2f59057a93105deb5b/physics_69f22f2f59057a93105deb5b.json b/batch9/D00243 Cupcake Pan/IsaacSim_assets_69f22f2f59057a93105deb5b/physics_69f22f2f59057a93105deb5b.json index 79681cb5259763c877eb6add1da29261ce7de9d4..ffb1f2eb531c45887eee3a0415868151563c8f10 100644 --- a/batch9/D00243 Cupcake Pan/IsaacSim_assets_69f22f2f59057a93105deb5b/physics_69f22f2f59057a93105deb5b.json +++ b/batch9/D00243 Cupcake Pan/IsaacSim_assets_69f22f2f59057a93105deb5b/physics_69f22f2f59057a93105deb5b.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.17471599578857422, - 0.09115199744701385, - 0.04589100182056427 - ], "min": [ - -0.1722870022058487, - -0.09171400219202042, - -0.0003100000030826777 + -0.17993800342082977, + -0.09708400070667267, + -3.099999958067201e-05 + ], + "max": [ + 0.18148499727249146, + 0.09720499813556671, + 0.045805998146533966 ], "size": [ - 0.3470029979944229, - 0.18286599963903427, - 0.04620100182364695 - ] + 0.36142300069332123, + 0.19428899884223938, + 0.04583699814611464 + ], + "units": "m" }, "description": "A dark grey metallic 6-cup muffin pan with a non-stick coating and two wide side handles.", "name": "D00243 Cupcake Pan", "object_type": "rigid_bodies", - "total_mass": 0.4 + "total_mass": 0.4000000059604645, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00243", "parts": [ { "bounds": { - "center": [ - 0.0010020689241003746, - -0.00024436820627986945, - 0.02653065143872684 + "min": [ + -0.17993800342082977, + -0.09708400070667267, + -3.099999958067201e-05 ], "max": [ - 0.17471599578857422, - 0.09115199744701385, - 0.04589100182056427 + 0.18148499727249146, + 0.09720499813556671, + 0.045805998146533966 ], - "min": [ - -0.1722870022058487, - -0.09171400219202042, - -0.0003100000030826777 - ] + "size": [ + 0.36142300069332123, + 0.19428899884223938, + 0.04583699814611464 + ], + "units": "m" }, "center_of_mass": [ 0.0006752845519248285, @@ -59,7 +65,7 @@ 0.0031202533015299225, 0.004014991240810687 ], - "mass": 0.4, + "mass": 0.4000000059604645, "material": "steel", "name": "D00243 Cupcake Pan", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00243 Cupcake Pan", "part_name": "D00243 Cupcake Pan" }, - "volume": 0.0023727660200750147 + "volume": 0.0023727660200750147, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "539d309944466a0f112fb7b888aaa3c035e4d9747b80ae48451c43f98232ec24" + }, + "usd_path": "batch9/D00243 Cupcake Pan/IsaacSim_assets_69f22f2f59057a93105deb5b/IsaacSim_asset_69f22f2f59057a93105deb5b.usd", + "usd_sha256": "7d191f3c14ed46894a859f208ed415ccaafe4396cf9dc32a68b76249cf22ac56", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,76 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3470029979944229, - 0.18286599963903427, - 0.04620100182364695 - ] + 0.36142300069332123, + 0.19428899884223938, + 0.04583699814611464 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d191f3c14ed46894a859f208ed415ccaafe4396cf9dc32a68b76249cf22ac56", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.4 + "value_kg": 0.4000000059604645, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d191f3c14ed46894a859f208ed415ccaafe4396cf9dc32a68b76249cf22ac56", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.4000000059604645, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 247, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d191f3c14ed46894a859f208ed415ccaafe4396cf9dc32a68b76249cf22ac56", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 247, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7d191f3c14ed46894a859f208ed415ccaafe4396cf9dc32a68b76249cf22ac56", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "passed", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "engine_version": "6.1.0.0", + "usd_sha256": "7d191f3c14ed46894a859f208ed415ccaafe4396cf9dc32a68b76249cf22ac56", + "supplemental_accepted": true, + "planned_test_count": 12, + "result_count": 12, + "passed": 11, + "skipped": 1, + "failed": 0, + "issues": [], + "warnings": [], + "completed_at": "2026-10-13T21:36:03.574013+00:00", + "joint_status": "not_applicable", + "joints_total": 0, + "joints_passed": 0, + "joints_failed": 0, + "thumbnail_sha256": "8d47d6386069ac073738d1bcb23abc75933760f707795838d7307fbdc2b743d4", + "qualification": "native-fleet-evidence/shard-01/native-batch-002/qualification-normalized.json", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00248 Cultery/IsaacSim_assets_69f22fc659057a93105dfeed/physics_69f22fc659057a93105dfeed.json b/batch9/D00248 Cultery/IsaacSim_assets_69f22fc659057a93105dfeed/physics_69f22fc659057a93105dfeed.json index af6b13718a0e0d6d139a670e61bd12fe2d5d132e..1d2fd01e86af61031d0f5b64880da29596b0731c 100644 --- a/batch9/D00248 Cultery/IsaacSim_assets_69f22fc659057a93105dfeed/physics_69f22fc659057a93105dfeed.json +++ b/batch9/D00248 Cultery/IsaacSim_assets_69f22fc659057a93105dfeed/physics_69f22fc659057a93105dfeed.json @@ -423,13 +423,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "19ab403f1aa379c015eed4948fc7ba14d3a0fe19ea46970c558aa08668561d75" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "1de583ce78d3806b5580f54451ebedd5ee2e0c311fc7173b7bda237eb40796a1" }, "usd_path": "batch9/D00248 Cultery/IsaacSim_assets_69f22fc659057a93105dfeed/IsaacSim_asset_69f22fc659057a93105dfeed.usd", - "usd_sha256": "51913851a1a0b8800a1f0df2fe16746e45997af9c0d56b6dbeae76c2c54b02e8", + "usd_sha256": "aceec97aaf211b0f1cd017d8a21d21577b3b93a5799c00a29a218f8b641457e6", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -456,9 +456,9 @@ 0.24986299872398376, 0.03649699933885131 ], - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "51913851a1a0b8800a1f0df2fe16746e45997af9c0d56b6dbeae76c2c54b02e8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aceec97aaf211b0f1cd017d8a21d21577b3b93a5799c00a29a218f8b641457e6", "scope": "authored_usd_dimensions", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." @@ -467,9 +467,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.25499999709427357, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "51913851a1a0b8800a1f0df2fe16746e45997af9c0d56b6dbeae76c2c54b02e8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aceec97aaf211b0f1cd017d8a21d21577b3b93a5799c00a29a218f8b641457e6", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.25499999709427357, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -478,9 +478,9 @@ "status": "verified", "confidence": "high", "shape_count": 74, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "51913851a1a0b8800a1f0df2fe16746e45997af9c0d56b6dbeae76c2c54b02e8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aceec97aaf211b0f1cd017d8a21d21577b3b93a5799c00a29a218f8b641457e6", "scope": "authored_usd_collision_schema", "enabled_shape_count": 74, "approximations": [ @@ -492,18 +492,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "51913851a1a0b8800a1f0df2fe16746e45997af9c0d56b6dbeae76c2c54b02e8", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "aceec97aaf211b0f1cd017d8a21d21577b3b93a5799c00a29a218f8b641457e6", "scope": "authored_usd_joint_schema", "joint_count": 2, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00772 Sponge/IsaacSim_assets_69f663047f5104dbf271f159/physics_69f663047f5104dbf271f159.json b/batch9/D00772 Sponge/IsaacSim_assets_69f663047f5104dbf271f159/physics_69f663047f5104dbf271f159.json index fe17a13261e7afa6efbbc582c9e199e2e24704fa..084e2b42868969d5dcc4b73cc5071e069cf69046 100644 --- a/batch9/D00772 Sponge/IsaacSim_assets_69f663047f5104dbf271f159/physics_69f663047f5104dbf271f159.json +++ b/batch9/D00772 Sponge/IsaacSim_assets_69f663047f5104dbf271f159/physics_69f663047f5104dbf271f159.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.051858000457286835, - 0.0194070003926754, - 0.07643000036478043 - ], "min": [ - -0.05289899930357933, - -0.0140990000218153, - -9.999999974752427e-07 + -0.01889600045979023, + -0.05224800109863281, + -1.4000000192027073e-05 + ], + "max": [ + 0.01358100026845932, + 0.05414599925279617, + 0.07498099654912949 ], "size": [ - 0.10475699976086617, - 0.0335060004144907, - 0.0764310003647779 - ] + 0.03247700072824955, + 0.10639400035142899, + 0.07499499654932151 + ], + "units": "m" }, "description": "A rectangular yellow porous sponge block with rounded edges and a thin green fibrous scouring layer on one face. The surface is open-cell foam with rough abrasive fibers along the dark green pad.", "name": "D00772 Sponge", "object_type": "rigid_bodies", - "total_mass": 0.018 + "total_mass": 0.017999999225139618, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00772", "parts": [ { "bounds": { - "center": [ - -0.000644702435364532, - 0.0025788979904115767, - 0.03846432329106401 + "min": [ + -0.01889600045979023, + -0.05224800109863281, + -1.4000000192027073e-05 ], "max": [ - 0.051858000457286835, - 0.0194070003926754, - 0.07643000036478043 + 0.01358100026845932, + 0.05414599925279617, + 0.07498099654912949 ], - "min": [ - -0.05289899930357933, - -0.0140990000218153, - -9.999999974752427e-07 - ] + "size": [ + 0.03247700072824955, + 0.10639400035142899, + 0.07499499654932151 + ], + "units": "m" }, "center_of_mass": [ -0.0025994730682552592, @@ -59,7 +65,7 @@ 1.844958445720725e-05, 2.5184139050660714e-05 ], - "mass": 0.018, + "mass": 0.017999999225139618, "material": "plastic", "name": "D00772 Sponge", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00772 Sponge", "part_name": "D00772 Sponge" }, - "volume": 0.00025630248991337666 + "volume": 0.00025630248991337666, + "source_prim_path": "/World/part_00_plastic", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "eec60241d11ddceca0b34db40212f421d1cbd368e1a8867897d486efb00be821" + }, + "usd_path": "batch9/D00772 Sponge/IsaacSim_assets_69f663047f5104dbf271f159/IsaacSim_asset_69f663047f5104dbf271f159.usd", + "usd_sha256": "7f466b609bfc6146c9a2dd8244d937a4d323bdc0814ee9f3447af54ffe6b136f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.10475699976086617, - 0.0335060004144907, - 0.0764310003647779 - ] + 0.03247700072824955, + 0.10639400035142899, + 0.07499499654932151 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7f466b609bfc6146c9a2dd8244d937a4d323bdc0814ee9f3447af54ffe6b136f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.018 + "value_kg": 0.017999999225139618, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7f466b609bfc6146c9a2dd8244d937a4d323bdc0814ee9f3447af54ffe6b136f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.017999999225139618, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 30, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7f466b609bfc6146c9a2dd8244d937a4d323bdc0814ee9f3447af54ffe6b136f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 30, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "7f466b609bfc6146c9a2dd8244d937a4d323bdc0814ee9f3447af54ffe6b136f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00855 Teacup/IsaacSim_assets_69f69cb17f5104dbf2a512d9/physics_69f69cb17f5104dbf2a512d9.json b/batch9/D00855 Teacup/IsaacSim_assets_69f69cb17f5104dbf2a512d9/physics_69f69cb17f5104dbf2a512d9.json index 8165a062f52a805ffdd9a6da0bc59e5659c5cf9a..9123ae3311e971bd188c411e2c7d1376087ebdfe 100644 --- a/batch9/D00855 Teacup/IsaacSim_assets_69f69cb17f5104dbf2a512d9/physics_69f69cb17f5104dbf2a512d9.json +++ b/batch9/D00855 Teacup/IsaacSim_assets_69f69cb17f5104dbf2a512d9/physics_69f69cb17f5104dbf2a512d9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.056540001183748245, - 0.038933999836444855, - 0.05172799900174141 - ], "min": [ - -0.04355800151824951, - -0.038979001343250275, - -1.2999999853491317e-05 + -0.04625999927520752, + -0.04135400056838989, + -1.4999999621068127e-05 + ], + "max": [ + 0.05978100001811981, + 0.04113699868321419, + 0.054829999804496765 ], "size": [ - 0.10009800270199776, - 0.07791300117969513, - 0.0517409990015949 - ] + 0.10604099929332733, + 0.08249099925160408, + 0.05484499980411783 + ], + "units": "m" }, "description": "A dark grey, rough-textured cast iron teacup with a curved side handle. It features a wide, rounded bowl tapering to a flat circular base.", "name": "D00855 Teacup", "object_type": "rigid_bodies", - "total_mass": 0.184 + "total_mass": 0.18400000035762787, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00855", "parts": [ { "bounds": { - "center": [ - -0.0018435501059613749, - -2.3625181169706514e-05, - 0.026728749167337362 + "min": [ + -0.04625999927520752, + -0.04135400056838989, + -1.4999999621068127e-05 ], "max": [ - 0.056540001183748245, - 0.038933999836444855, - 0.05172799900174141 + 0.05978100001811981, + 0.04113699868321419, + 0.054829999804496765 ], - "min": [ - -0.04355800151824951, - -0.038979001343250275, - -1.2999999853491317e-05 - ] + "size": [ + 0.10604099929332733, + 0.08249099925160408, + 0.05484499980411783 + ], + "units": "m" }, "center_of_mass": [ 8.965799002051492e-05, @@ -59,7 +65,7 @@ 0.00012934026826151847, 0.00014816095118075717 ], - "mass": 0.184, + "mass": 0.18400000035762787, "material": "cast_iron", "name": "D00855 Teacup", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00855 Teacup", "part_name": "D00855 Teacup" }, - "volume": 0.0002394961724245076 + "volume": 0.0002394961724245076, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a2997b168330987b1b13c21cce14e91d070809c8a2ff91b2a1332a64a7a310a8" + }, + "usd_path": "batch9/D00855 Teacup/IsaacSim_assets_69f69cb17f5104dbf2a512d9/IsaacSim_asset_69f69cb17f5104dbf2a512d9.usd", + "usd_sha256": "04895166cdc881a1c0f4b479c55a0e04c964807b60da0c3feb6afda08d36fcd6", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.10009800270199776, - 0.07791300117969513, - 0.0517409990015949 - ] + 0.10604099929332733, + 0.08249099925160408, + 0.05484499980411783 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "04895166cdc881a1c0f4b479c55a0e04c964807b60da0c3feb6afda08d36fcd6", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.184 + "value_kg": 0.18400000035762787, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "04895166cdc881a1c0f4b479c55a0e04c964807b60da0c3feb6afda08d36fcd6", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.18400000035762787, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 69, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "04895166cdc881a1c0f4b479c55a0e04c964807b60da0c3feb6afda08d36fcd6", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 69, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "04895166cdc881a1c0f4b479c55a0e04c964807b60da0c3feb6afda08d36fcd6", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00874 Tool/IsaacSim_assets_69fde9b58102b48e9a427474/physics_69fde9b58102b48e9a427474.json b/batch9/D00874 Tool/IsaacSim_assets_69fde9b58102b48e9a427474/physics_69fde9b58102b48e9a427474.json index 3c15b8b3b48d055d6bf96c500b2c1e6f552134d5..75be9546c9d189190b17141b61b05721b49142c2 100644 --- a/batch9/D00874 Tool/IsaacSim_assets_69fde9b58102b48e9a427474/physics_69fde9b58102b48e9a427474.json +++ b/batch9/D00874 Tool/IsaacSim_assets_69fde9b58102b48e9a427474/physics_69fde9b58102b48e9a427474.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.023917991667985916, - 0.03552112728357315, - 0.18568478524684906 - ], "min": [ - -0.022056007757782936, - 3.1265906272892607e-06, - -0.1357962191104889 + -0.019336000084877014, + -0.20449399948120117, + 4.999999873689376e-06 + ], + "max": [ + 0.01829499937593937, + 0.15481099486351013, + 0.03313300013542175 ], "size": [ - 0.04597399942576885, - 0.03551800069294586, - 0.32148100435733795 - ] + 0.03763099946081638, + 0.3593049943447113, + 0.033128000135548064 + ], + "units": "m" }, "description": "An offset kitchen spatula featuring a long, flat stainless steel blade and a wooden handle secured with brass rivets.", "name": "D00874 Offset Icing Spatula", "object_type": "rigid_bodies", - "total_mass": 0.11 + "total_mass": 0.10999999940395355, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00874", "parts": [ { "bounds": { - "center": [ - 0.00010148108808169894, - 0.012377829372564736, - 0.018654578176208372 + "min": [ + -0.019336000084877014, + -0.20449399948120117, + 4.999999873689376e-06 ], "max": [ - 0.023917991667985916, - 0.03552112728357315, - 0.18568478524684906 + 0.01829499937593937, + 0.15481099486351013, + 0.03313300013542175 ], - "min": [ - -0.022056007757782936, - 3.1265906272892607e-06, - -0.1357962191104889 - ] + "size": [ + 0.03763099946081638, + 0.3593049943447113, + 0.033128000135548064 + ], + "units": "m" }, "center_of_mass": [ -0.00020041204467932902, @@ -59,7 +65,7 @@ 0.0007977674715431741, 0.0008020365212586501 ], - "mass": 0.11, + "mass": 0.10999999940395355, "material": "stainless_steel_and_wood", "name": "D00874 Tool", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00874 Tool", "part_name": "D00874 Tool" }, - "volume": 0.0002723242112951175 + "volume": 0.0002723242112951175, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a64380b6450fff36e9772fe828c92a78c7b19c85dec7e7ac09d41ab2e2778874" + }, + "usd_path": "batch9/D00874 Tool/IsaacSim_assets_69fde9b58102b48e9a427474/IsaacSim_asset_69fde9b58102b48e9a427474.usd", + "usd_sha256": "5022291a68175cdfbbd2f9058643e06cd754c0294ce124196ef22cf7d656ca14", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.04597399942576885, - 0.03551800069294586, - 0.32148100435733795 - ] + 0.03763099946081638, + 0.3593049943447113, + 0.033128000135548064 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5022291a68175cdfbbd2f9058643e06cd754c0294ce124196ef22cf7d656ca14", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.11 + "value_kg": 0.10999999940395355, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5022291a68175cdfbbd2f9058643e06cd754c0294ce124196ef22cf7d656ca14", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.10999999940395355, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 3, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5022291a68175cdfbbd2f9058643e06cd754c0294ce124196ef22cf7d656ca14", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 3, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5022291a68175cdfbbd2f9058643e06cd754c0294ce124196ef22cf7d656ca14", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00880 Tray/IsaacSim_assets_69f6b4547f5104dbf2bb6568/physics_69f6b4547f5104dbf2bb6568.json b/batch9/D00880 Tray/IsaacSim_assets_69f6b4547f5104dbf2bb6568/physics_69f6b4547f5104dbf2bb6568.json index c836f2a74a842f8aab0dbdd9f94588c73f20a4b1..4cd55aa3af020732b00e70770700a224b402647a 100644 --- a/batch9/D00880 Tray/IsaacSim_assets_69f6b4547f5104dbf2bb6568/physics_69f6b4547f5104dbf2bb6568.json +++ b/batch9/D00880 Tray/IsaacSim_assets_69f6b4547f5104dbf2bb6568/physics_69f6b4547f5104dbf2bb6568.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1140270009636879, - 0.08050499856472015, - 0.025616999715566635 - ], "min": [ - -0.11612500250339508, - -0.08027400076389313, - -0.0006939999875612557 + -0.12383899837732315, + -0.08404599875211716, + -9.999999974752427e-07 + ], + "max": [ + 0.12448299676179886, + 0.08431699872016907, + 0.030403999611735344 ], "size": [ - 0.23015200346708298, - 0.16077899932861328, - 0.02631099970312789 - ] + 0.248321995139122, + 0.16836299747228622, + 0.03040499961173282 + ], + "units": "m" }, "description": "A light gray speckled ceramic tray with a shallow rectangular basin, rounded corners, and a raised rolled rim.", "name": "D00880 Tray", "object_type": "rigid_bodies", - "total_mass": 0.52 + "total_mass": 0.5199999809265137, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00880", "parts": [ { "bounds": { - "center": [ - -0.00045515886489362736, - 0.00017462069362897018, - 0.008341993872093573 + "min": [ + -0.12383899837732315, + -0.08404599875211716, + -9.999999974752427e-07 ], "max": [ - 0.1140270009636879, - 0.08050499856472015, - 0.025616999715566635 + 0.12448299676179886, + 0.08431699872016907, + 0.030403999611735344 ], - "min": [ - -0.11612500250339508, - -0.08027400076389313, - -0.0006939999875612557 - ] + "size": [ + 0.248321995139122, + 0.16836299747228622, + 0.03040499961173282 + ], + "units": "m" }, "center_of_mass": [ -6.374196511029738e-05, @@ -59,7 +65,7 @@ 0.0023897069800796226, 0.0034116574669058233 ], - "mass": 0.52, + "mass": 0.5199999809265137, "material": "matte_glazed_ceramic_stoneware", "name": "D00880 Tray", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00880 Tray", "part_name": "D00880 Tray" }, - "volume": 0.001092238694091078 + "volume": 0.001092238694091078, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "d48bd77bf0b0d91617ab6bbfe0bf967c21c8494344bdeaa68cb85d79acd6f943" + }, + "usd_path": "batch9/D00880 Tray/IsaacSim_assets_69f6b4547f5104dbf2bb6568/IsaacSim_asset_69f6b4547f5104dbf2bb6568.usd", + "usd_sha256": "8fcc7d536412d24b542ece5240db307c7fd4d4e2b1a22062cd665e8cd5b267d9", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.23015200346708298, - 0.16077899932861328, - 0.02631099970312789 - ] + 0.248321995139122, + 0.16836299747228622, + 0.03040499961173282 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8fcc7d536412d24b542ece5240db307c7fd4d4e2b1a22062cd665e8cd5b267d9", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.52 + "value_kg": 0.5199999809265137, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8fcc7d536412d24b542ece5240db307c7fd4d4e2b1a22062cd665e8cd5b267d9", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.5199999809265137, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 63, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8fcc7d536412d24b542ece5240db307c7fd4d4e2b1a22062cd665e8cd5b267d9", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 63, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8fcc7d536412d24b542ece5240db307c7fd4d4e2b1a22062cd665e8cd5b267d9", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00897 Utensils Container/IsaacSim_assets_69fdec808102b48e9a497a04/physics_69fdec808102b48e9a497a04.json b/batch9/D00897 Utensils Container/IsaacSim_assets_69fdec808102b48e9a497a04/physics_69fdec808102b48e9a497a04.json index 165c5ecfbf53b9cddde4fcaa82e03838d21aa3fe..4cd44832f03c00b7445cfcf0730cf42e333b3326 100644 --- a/batch9/D00897 Utensils Container/IsaacSim_assets_69fdec808102b48e9a497a04/physics_69fdec808102b48e9a497a04.json +++ b/batch9/D00897 Utensils Container/IsaacSim_assets_69fdec808102b48e9a497a04/physics_69fdec808102b48e9a497a04.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.06325677782297134, - 0.16533462703227997, - 0.06319968402385712 - ], "min": [ - -0.06320922076702118, - -3.687898981752369e-07, - -0.0635383129119873 + -0.060864999890327454, + -0.06048300117254257, + 9.999999974752427e-07 + ], + "max": [ + 0.061216000467538834, + 0.06169600039720535, + 0.15976999700069427 ], "size": [ - 0.12646599858999252, - 0.16533499582217814, - 0.12673799693584442 - ] + 0.12208100035786629, + 0.12217900156974792, + 0.1597689970006968 + ], + "units": "m" }, "description": "A collection of nine cylindrical and rectangular containers arranged in a grid. The objects are crafted from diverse materials including brushed stainless steel, various finished woods, speckled ceramic, clear acrylic, and hammered copper.", "name": "D00897 Utensils Container", "object_type": "rigid_bodies", - "total_mass": 0.2 + "total_mass": 0.20000000298023224, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00897", "parts": [ { "bounds": { - "center": [ - 2.3136668669440002e-05, - 0.07611197311842884, - -0.00020955686552986448 + "min": [ + -0.060864999890327454, + -0.06048300117254257, + 9.999999974752427e-07 ], "max": [ - 0.06325677782297134, - 0.16533462703227997, - 0.06319968402385712 + 0.061216000467538834, + 0.06169600039720535, + 0.15976999700069427 ], - "min": [ - -0.06320922076702118, - -3.687898981752369e-07, - -0.0635383129119873 - ] + "size": [ + 0.12208100035786629, + 0.12217900156974792, + 0.1597689970006968 + ], + "units": "m" }, "center_of_mass": [ 0.00018121450973152643, @@ -59,7 +65,7 @@ 0.0006571297720397108, 0.0006575104326879578 ], - "mass": 0.2, + "mass": 0.20000000298023224, "material": "stainless_steel", "name": "D00897 Utensils Container", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00897 Utensils Container", "part_name": "D00897 Utensils Container" }, - "volume": 0.002307721305465094 + "volume": 0.002307721305465094, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "5dd462bb0d123943a2a7f5cbf4651c725a33a147bfc2fdd77c4b83d055970bc9" + }, + "usd_path": "batch9/D00897 Utensils Container/IsaacSim_assets_69fdec808102b48e9a497a04/IsaacSim_asset_69fdec808102b48e9a497a04.usd", + "usd_sha256": "0f80a11328e7c89d2e5acec1718f5f0429d24c06bcab60e97eab37be38c679f0", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.12646599858999252, - 0.16533499582217814, - 0.12673799693584442 - ] + 0.12208100035786629, + 0.12217900156974792, + 0.1597689970006968 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f80a11328e7c89d2e5acec1718f5f0429d24c06bcab60e97eab37be38c679f0", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.2 + "value_kg": 0.20000000298023224, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f80a11328e7c89d2e5acec1718f5f0429d24c06bcab60e97eab37be38c679f0", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.20000000298023224, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 36, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f80a11328e7c89d2e5acec1718f5f0429d24c06bcab60e97eab37be38c679f0", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 36, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "0f80a11328e7c89d2e5acec1718f5f0429d24c06bcab60e97eab37be38c679f0", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00911 W/IsaacSim_assets_69fdeed38102b48e9a4f4a45/physics_69fdeed38102b48e9a4f4a45.json b/batch9/D00911 W/IsaacSim_assets_69fdeed38102b48e9a4f4a45/physics_69fdeed38102b48e9a4f4a45.json index 7a7756e9376d92095ec22f8a00af9ace55f004c0..e1b6566683c74ba31ae0841bdd643bf72d7aaa38 100644 --- a/batch9/D00911 W/IsaacSim_assets_69fdeed38102b48e9a4f4a45/physics_69fdeed38102b48e9a4f4a45.json +++ b/batch9/D00911 W/IsaacSim_assets_69fdeed38102b48e9a4f4a45/physics_69fdeed38102b48e9a4f4a45.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.0817589983344078, - 0.01231599971652031, - 0.10803599655628204 - ], "min": [ - -0.0834290012717247, - -0.012264999561011791, - -0.00011200000153621659 + -0.0744289979338646, + -0.011133999563753605, + -3.300000025774352e-05 + ], + "max": [ + 0.07349400222301483, + 0.011126000434160233, + 0.09578900039196014 ], "size": [ - 0.1651879996061325, - 0.0245809992775321, - 0.10814799655781826 - ] + 0.14792300015687943, + 0.022259999997913837, + 0.09582200039221789 + ], + "units": "m" }, "description": "A 3D wooden letter 'W' with a flat base and smooth, flat faces, displaying a natural dark wood grain.", "name": "D00911 Decorative Wooden Letter W", "object_type": "rigid_bodies", - "total_mass": 0.022 + "total_mass": 0.02199999988079071, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00911", "parts": [ { "bounds": { - "center": [ - -0.0015317898389209021, - 5.066613451302663e-05, - 0.06359371922929094 + "min": [ + -0.0744289979338646, + -0.011133999563753605, + -3.300000025774352e-05 ], "max": [ - 0.0817589983344078, - 0.01231599971652031, - 0.10803599655628204 + 0.07349400222301483, + 0.011126000434160233, + 0.09578900039196014 ], - "min": [ - -0.0834290012717247, - -0.012264999561011791, - -0.00011200000153621659 - ] + "size": [ + 0.14792300015687943, + 0.022259999997913837, + 0.09582200039221789 + ], + "units": "m" }, "center_of_mass": [ -0.0033780278822767317, @@ -59,7 +65,7 @@ 2.8194143277556108e-05, 4.313243734867178e-05 ], - "mass": 0.022, + "mass": 0.02199999988079071, "material": "wood", "name": "D00911 W", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00911 W", "part_name": "D00911 W" }, - "volume": 0.00013576013554637413 + "volume": 0.00013576013554637413, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3cc4e2221f90aa64a8e8c1ab41da43bd7904e199cce2fb4daf61f2e6e573159c" + }, + "usd_path": "batch9/D00911 W/IsaacSim_assets_69fdeed38102b48e9a4f4a45/IsaacSim_asset_69fdeed38102b48e9a4f4a45.usd", + "usd_sha256": "1cc8e8e2cfca3898417e650b7ffa685f110bbba2d2765eabc74cd999c7f2618f", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1651879996061325, - 0.0245809992775321, - 0.10814799655781826 - ] + 0.14792300015687943, + 0.022259999997913837, + 0.09582200039221789 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1cc8e8e2cfca3898417e650b7ffa685f110bbba2d2765eabc74cd999c7f2618f", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.022 + "value_kg": 0.02199999988079071, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1cc8e8e2cfca3898417e650b7ffa685f110bbba2d2765eabc74cd999c7f2618f", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.02199999988079071, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1cc8e8e2cfca3898417e650b7ffa685f110bbba2d2765eabc74cd999c7f2618f", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "1cc8e8e2cfca3898417e650b7ffa685f110bbba2d2765eabc74cd999c7f2618f", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00912 W Wooden Spoon/IsaacSim_assets_69fdef928102b48e9a5107e9/physics_69fdef928102b48e9a5107e9.json b/batch9/D00912 W Wooden Spoon/IsaacSim_assets_69fdef928102b48e9a5107e9/physics_69fdef928102b48e9a5107e9.json index 4173f749e863094abbe46a1296ac4e0ae2fdf3f5..9ce58d5fb01bd444d59bfa68da23984859355bcb 100644 --- a/batch9/D00912 W Wooden Spoon/IsaacSim_assets_69fdef928102b48e9a5107e9/physics_69fdef928102b48e9a5107e9.json +++ b/batch9/D00912 W Wooden Spoon/IsaacSim_assets_69fdef928102b48e9a5107e9/physics_69fdef928102b48e9a5107e9.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1863359957933426, - 0.03374499827623367, - 0.019091999158263206 - ], "min": [ - -0.1184450015425682, - -0.033612001687288284, - -0.00026500000967644155 + -0.11466699838638306, + -0.03512800112366676, + 6.000000212225132e-06 + ], + "max": [ + 0.18396100401878357, + 0.035700999200344086, + 0.019519999623298645 ], "size": [ - 0.3047809973359108, - 0.06735699996352196, - 0.019356999167939648 - ] + 0.2986280024051666, + 0.07082900032401085, + 0.01951399962308642 + ], + "units": "m" }, "description": "A wooden spoon with a long cylindrical handle and an oval-shaped shallow bowl.", "name": "D00912 Wooden Cooking Spoon", "object_type": "rigid_bodies", - "total_mass": 0.0386 + "total_mass": 0.038600001484155655, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00912", "parts": [ { "bounds": { - "center": [ - 0.0060677809066365775, - 3.658583068692984e-05, - 0.009235466965667793 + "min": [ + -0.11466699838638306, + -0.03512800112366676, + 6.000000212225132e-06 ], "max": [ - 0.1863359957933426, - 0.03374499827623367, - 0.019091999158263206 + 0.18396100401878357, + 0.035700999200344086, + 0.019519999623298645 ], - "min": [ - -0.1184450015425682, - -0.033612001687288284, - -0.00026500000967644155 - ] + "size": [ + 0.2986280024051666, + 0.07082900032401085, + 0.01951399962308642 + ], + "units": "m" }, "center_of_mass": [ 0.01472783450693939, @@ -59,7 +65,7 @@ 0.0002244400617730321, 0.00023126568951732795 ], - "mass": 0.0386, + "mass": 0.038600001484155655, "material": "wood", "name": "D00912 W Wooden Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00912 W Wooden Spoon", "part_name": "D00912 W Wooden Spoon" }, - "volume": 0.0002036759573118822 + "volume": 0.0002036759573118822, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "a8f1e787459dc98f67d384aa5d37eebe5027e67141951807749ec7752c82e3be" + }, + "usd_path": "batch9/D00912 W Wooden Spoon/IsaacSim_assets_69fdef928102b48e9a5107e9/IsaacSim_asset_69fdef928102b48e9a5107e9.usd", + "usd_sha256": "404d04e075efd95d4091fb4d796c065ff3bfc3171ca6e5096a3454c3bd7c4c5e", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.3047809973359108, - 0.06735699996352196, - 0.019356999167939648 - ] + 0.2986280024051666, + 0.07082900032401085, + 0.01951399962308642 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "404d04e075efd95d4091fb4d796c065ff3bfc3171ca6e5096a3454c3bd7c4c5e", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.0386 + "value_kg": 0.038600001484155655, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "404d04e075efd95d4091fb4d796c065ff3bfc3171ca6e5096a3454c3bd7c4c5e", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.038600001484155655, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 10, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "404d04e075efd95d4091fb4d796c065ff3bfc3171ca6e5096a3454c3bd7c4c5e", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 10, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "404d04e075efd95d4091fb4d796c065ff3bfc3171ca6e5096a3454c3bd7c4c5e", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00945 Wok/IsaacSim_assets_69f729907f5104dbf2303e74/physics_69f729907f5104dbf2303e74.json b/batch9/D00945 Wok/IsaacSim_assets_69f729907f5104dbf2303e74/physics_69f729907f5104dbf2303e74.json index 48d4c8b166a28b066447b6d3364a446cb5f1bb9d..b6eb2b980cd1e149d03cfe9d045c9383e24dc933 100644 --- a/batch9/D00945 Wok/IsaacSim_assets_69f729907f5104dbf2303e74/physics_69f729907f5104dbf2303e74.json +++ b/batch9/D00945 Wok/IsaacSim_assets_69f729907f5104dbf2303e74/physics_69f729907f5104dbf2303e74.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.29755499958992004, - 0.1491989940404892, - 0.1295969933271408 - ], "min": [ - -0.18919600546360016, - -0.1498199999332428, - -0.00011899999663000926 + -0.1907459944486618, + -0.1454019993543625, + -7.999999979801942e-06 + ], + "max": [ + 0.29527100920677185, + 0.1486469954252243, + 0.12340900301933289 ], "size": [ - 0.4867510050535202, - 0.299018993973732, - 0.12971599332377082 - ] + 0.48601700365543365, + 0.2940489947795868, + 0.12341700301931269 + ], + "units": "m" }, "description": "A dark gray cast iron wok with a long cylindrical wooden handle and a smaller metal loop handle on the opposite side. The bowl is wide and deep with a slightly textured, seasoned surface.", "name": "D00945 Wok", "object_type": "rigid_bodies", - "total_mass": 6.13 + "total_mass": 6.130000114440918, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00945", "parts": [ { "bounds": { - "center": [ - -0.0036623011185213366, - -0.00048107133271129804, - 0.04311539903994552 + "min": [ + -0.1907459944486618, + -0.1454019993543625, + -7.999999979801942e-06 ], "max": [ - 0.29755499958992004, - 0.1491989940404892, - 0.1295969933271408 + 0.29527100920677185, + 0.1486469954252243, + 0.12340900301933289 ], - "min": [ - -0.18919600546360016, - -0.1498199999332428, - -0.00011899999663000926 - ] + "size": [ + 0.48601700365543365, + 0.2940489947795868, + 0.12341700301931269 + ], + "units": "m" }, "center_of_mass": [ 0.0100998619222101, @@ -59,7 +65,7 @@ 0.07755843767362192, 0.10465689757564073 ], - "mass": 6.13, + "mass": 6.130000114440918, "material": "cast_iron", "name": "D00945 Wok", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00945 Wok", "part_name": "D00945 Wok" }, - "volume": 0.000568588194519326 + "volume": 0.000568588194519326, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "66cd9bccf62f2338b2df92c8525c71d3d018406fe38208b0f279ac42786a4536" + }, + "usd_path": "batch9/D00945 Wok/IsaacSim_assets_69f729907f5104dbf2303e74/IsaacSim_asset_69f729907f5104dbf2303e74.usd", + "usd_sha256": "02fb89a4525146d420fa9dddbd1fc565ea566e0cfe0169b2fb792ca7c5856fdd", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.4867510050535202, - 0.299018993973732, - 0.12971599332377082 - ] + 0.48601700365543365, + 0.2940489947795868, + 0.12341700301931269 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "02fb89a4525146d420fa9dddbd1fc565ea566e0cfe0169b2fb792ca7c5856fdd", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 6.13 + "value_kg": 6.130000114440918, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "02fb89a4525146d420fa9dddbd1fc565ea566e0cfe0169b2fb792ca7c5856fdd", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 6.130000114440918, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 47, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "02fb89a4525146d420fa9dddbd1fc565ea566e0cfe0169b2fb792ca7c5856fdd", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 47, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "02fb89a4525146d420fa9dddbd1fc565ea566e0cfe0169b2fb792ca7c5856fdd", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00946 Wok Bowl/IsaacSim_assets_69f72bc47f5104dbf232934c/physics_69f72bc47f5104dbf232934c.json b/batch9/D00946 Wok Bowl/IsaacSim_assets_69f72bc47f5104dbf232934c/physics_69f72bc47f5104dbf232934c.json index 93ffa470dfb8d383f15cfa4ee8b34dc266fccd92..f70976935b3910358794eaa4cefbaf4214c69270 100644 --- a/batch9/D00946 Wok Bowl/IsaacSim_assets_69f72bc47f5104dbf232934c/physics_69f72bc47f5104dbf232934c.json +++ b/batch9/D00946 Wok Bowl/IsaacSim_assets_69f72bc47f5104dbf232934c/physics_69f72bc47f5104dbf232934c.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1415880024433136, - 0.31766098737716675, - 0.11470899730920792 - ], "min": [ - -0.1414490044116974, - -0.18853799998760223, - -2.8000000384054147e-05 + -0.13247999548912048, + -0.18809600174427032, + 3.735345400629704e-18 + ], + "max": [ + 0.13243499398231506, + 0.3336459994316101, + 0.10439399629831314 ], "size": [ - 0.283037006855011, - 0.506198987364769, - 0.11473699730959197 - ] + 0.26491498947143555, + 0.5217420011758804, + 0.10439399629831314 + ], + "units": "m" }, "description": "A dark cast iron wok with a textured bowl, a long primary handle with a rubberized grip, and a smaller opposite loop handle.", "name": "D00946 Cast-Iron Wok", "object_type": "rigid_bodies", - "total_mass": 5.8 + "total_mass": 5.800000190734863, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00946", "parts": [ { "bounds": { - "center": [ - 9.221343255618013e-05, - -0.005274759643050143, - 0.0417084273652286 + "min": [ + -0.13247999548912048, + -0.18809600174427032, + 3.735345400629704e-18 ], "max": [ - 0.1415880024433136, - 0.31766098737716675, - 0.11470899730920792 + 0.13243499398231506, + 0.3336459994316101, + 0.10439399629831314 ], - "min": [ - -0.1414490044116974, - -0.18853799998760223, - -2.8000000384054147e-05 - ] + "size": [ + 0.26491498947143555, + 0.5217420011758804, + 0.10439399629831314 + ], + "units": "m" }, "center_of_mass": [ 0.0002268266753859173, @@ -59,7 +65,7 @@ 0.09311632240606735, 0.11083361066900269 ], - "mass": 5.8, + "mass": 5.800000190734863, "material": "cast_iron", "name": "D00946 Wok Bowl", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00946 Wok Bowl", "part_name": "D00946 Wok Bowl" }, - "volume": 0.0006087183056510513 + "volume": 0.0006087183056510513, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "ac6d36828fc2d3ecc1288055e28db3a1f5cb9d5074d8f57551196f067afbaaab" + }, + "usd_path": "batch9/D00946 Wok Bowl/IsaacSim_assets_69f72bc47f5104dbf232934c/IsaacSim_asset_69f72bc47f5104dbf232934c.usd", + "usd_sha256": "8a5e3481ceb6e0a9999c18491be4ee7cd2875fc858f1d74ab8af4e95f2c68bd3", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.283037006855011, - 0.506198987364769, - 0.11473699730959197 - ] + 0.26491498947143555, + 0.5217420011758804, + 0.10439399629831314 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8a5e3481ceb6e0a9999c18491be4ee7cd2875fc858f1d74ab8af4e95f2c68bd3", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 5.8 + "value_kg": 5.800000190734863, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8a5e3481ceb6e0a9999c18491be4ee7cd2875fc858f1d74ab8af4e95f2c68bd3", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 5.800000190734863, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 34, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8a5e3481ceb6e0a9999c18491be4ee7cd2875fc858f1d74ab8af4e95f2c68bd3", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 34, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "8a5e3481ceb6e0a9999c18491be4ee7cd2875fc858f1d74ab8af4e95f2c68bd3", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00950 Wooden Board/IsaacSim_assets_69f7302d7f5104dbf2374466/physics_69f7302d7f5104dbf2374466.json b/batch9/D00950 Wooden Board/IsaacSim_assets_69f7302d7f5104dbf2374466/physics_69f7302d7f5104dbf2374466.json index 443be21b66f20039285cc43549f126e194743676..2ea3ed3622c2265abad93cd4dea857803a5955ab 100644 --- a/batch9/D00950 Wooden Board/IsaacSim_assets_69f7302d7f5104dbf2374466/physics_69f7302d7f5104dbf2374466.json +++ b/batch9/D00950 Wooden Board/IsaacSim_assets_69f7302d7f5104dbf2374466/physics_69f7302d7f5104dbf2374466.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.24037499725818634, - 0.17692099511623383, - 0.046792998909950256 - ], "min": [ - -0.25694599747657776, - -0.17630000412464142, - -0.0004459999909158796 + -0.25037500262260437, + -0.17136700451374054, + -7.999999979801942e-06 + ], + "max": [ + 0.23535899817943573, + 0.17078199982643127, + 0.04637100175023079 ], "size": [ - 0.4973209947347641, - 0.35322099924087524, - 0.047238998900866136 - ] + 0.4857340008020401, + 0.3421490043401718, + 0.04637900175021059 + ], + "units": "m" }, "description": "A thick rectangular wooden cutting board featuring rounded edges and a curved metal handle on one side.", "name": "D00950 Wooden Board", "object_type": "rigid_bodies", - "total_mass": 5.5 + "total_mass": 5.5, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00950", "parts": [ { "bounds": { - "center": [ - 0.005800452432339096, - 0.0004679559521846777, - 0.02324115761587694 + "min": [ + -0.25037500262260437, + -0.17136700451374054, + -7.999999979801942e-06 ], "max": [ - 0.24037499725818634, - 0.17692099511623383, - 0.046792998909950256 + 0.23535899817943573, + 0.17078199982643127, + 0.04637100175023079 ], - "min": [ - -0.25694599747657776, - -0.17630000412464142, - -0.0004459999909158796 - ] + "size": [ + 0.4857340008020401, + 0.3421490043401718, + 0.04637900175021059 + ], + "units": "m" }, "center_of_mass": [ 0.004702428507935409, @@ -67,10 +73,27 @@ "object_name": "D00950 Wooden Board", "part_name": "D00950 Wooden Board" }, - "volume": 0.00724265199785368 + "volume": 0.00724265199785368, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "8cb19578b4c2afa46328f3050dd9188ea05651fb55833fd1f21274f1c3d92b25" + }, + "usd_path": "batch9/D00950 Wooden Board/IsaacSim_assets_69f7302d7f5104dbf2374466/IsaacSim_asset_69f7302d7f5104dbf2374466.usd", + "usd_sha256": "15631ec2a9178e016cc308f0899bfe70710b9bc83e6cbfc6d5d9099af39ab784", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.4973209947347641, - 0.35322099924087524, - 0.047238998900866136 - ] + 0.4857340008020401, + 0.3421490043401718, + 0.04637900175021059 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "15631ec2a9178e016cc308f0899bfe70710b9bc83e6cbfc6d5d9099af39ab784", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 5.5 + "value_kg": 5.5, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "15631ec2a9178e016cc308f0899bfe70710b9bc83e6cbfc6d5d9099af39ab784", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 5.5, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 4, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "15631ec2a9178e016cc308f0899bfe70710b9bc83e6cbfc6d5d9099af39ab784", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 4, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "15631ec2a9178e016cc308f0899bfe70710b9bc83e6cbfc6d5d9099af39ab784", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00968 Wooden_Pestle/IsaacSim_assets_6a56277a7321670210961ccd/physics_6a56277a7321670210961ccd.json b/batch9/D00968 Wooden_Pestle/IsaacSim_assets_6a56277a7321670210961ccd/physics_6a56277a7321670210961ccd.json index ee7cc6fd5e6276f256bc22a8b5b3451ffdd75bdc..e07d7fda1d886cd3bba0055ba5568e3c6df72b3c 100644 --- a/batch9/D00968 Wooden_Pestle/IsaacSim_assets_6a56277a7321670210961ccd/physics_6a56277a7321670210961ccd.json +++ b/batch9/D00968 Wooden_Pestle/IsaacSim_assets_6a56277a7321670210961ccd/physics_6a56277a7321670210961ccd.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "dca04dede07b2c6ac86083cc8d335fe43d09f2f7f4c111b8626362b9c6a398a8" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "3334aa93b12b645a4162a91b4f703cbb6f023b135216d75f10f7f29386ee97a8" }, "usd_path": "batch9/D00968 Wooden_Pestle/IsaacSim_assets_6a56277a7321670210961ccd/IsaacSim_asset_6a56277a7321670210961ccd.usd", - "usd_sha256": "a18473c879defb55fbced3f77612692805932147a536398cb1860aa12ff00f27", + "usd_sha256": "502e256c983c091b9f8c244332e7ab849189ceec94859d92de88e628a97b497e", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a18473c879defb55fbced3f77612692805932147a536398cb1860aa12ff00f27", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "502e256c983c091b9f8c244332e7ab849189ceec94859d92de88e628a97b497e", "scope": "authored_usd_dimensions", "bounds_m": [ 0.06565500050783157, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.11299999803304672, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a18473c879defb55fbced3f77612692805932147a536398cb1860aa12ff00f27", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "502e256c983c091b9f8c244332e7ab849189ceec94859d92de88e628a97b497e", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.11299999803304672, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 5, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a18473c879defb55fbced3f77612692805932147a536398cb1860aa12ff00f27", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "502e256c983c091b9f8c244332e7ab849189ceec94859d92de88e628a97b497e", "scope": "authored_usd_collision_schema", "enabled_shape_count": 5, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "a18473c879defb55fbced3f77612692805932147a536398cb1860aa12ff00f27", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "502e256c983c091b9f8c244332e7ab849189ceec94859d92de88e628a97b497e", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00969 Wooden Plate/IsaacSim_assets_69f77a207f5104dbf28715b2/physics_69f77a207f5104dbf28715b2.json b/batch9/D00969 Wooden Plate/IsaacSim_assets_69f77a207f5104dbf28715b2/physics_69f77a207f5104dbf28715b2.json index 855f4c68a9df3b4e496124674523220786444801..d0d718afc4fa8e036da115aa0066a16cd2b16587 100644 --- a/batch9/D00969 Wooden Plate/IsaacSim_assets_69f77a207f5104dbf28715b2/physics_69f77a207f5104dbf28715b2.json +++ b/batch9/D00969 Wooden Plate/IsaacSim_assets_69f77a207f5104dbf28715b2/physics_69f77a207f5104dbf28715b2.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.12623900175094604, - 0.12668199837207794, - 0.02802800014615059 - ], "min": [ - -0.1269019991159439, - -0.12649700045585632, - -2.9999999242136255e-05 + -0.09517700225114822, + -0.09447400271892548, + -3.199999991920777e-05 + ], + "max": [ + 0.09474799782037735, + 0.09516099840402603, + 0.02112100087106228 ], "size": [ - 0.25314100086688995, - 0.25317899882793427, - 0.028058000145392725 - ] + 0.18992500007152557, + 0.1896350011229515, + 0.021153000870981487 + ], + "units": "m" }, "description": "A round wooden plate with a smooth, polished grain finish and a shallow, curved depression.", "name": "D00969 Wooden Plate", "object_type": "rigid_bodies", - "total_mass": 0.25 + "total_mass": 0.25, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00969", "parts": [ { "bounds": { - "center": [ - -0.00025993260479173963, - -4.550197263685761e-05, - 0.009738092130627351 + "min": [ + -0.09517700225114822, + -0.09447400271892548, + -3.199999991920777e-05 ], "max": [ - 0.12623900175094604, - 0.12668199837207794, - 0.02802800014615059 + 0.09474799782037735, + 0.09516099840402603, + 0.02112100087106228 ], - "min": [ - -0.1269019991159439, - -0.12649700045585632, - -2.9999999242136255e-05 - ] + "size": [ + 0.18992500007152557, + 0.1896350011229515, + 0.021153000870981487 + ], + "units": "m" }, "center_of_mass": [ -0.0007406624444413382, @@ -67,10 +73,27 @@ "object_name": "D00969 Wooden Plate", "part_name": "D00969 Wooden Plate" }, - "volume": 0.00025357619461035305 + "volume": 0.00025357619461035305, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "dab7073f7e8fe7a126f9c6430c3528bbb72093dd6d227d5654cd5aa8f316ea61" + }, + "usd_path": "batch9/D00969 Wooden Plate/IsaacSim_assets_69f77a207f5104dbf28715b2/IsaacSim_asset_69f77a207f5104dbf28715b2.usd", + "usd_sha256": "5f5524e3375e8712ecd7df113b9410187eeb7b92df79e8cd4a9e9fe3c33fd37c", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.25314100086688995, - 0.25317899882793427, - 0.028058000145392725 - ] + 0.18992500007152557, + 0.1896350011229515, + 0.021153000870981487 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f5524e3375e8712ecd7df113b9410187eeb7b92df79e8cd4a9e9fe3c33fd37c", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.25 + "value_kg": 0.25, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f5524e3375e8712ecd7df113b9410187eeb7b92df79e8cd4a9e9fe3c33fd37c", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.25, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 34, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f5524e3375e8712ecd7df113b9410187eeb7b92df79e8cd4a9e9fe3c33fd37c", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 34, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "5f5524e3375e8712ecd7df113b9410187eeb7b92df79e8cd4a9e9fe3c33fd37c", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00975 Wooden Spoon/IsaacSim_assets_69f790ab7f5104dbf2a0983a/physics_69f790ab7f5104dbf2a0983a.json b/batch9/D00975 Wooden Spoon/IsaacSim_assets_69f790ab7f5104dbf2a0983a/physics_69f790ab7f5104dbf2a0983a.json index c618ac3475850cb95c60bcac7dcf662442a7c3a3..c70c2d458f1989b1bc2d2679941f05037ca6556e 100644 --- a/batch9/D00975 Wooden Spoon/IsaacSim_assets_69f790ab7f5104dbf2a0983a/physics_69f790ab7f5104dbf2a0983a.json +++ b/batch9/D00975 Wooden Spoon/IsaacSim_assets_69f790ab7f5104dbf2a0983a/physics_69f790ab7f5104dbf2a0983a.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.1840759962797165, - 0.04174799844622612, - 0.023791000247001648 - ], "min": [ - -0.11522399634122849, - -0.04042400047183037, - -0.00027200000477023423 + -0.11118900030851364, + -0.03815099969506264, + 0.00011100000119768083 + ], + "max": [ + 0.17394700646400452, + 0.0381230004131794, + 0.027076000347733498 ], "size": [ - 0.299299992620945, - 0.08217199891805649, - 0.024063000251771882 - ] + 0.28513600677251816, + 0.07627400010824203, + 0.026965000346535817 + ], + "units": "m" }, "description": "A light-colored wooden spoon with a shallow, circular bowl and a long, smooth handle featuring a small hanging hole at the end.", "name": "D00975 Wooden Spoon", "object_type": "rigid_bodies", - "total_mass": 0.047 + "total_mass": 0.04699999839067459, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00975", "parts": [ { "bounds": { - "center": [ - 0.00433069760089709, - 1.3133883826227417e-05, - 0.011518223693266511 + "min": [ + -0.11118900030851364, + -0.03815099969506264, + 0.00011100000119768083 ], "max": [ - 0.1840759962797165, - 0.04174799844622612, - 0.023791000247001648 + 0.17394700646400452, + 0.0381230004131794, + 0.027076000347733498 ], - "min": [ - -0.11522399634122849, - -0.04042400047183037, - -0.00027200000477023423 - ] + "size": [ + 0.28513600677251816, + 0.07627400010824203, + 0.026965000346535817 + ], + "units": "m" }, "center_of_mass": [ 0.019958920496910983, @@ -59,7 +65,7 @@ 0.0003149883962009229, 0.00032239938464899003 ], - "mass": 0.047, + "mass": 0.04699999839067459, "material": "wood", "name": "D00975 Wooden Spoon", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00975 Wooden Spoon", "part_name": "D00975 Wooden Spoon" }, - "volume": 0.00012517520991761204 + "volume": 0.00012517520991761204, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "7b1df55396f75baf8d2e42ce13d67c6444f05574a00d4cfaa99f28daf479e9c1" + }, + "usd_path": "batch9/D00975 Wooden Spoon/IsaacSim_assets_69f790ab7f5104dbf2a0983a/IsaacSim_asset_69f790ab7f5104dbf2a0983a.usd", + "usd_sha256": "3ee2ac7d0920e6adaebfe707934baf63822750f7971289e76408940f7ac7408a", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.299299992620945, - 0.08217199891805649, - 0.024063000251771882 - ] + 0.28513600677251816, + 0.07627400010824203, + 0.026965000346535817 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3ee2ac7d0920e6adaebfe707934baf63822750f7971289e76408940f7ac7408a", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.047 + "value_kg": 0.04699999839067459, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3ee2ac7d0920e6adaebfe707934baf63822750f7971289e76408940f7ac7408a", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.04699999839067459, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 13, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3ee2ac7d0920e6adaebfe707934baf63822750f7971289e76408940f7ac7408a", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 13, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "3ee2ac7d0920e6adaebfe707934baf63822750f7971289e76408940f7ac7408a", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00976 Wooden Spoon Holder/IsaacSim_assets_69f790ae7f5104dbf2a098e5/physics_69f790ae7f5104dbf2a098e5.json b/batch9/D00976 Wooden Spoon Holder/IsaacSim_assets_69f790ae7f5104dbf2a098e5/physics_69f790ae7f5104dbf2a098e5.json index 566bbd806591e813b8eb046300eb6bf477169039..b1c8f239406520b3feafc2488be412171ba6356c 100644 --- a/batch9/D00976 Wooden Spoon Holder/IsaacSim_assets_69f790ae7f5104dbf2a098e5/physics_69f790ae7f5104dbf2a098e5.json +++ b/batch9/D00976 Wooden Spoon Holder/IsaacSim_assets_69f790ae7f5104dbf2a098e5/physics_69f790ae7f5104dbf2a098e5.json @@ -1,50 +1,56 @@ { "articulation": { "has_joints": false, - "joints": [] + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." }, "asset": { "bounds": { - "max": [ - 0.09244400262832642, - 0.09257499873638153, - 0.21864299476146698 - ], "min": [ - -0.10054700076580048, - -0.09214500337839127, - -0.0003009999927598983 + -0.05584900081157684, + -0.05617300048470497, + -1.6113777151529264e-18 + ], + "max": [ + 0.05622800067067146, + 0.0555419996380806, + 0.12891800701618195 ], "size": [ - 0.1929910033941269, - 0.1847200021147728, - 0.21894399475422688 - ] + 0.1120770014822483, + 0.11171500012278557, + 0.12891800701618195 + ], + "units": "m" }, "description": "A group of open tabletop canisters and bowls with cylindrical, square, and rounded forms in wood, brushed stainless steel, ceramic, black-coated metal, and clear glass. Most have rounded rims and hollow interiors, with some metal pieces showing perforations or polished reflective surfaces.", "name": "D00976 Wooden Spoon Holder", "object_type": "rigid_bodies", - "total_mass": 0.32 + "total_mass": 0.3199999928474426, + "bounds_frame": "USD stage world axes, metres, default authored pose" }, "asset_id": "D00976", "parts": [ { "bounds": { - "center": [ - -0.00272231004858194, - 0.0001384987172107107, - 0.06131988340326514 + "min": [ + -0.05584900081157684, + -0.05617300048470497, + -1.6113777151529264e-18 ], "max": [ - 0.09244400262832642, - 0.09257499873638153, - 0.21864299476146698 + 0.05622800067067146, + 0.0555419996380806, + 0.12891800701618195 ], - "min": [ - -0.10054700076580048, - -0.09214500337839127, - -0.0003009999927598983 - ] + "size": [ + 0.1120770014822483, + 0.11171500012278557, + 0.12891800701618195 + ], + "units": "m" }, "center_of_mass": [ 0.00021432699457613053, @@ -59,7 +65,7 @@ 0.0006727137618580068, 0.000674598144149905 ], - "mass": 0.32, + "mass": 0.3199999928474426, "material": "stainless_steel", "name": "D00976 Wooden Spoon Holder", "physics_type": "rigid", @@ -67,10 +73,27 @@ "object_name": "D00976 Wooden Spoon Holder", "part_name": "D00976 Wooden Spoon Holder" }, - "volume": 0.0011898140438912728 + "volume": 0.0011898140438912728, + "source_prim_path": "/World/part_00", + "bounds_frame": "USD stage world axes, metres, default authored pose" } ], - "provenance": {}, + "provenance": { + "metadata_repair": { + "date": "2026-10-13T19:50:31.621292+00:00", + "source": "delivered USD inspected with OpenUSD 26.8", + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "791552fa99eab4898a6bb3587c29b8afa9cd129916bb45f0162a01a7a2c4540f" + }, + "usd_path": "batch9/D00976 Wooden Spoon Holder/IsaacSim_assets_69f790ae7f5104dbf2a098e5/IsaacSim_asset_69f790ae7f5104dbf2a098e5.usd", + "usd_sha256": "64dbe6ceef901efacccc52958f32c8f1aa3f2d1a4223a0671262c562c2f94e55", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", + "source_meters_per_unit": 1.0, + "source_kilograms_per_unit": 1.0, + "source_up_axis": "Z", + "verification_note": "Authored metadata checked against delivered USD. High confidence applies to metadata consistency, not measured real-world properties or new native simulation qualification." + }, "schema_version": "1.0", "simulation": {}, "units": { @@ -86,25 +109,59 @@ "units": "m", "up_axis": "Z", "bounds_m": [ - 0.1929910033941269, - 0.1847200021147728, - 0.21894399475422688 - ] + 0.1120770014822483, + 0.11171500012278557, + 0.12891800701618195 + ], + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64dbe6ceef901efacccc52958f32c8f1aa3f2d1a4223a0671262c562c2f94e55", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; real-world dimensions are not calibrated." }, "mass": { "status": "verified", "confidence": "high", - "value_kg": 0.32 + "value_kg": 0.3199999928474426, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64dbe6ceef901efacccc52958f32c8f1aa3f2d1a4223a0671262c562c2f94e55", + "scope": "authored_usd_mass_consistency", + "part_sum_kg": 0.3199999928474426, + "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." }, "collision": { - "status": "recorded", - "confidence": "medium", - "shape_count": 1 + "status": "verified", + "confidence": "high", + "shape_count": 118, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64dbe6ceef901efacccc52958f32c8f1aa3f2d1a4223a0671262c562c2f94e55", + "scope": "authored_usd_collision_schema", + "enabled_shape_count": 118, + "approximations": [ + "convexHull" + ], + "note": "Authored collision APIs, enabled states, counts and finite mesh coordinates checked; collision cooking and contact stability are not revalidated." }, "articulation": { "status": "verified", "confidence": "high", - "moving_joints": 0 + "moving_joints": 0, + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "64dbe6ceef901efacccc52958f32c8f1aa3f2d1a4223a0671262c562c2f94e55", + "scope": "authored_usd_joint_schema", + "joint_count": 0, + "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." + }, + "scope": "authored_usd_metadata_consistency", + "runtime": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/batch9/D00992 Yellow Bell Pepper/IsaacSim_assets_69f79b44d09344200ff609dc/physics_69f79b44d09344200ff609dc.json b/batch9/D00992 Yellow Bell Pepper/IsaacSim_assets_69f79b44d09344200ff609dc/physics_69f79b44d09344200ff609dc.json index cd5a9fbb4702eb578d36512185a2dd51cd69580f..4fddc26ee0f0b784fa76fced15ae190dfcb89cd7 100644 --- a/batch9/D00992 Yellow Bell Pepper/IsaacSim_assets_69f79b44d09344200ff609dc/physics_69f79b44d09344200ff609dc.json +++ b/batch9/D00992 Yellow Bell Pepper/IsaacSim_assets_69f79b44d09344200ff609dc/physics_69f79b44d09344200ff609dc.json @@ -80,13 +80,13 @@ ], "provenance": { "metadata_repair": { - "date": "2026-10-08T04:48:10.976448+00:00", + "date": "2026-10-13T19:50:31.621292+00:00", "source": "delivered USD inspected with OpenUSD 26.8", - "report": "reports/metadata-repair-20261008.json", - "original_physics_sha256": "5374af26f7492f0eb818ae909f60af60e48fb97dc18def16c54b27f30739e7d3" + "report": "reports/releases/2026.10.13/assets.json", + "original_physics_sha256": "f9c776ac031074385b35e1f8167d8f92a982e026d1c8d307b54a72042b8c9924" }, "usd_path": "batch9/D00992 Yellow Bell Pepper/IsaacSim_assets_69f79b44d09344200ff609dc/IsaacSim_asset_69f79b44d09344200ff609dc.usd", - "usd_sha256": "7c397bb05b97682f050fab9a3356675d108b412b6530f11f166af8d435acc7c6", + "usd_sha256": "d78583a4a4788820fbd8c80f6767429b97a887fc574fc0ce4cbf0b4b833429c5", "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", "usd_world_bounds_source": "delivered USD visual geometry; stage world axes", "source_meters_per_unit": 1.0, @@ -110,9 +110,9 @@ "confidence": "high", "units": "m", "up_axis": "Z", - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7c397bb05b97682f050fab9a3356675d108b412b6530f11f166af8d435acc7c6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d78583a4a4788820fbd8c80f6767429b97a887fc574fc0ce4cbf0b4b833429c5", "scope": "authored_usd_dimensions", "bounds_m": [ 0.08104899898171425, @@ -126,9 +126,9 @@ "status": "verified", "confidence": "high", "value_kg": 0.18000000715255737, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7c397bb05b97682f050fab9a3356675d108b412b6530f11f166af8d435acc7c6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d78583a4a4788820fbd8c80f6767429b97a887fc574fc0ce4cbf0b4b833429c5", "scope": "authored_usd_mass_consistency", "part_sum_kg": 0.18000000715255737, "note": "Positive authored rigid-body masses, units and JSON part sum checked; physical measurements are not independently calibrated." @@ -137,9 +137,9 @@ "status": "verified", "confidence": "high", "shape_count": 66, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7c397bb05b97682f050fab9a3356675d108b412b6530f11f166af8d435acc7c6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d78583a4a4788820fbd8c80f6767429b97a887fc574fc0ce4cbf0b4b833429c5", "scope": "authored_usd_collision_schema", "enabled_shape_count": 66, "approximations": [ @@ -151,18 +151,19 @@ "status": "verified", "confidence": "high", "moving_joints": 0, - "checked_at": "2026-10-08T04:48:10.976448+00:00", - "evidence": "reports/metadata-repair-20261008.json", - "usd_sha256": "7c397bb05b97682f050fab9a3356675d108b412b6530f11f166af8d435acc7c6", + "checked_at": "2026-10-13T19:50:31.621292+00:00", + "evidence": "reports/releases/2026.10.13/assets.json", + "usd_sha256": "d78583a4a4788820fbd8c80f6767429b97a887fc574fc0ce4cbf0b4b833429c5", "scope": "authored_usd_joint_schema", "joint_count": 0, "note": "Joint existence, enabled state, references and ordered limits checked; joint actuation is not revalidated by this metadata audit." }, "scope": "authored_usd_metadata_consistency", "runtime": { - "status": "not_revalidated", - "scope": "native_simulation", - "note": "Existing simulation videos remain available. This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX", + "scope": "NVIDIA Robotics-Prop native tests plus independent joint constraints and thumbnail checks" } } } diff --git a/data/catalog.jsonl b/data/catalog.jsonl index 9dfe64d5913dc4b96b90501b1446f0cb15c71350..251f5cfe94e72cf82b8e2d130da90aea8a2c5830 100644 --- a/data/catalog.jsonl +++ b/data/catalog.jsonl @@ -1,1013 +1,1013 @@ -{"catalog_id": "batch10_D00006_Bamboo_Basket", "asset_id": "D00006", "name": "Bamboo Basket", "batch": "batch10", "moving_joints": false, "collider_prims": 220, "bounds_x_m": 0.2837980091571808, "bounds_y_m": 0.284403994679451, "bounds_z_m": 0.38443400301912334, "render_image_path": "gallery/assets/batch10-D00006/render.jpg", "collision_image_path": "gallery/assets/batch10-D00006/colliders.jpg", "usd_path": "batch10/D00006 Bamboo Basket/IsaacSim_assets_69f80eaed09344200f05945b/IsaacSim_asset_69f80eaed09344200f05945b.usd", "physics_path": "batch10/D00006 Bamboo Basket/IsaacSim_assets_69f80eaed09344200f05945b/physics_69f80eaed09344200f05945b.json", "video_path": "batch10/D00006 Bamboo Basket/sim-video/D00006_Bamboo_Basket.mp4", "usd_download_url": "https://huggingface.co/datasets/PalatialSim/palatial-nv-asset-library/resolve/main/batch10/D00006%20Bamboo%20Basket/IsaacSim_assets_69f80eaed09344200f05945b/IsaacSim_asset_69f80eaed09344200f05945b.usd?download=true", "asset_folder_url": "https://huggingface.co/datasets/PalatialSim/palatial-nv-asset-library/tree/main/batch10/D00006%20Bamboo%20Basket", "simulation_video_url": "https://huggingface.co/datasets/PalatialSim/palatial-nv-asset-library/resolve/main/batch10/D00006%20Bamboo%20Basket/sim-video/D00006_Bamboo_Basket.mp4", "gallery_url": "https://palatialsim.github.io/palatial-nv-asset-library/?batch=batch10", "package_file_count": 8, "package_bytes": 93011959, 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This repair does not claim new drop/contact, friction, stability or joint-actuation tests." + } + }, + "articulation": { + "has_joints": false, + "joints": [], + "moving_joints": 0, + "rigid_body_count": 1, + "scope": "Authored USD constraints; independent free bodies are not joints." + } + }, + "checks": { + "authored_up_axis": "Z", + "meters_per_unit": 1.0, + "kilograms_per_unit": 1.0, + "visible_mesh_bounds_m": { + "min": [ + -0.1418440043926239, + -0.03402400016784668, + 0.0 + ], + "max": [ + 0.14210499823093414, + 0.03402400016784668, + 0.06767699867486954 + ], + "size": [ + 0.28394900262355804, + 0.06804800033569336, + 0.06767699867486954 + ], + "units": "m" + }, + "rigid_bodies": [ + { + "path": "/World/poultry_baster", + "name": "poultry_baster", + "mass_kg": 0.07199999690055847, + "mass_authored": true, + "enabled": true, + "kinematic": false, + "inertia_kg_m2": [ + 3.64160405297298e-05, + 0.0003290270396973938, + 0.0003290270979050547 + ], + "bounds": { + "min": [ + -0.1418440043926239, + -0.03402400016784668, + 0.0 + ], + "max": [ + 0.14210499823093414, + 0.03402400016784668, + 0.06767699867486954 + ], + "size": [ + 0.28394900262355804, + 0.06804800033569336, + 0.06767699867486954 + ], + "units": "m" + } + } + ], + "joints": [], + "collision_shapes": 1, + "all_mesh_points_finite": true, + "all_body_masses_positive": true, + "errors": [] + }, + "source_usd_sha256": "fb9356c690538d7adaac41986393dcb8149cb63fe54d505973f95721db47e68d", + "source_hf_revision": "154e2d76f519421b55c0a0f4f22e7b4a37b2cc90", + "logical_asset": "D01056", + "validation": { + "status": "passed", + "profile": "Robotics-Prop", + "version": "4.0.0", + "usd_sha256": "b0be34cf78fb9e2b56beeac7886bdce3ce747ba7f17aa376a8a926bff75ba468", + "receipt_sha256": "2d8c37c1e3d602ea93c8bb5c1dce7ed58d663bdc1540d9b80c0f795c60518a5c" + }, + "semantics": { + "class_label": "kitchenware", + "qcode": "Q1521410", + "evidence_scope": "catalog_name_review_and_verified_wikidata_class" + }, + "native": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX" + }, + "package": { + "status": "pending" + } + }, + { + "catalog_id": "batch41_D01057_Sous_Vide_Immersion_Circulator", + "asset_id": "D01057", + "physics_path": "batch41/D01057_Sous_Vide_Immersion_Circulator/sim-asset/IsaacSim/physics_6aaa0429cfc529e04f6a3d90.json", + "usd_path": "batch41/D01057_Sous_Vide_Immersion_Circulator/sim-asset/IsaacSim/IsaacSim_asset_6aaa0429cfc529e04f6a3d90.usd", + "usd_sha256": "37c47f0fadc8f7efd6823b7dd3ec640cb7012bfa5cd09e89a7e5b160f546aaa8", + "original_physics_sha256": "ffe9bae3b2c0a8aec8d86927beae6357ac063a6a8f6384cdaf5d6c1b69d4023e", + "repaired_physics_sha256": "3d7adf99eea6ba845bb87c7fa401ce1fd091a85aa84ee262dbd51156b4d06be1", + "changed_top_level_fields": [ + "provenance", + "validation" + ], + "before": { + "asset_id": "D01057", + "bounds": { + "min": [ + -0.04235000163316727, + -0.0417650006711483, + -2.775557602921922e-18 + ], + "max": [ + 0.04235000163316727, + 0.06400000303983688, + 0.3331089913845062 + ], + "size": [ + 0.08470000326633453, + 0.10576500371098518, + 0.3331089913845062 + ], + "units": "m" + }, + "mass_kg": 1.0800000429153442, + "validation": { + "overall": "verified", + "scale": { + "status": "verified", + "confidence": "high", + "units": "m", + "up_axis": "Z", + "bounds_m": [ + 0.08470000326633453, + 0.10576500371098518, + 0.3331089913845062 + ], + "checked_at": "2026-10-08T04:48:10.976448+00:00", + "evidence": "reports/metadata-repair-20261008.json", + "usd_sha256": "3599c035f463c62d018d02b430bbe9a58e65869c3a8145e82200abada2600e09", + "scope": "authored_usd_dimensions", + "bounds_method": "transformed_visible_mesh_points_in_USD_stage_axes", + "note": "Verified against delivered geometry and authored stage units; 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+ "size": [ + 0.05549999885261059, + 0.017000000923871994, + 0.021100006997585297 + ], + "units": "m" + } + } + ], + "joints": [ + { + "id": "Lid_Hinge", + "source_prim_path": "/BreadMaker/Joints/Lid_Hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/BreadMaker/Chassis" + ], + "body1": [ + "/BreadMaker/Lid" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": -105.0, + "upperLimit": 0.0, + "localPos0": [ + -0.17299999296665192, + 0.0, + 0.28299999237060547 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + { + "id": "Press_program", + "source_prim_path": "/BreadMaker/Joints/Press_program", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/BreadMaker/Lid" + ], + "body1": [ + "/BreadMaker/Key_program" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.0010000000474974513, + "upperLimit": 0.0, + "localPos0": [ + 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"Press_start_stop", + "source_prim_path": "/BreadMaker/Joints/Press_start_stop", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/BreadMaker/Lid" + ], + "body1": [ + "/BreadMaker/Key_start_stop" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.0010000000474974513, + "upperLimit": 0.0, + "localPos0": [ + 0.2639999985694885, + 0.07500000298023224, + 0.017556995153427124 + ], + "localPos1": [ + 9.313225746154785e-10, + 0.0, + 1.1641532182693481e-08 + ], + "localRot0": [ + 0.9999449253082275, + 0.0, + 0.010498263873159885, + 0.0 + ], + "localRot1": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + { + "id": "Press_size", + "source_prim_path": "/BreadMaker/Joints/Press_size", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/BreadMaker/Lid" + ], + "body1": [ + "/BreadMaker/Key_size" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.0010000000474974513, + "upperLimit": 0.0, + "localPos0": [ + 0.2839999794960022, + 0.07500000298023224, + 0.01713702082633972 + ], + "localPos1": [ + -2.7939677238464355e-09, + 0.0, + 3.958120942115784e-09 + ], + "localRot0": [ + 0.9999449253082275, + 0.0, + 0.010498263873159885, + 0.0 + ], + "localRot1": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + { + "id": "Press_minus", + "source_prim_path": "/BreadMaker/Joints/Press_minus", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/BreadMaker/Lid" + ], + "body1": [ + "/BreadMaker/Key_minus" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.0010000000474974513, + "upperLimit": 0.0, + "localPos0": [ + 0.30399999022483826, + -0.026000000536441803, + 0.01671701669692993 + ], + "localPos1": [ + 3.073364496231079e-08, + 0.0, + -3.259629011154175e-09 + ], + "localRot0": [ + 0.9999449253082275, + 0.0, + 0.010498263873159885, + 0.0 + ], + "localRot1": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + { + "id": "Press_plus", + "source_prim_path": "/BreadMaker/Joints/Press_plus", + "joint_type": "PhysicsPrismaticJoint", + "body0": [ + "/BreadMaker/Lid" + ], + "body1": [ + "/BreadMaker/Key_plus" + ], + "joint_enabled": true, + "axis": "Z", + "lowerLimit": -0.0010000000474974513, + "upperLimit": 0.0, + "localPos0": [ + 0.30399999022483826, + 0.026000000536441803, + 0.01671701669692993 + ], + "localPos1": [ + 3.073364496231079e-08, + 0.0, + -3.259629011154175e-09 + ], + "localRot0": [ + 0.9999449253082275, + 0.0, + 0.010498263873159885, + 0.0 + ], + "localRot1": [ + 0.9999999403953552, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + }, + { + "id": "Pan_Bail_Hinge", + "source_prim_path": "/BreadMaker/Joints/Pan_Bail_Hinge", + "joint_type": "PhysicsRevoluteJoint", + "body0": [ + "/BreadMaker/BreadPan" + ], + "body1": [ + "/BreadMaker/PanBail" + ], + "joint_enabled": true, + "axis": "Y", + "lowerLimit": 0.0, + "upperLimit": 105.0, + "localPos0": [ + 0.0, + 0.0, + 0.16099999845027924 + ], + "localPos1": [ + 0.0, + 0.0, + 0.0 + ], + "localRot0": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "localRot1": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "static_frames": [] + } + ], + "collision_shapes": 205, + "all_mesh_points_finite": true, + "all_body_masses_positive": true, + "errors": [] + }, + "source_usd_sha256": "bd40159b5feb43c003ba3ca325d9616c4563080d0b3b162322b008c34222e753", + "source_hf_revision": "154e2d76f519421b55c0a0f4f22e7b4a37b2cc90", + "logical_asset": "D01063", + "validation": { + "status": "passed", + "profile": "Robotics-Prop", + "version": "4.0.0", + "usd_sha256": "5dcb542cdf93343d0702a07b10f4ef71fb2b7ec6c9b8a4dac4e48285cb36fd4a", + "receipt_sha256": "5fcadd220d97dc26ce0f25b42d628cf86495fbefcc4ce882d0f2ad2c2f364db9" + }, + "semantics": { + "class_label": "home appliance", + "qcode": "Q212920", + "evidence_scope": "catalog_name_review_and_verified_wikidata_class" + }, + "native": { + "status": "pending", + "required_engine": "isaac_sim", + "physics_runtime": "PhysX" + }, + "package": { + "status": "pending" + } + } + ], + "acceptance": { + "static_passed": 1013, + "native_passed": 185, + "package_completed": 158 + } +} diff --git a/reports/releases/2026.10.13/benchmark-findings/apple-render-mask-reproduction.json b/reports/releases/2026.10.13/benchmark-findings/apple-render-mask-reproduction.json new file mode 100644 index 0000000000000000000000000000000000000000..2664d810595857b8c10d2517f72624587a60d49c --- /dev/null +++ b/reports/releases/2026.10.13/benchmark-findings/apple-render-mask-reproduction.json @@ -0,0 +1,14 @@ +{ + "baseline_magenta_mask": 28898, + "weak_control_magenta_mask": 27862, + "pixels_changed_over_4pct": 3833, + "silhouette_pixels": 100550, + "official_default_ratio": 1.5, + "same_authored_apple_pixels_flagged_before_control_binding": 28898, + "official_weak_control_pixels_flagged": 27862, + "supported_detector_ratio_3_silhouette": 99451, + "supported_detector_ratio_3_uncovered": 28, + "source_texture_changed": false, + "official_suite_changed": false, + "interpretation": "The default magenta classifier also recognizes the authored red apple; no material holes are visible in the reported native images." +} diff --git a/reports/releases/2026.10.13/benchmark-findings/benchmark-relative-transform-reproduction.json b/reports/releases/2026.10.13/benchmark-findings/benchmark-relative-transform-reproduction.json new file mode 100644 index 0000000000000000000000000000000000000000..72968a746f24620c3ec62d6f779a88ba31f7a603 --- /dev/null +++ b/reports/releases/2026.10.13/benchmark-findings/benchmark-relative-transform-reproduction.json @@ -0,0 +1,6 @@ +{ + "official_common_motion_error_m": 76.53668647301795, + "correct_common_motion_error_m": 0.0, + "common_world_translation_m": 100, + "unchanged_relative_rotation_deg": 45 +} diff --git a/reports/releases/2026.10.13/benchmark-findings/native-pod-self-termination-verdict.json b/reports/releases/2026.10.13/benchmark-findings/native-pod-self-termination-verdict.json new file mode 100644 index 0000000000000000000000000000000000000000..9755a79bc8c8e081fd8e5714b2a9a0d9502a3425 --- /dev/null +++ b/reports/releases/2026.10.13/benchmark-findings/native-pod-self-termination-verdict.json @@ -0,0 +1,10 @@ +{ + "pod_id": "0418iolu9g2wxd", + "canary_created_at": "2026-10-13T20:19:54.441Z", + "pod_scoped_action": "terminate", + "provider_read_http_status": 404, + "desktop_guard_cutoff_seconds": 1800, + "verified_before_desktop_cutoff": true, + "account_key_copied_to_pod": false, + "active_gpu_deadline_utc": "2026-10-14T18:18:42Z" +} diff --git a/tools/release_manifest.py b/tools/release_manifest.py new file mode 100644 index 0000000000000000000000000000000000000000..4412502059f0c351ab7273f605cf765c8b343663 --- /dev/null +++ b/tools/release_manifest.py @@ -0,0 +1,90 @@ +"""Verify the current release metadata and its immutable artifact hashes.""" +import argparse +import hashlib +import json +from pathlib import Path +import re + + +def require(condition, message): + if not condition: + raise ValueError(message) + + +def strict_json(data): + return json.loads(data,parse_constant=lambda value: (_ for _ in ()).throw(ValueError(value))) + + +def load_current_release(root, relative='reports/current-release.json', require_ready=False): + root=Path(root).resolve() + def inside(path): + path=Path(path) + require(not path.is_absolute(),'Release paths must be relative') + resolved=(root/path).resolve() + require(resolved.is_relative_to(root),'Release path escapes repository: '+str(path)) + return resolved + def checked(spec, parse=True): + data=inside(spec['path']).read_bytes() + require(hashlib.sha256(data).hexdigest()==spec['sha256'],'Artifact SHA256 mismatch: '+spec['path']) + return strict_json(data) if parse else data + manifest=strict_json(inside(relative).read_bytes()) + require(manifest.get('schema')=='palatial.library-release.v1','Unsupported release manifest schema') + report=checked(manifest['asset_report']) + gallery=checked(manifest['gallery']) + catalog=[strict_json(line) for line in checked(manifest['catalog'],False).splitlines() if line.strip()] + checked(manifest['parquet'],False) + assets=report['assets']; asset_ids=[asset['catalog_id'] for asset in assets] + gallery_ids=[row['id'] for row in gallery];catalog_ids=[row['catalog_id'] for row in catalog] + n=manifest['asset_count'] + require(n==1013 and len(asset_ids)==n and len(set(asset_ids))==n,'Release asset count or identity mismatch') + require(len(gallery_ids)==n and len(set(gallery_ids))==n,'Gallery count or identity mismatch') + require(len(catalog_ids)==n and len(set(catalog_ids))==n,'Catalog count or identity mismatch') + require(set(asset_ids)==set(gallery_ids)==set(catalog_ids),'Evidence/gallery/catalog asset sets differ') + canonical=json.dumps(sorted(asset_ids),ensure_ascii=False,separators=(',',':')).encode() + require(hashlib.sha256(canonical).hexdigest()==manifest['catalog_ids_sha256'],'Release catalog identities changed') + page=inside('gallery/index.html').read_text();marker='const assets=' + require(page.count(marker)==1,'Embedded catalog missing or duplicated') + embedded,_=json.JSONDecoder().raw_decode(page[page.index(marker)+len(marker):]) + require(embedded==gallery,'Inline gallery differs from assets.json') + gallery_by_id={row['id']:row for row in gallery}; catalog_by_id={row['catalog_id']:row for row in catalog} + for asset in assets: + rid=asset['catalog_id'];row=gallery_by_id[rid];cat=catalog_by_id[rid] + data=inside(asset['physics_path']).read_bytes() + require(hashlib.sha256(data).hexdigest()==asset['repaired_physics_sha256'],'Physics SHA256 mismatch: '+rid) + physics=strict_json(data) + require(asset['usd_sha256']==physics['provenance']['usd_sha256']==row['usd_sha256']==cat['usd_sha256'], + 'USD evidence revisions differ: '+rid) + require(row['moving_joints']==physics['validation']['articulation']['moving_joints'],'Joint metadata differs: '+rid) + require(row['mass_kg']==physics['asset']['total_mass']==cat['total_mass_kg'],'Mass metadata differs: '+rid) + require(row['bounds']==physics['asset']['bounds'],'Bounds metadata differs: '+rid) + static=asset['validation'];native=asset['native'];package=asset['package'] + require(static['status']=='passed' and static['profile']=='Robotics-Prop' and static['version']=='4.0.0', + 'Static acceptance missing: '+rid) + require(static['usd_sha256']==asset['usd_sha256'],'Static receipt revision differs: '+rid) + require(row['native_validation_status']==cat['runtime_status']==native['status'],'Native status differs: '+rid) + require(row['package_status']==cat['package_status']==package['status'],'Package status differs: '+rid) + if require_ready: + require(native['status']=='passed' and native.get('supplemental_accepted') is True,'Native acceptance missing: '+rid) + require(native.get('usd_sha256')==asset['usd_sha256'],'Native receipt revision differs: '+rid) + require(native.get('result_count',0)>0 and native.get('result_count')==native.get('planned_test_count'), + 'Native coverage incomplete: '+rid) + require(native.get('failed',1)==0,'Native failures remain: '+rid) + if row['moving_joints']: + require(native.get('joint_status')=='passed' and native.get('joints_failed',1)==0 and + native.get('joints_passed')==native.get('joints_total'), 'Joint acceptance incomplete: '+rid) + require(package['status']=='completed' and package.get('usd_sha256')==asset['usd_sha256'], + 'Package acceptance missing: '+rid) + require(re.search(r'/resolve/[0-9a-f]{40}/',package.get('manifest_url','')) is not None, + 'Package URL must pin an immutable commit: '+rid) + return manifest,report,gallery_by_id + + +if __name__=='__main__': + parser=argparse.ArgumentParser() + parser.add_argument('root',type=Path) + parser.add_argument('--release-manifest',default='reports/current-release.json') + parser.add_argument('--require-ready',action='store_true') + args=parser.parse_args() + manifest,report,_=load_current_release(args.root,args.release_manifest,args.require_ready) + print(json.dumps({'release_id':manifest['release_id'],'assets':len(report['assets']), + 'metadata_hashes_and_catalog_parity':True,'ready_gate_required':args.require_ready})) diff --git a/tools/verify_metadata_usd.py b/tools/verify_metadata_usd.py index df0b8828ec3e306370a1c0091126689e56dd4b96..431443a03b6b323a934688386592b6cc73f5a967 100644 --- a/tools/verify_metadata_usd.py +++ b/tools/verify_metadata_usd.py @@ -7,41 +7,42 @@ import math from pathlib import Path from inspect_usd import inspect +from release_manifest import load_current_release, require def close(a, b): return math.isclose(a, b, rel_tol=1e-6, abs_tol=1e-9) -def verify(root): - report = json.loads((root / 'reports/metadata-repair-20261008.json').read_text()) - gallery = {a['id']: a for a in json.loads((root / 'gallery/assets.json').read_text())} +def verify(root, release_manifest='reports/current-release.json', require_ready=False): + _, report, gallery = load_current_release(root, release_manifest, require_ready) def check(asset): usd = root / asset['usd_path'] path = root / asset['physics_path'] data = json.loads(path.read_text()) actual = inspect(usd) - assert not actual['errors'], (asset['catalog_id'], actual['errors']) - assert actual['usd_sha256'] == asset['usd_sha256'] == data['provenance']['usd_sha256'] - assert hashlib.sha256(path.read_bytes()).hexdigest() == asset['repaired_physics_sha256'] - assert close(actual['total_mass_kg'], data['asset']['total_mass']) - assert close(actual['total_mass_kg'], sum(p['mass'] for p in data['parts'])) + rid = asset['catalog_id'] + require(not actual['errors'], 'USD inspection errors: ' + rid + ': ' + str(actual['errors'])) + require(actual['usd_sha256'] == asset['usd_sha256'] == data['provenance']['usd_sha256'], 'USD hash differs: ' + rid) + require(hashlib.sha256(path.read_bytes()).hexdigest() == asset['repaired_physics_sha256'], 'Physics hash differs: ' + rid) + require(close(actual['total_mass_kg'], data['asset']['total_mass']), 'Total mass differs: ' + rid) + require(close(actual['total_mass_kg'], sum(p['mass'] for p in data['parts'])), 'Part mass sum differs: ' + rid) body_map = {b['path']: b for b in actual['bodies']} - assert len(body_map) == len(data['parts']) + require(len(body_map) == len(data['parts']), 'Rigid body count differs: ' + rid) for part in data['parts']: - assert close(part['mass'], body_map[part['source_prim_path']]['mass_kg']) - assert actual['up_axis'] == data['units']['up_axis'] == data['validation']['scale']['up_axis'] - assert actual['moving_joints'] == data['validation']['articulation']['moving_joints'] - assert len(actual['joints']) == len(data['articulation']['joints']) - assert len(actual['colliders']) == data['validation']['collision']['shape_count'] + require(close(part['mass'], body_map[part['source_prim_path']]['mass_kg']), 'Body mass differs: ' + rid) + require(actual['up_axis'] == data['units']['up_axis'] == data['validation']['scale']['up_axis'], 'Up axis differs: ' + rid) + require(actual['moving_joints'] == data['validation']['articulation']['moving_joints'], 'Moving joint count differs: ' + rid) + require(len(actual['joints']) == len(data['articulation']['joints']), 'Joint count differs: ' + rid) + require(len(actual['colliders']) == data['validation']['collision']['shape_count'], 'Collider count differs: ' + rid) entry = gallery[asset['catalog_id']] - assert entry['asset_id'] == data['asset_id'] - assert entry['moving_joints'] == actual['moving_joints'] + require(entry['asset_id'] == data['asset_id'], 'Gallery asset identity differs: ' + rid) + require(entry['moving_joints'] == actual['moving_joints'], 'Gallery joints differ: ' + rid) for key in ('min', 'max', 'size'): - assert all(close(a, b) for a, b in zip(actual['bounds'][key], data['asset']['bounds'][key])) - assert entry['bounds'][key] == data['asset']['bounds'][key] + require(all(close(a, b) for a, b in zip(actual['bounds'][key], data['asset']['bounds'][key])), 'USD bounds differ: ' + rid) + require(entry['bounds'][key] == data['asset']['bounds'][key], 'Gallery bounds differ: ' + rid) for key in ('scale', 'mass', 'articulation', 'collision'): - assert data['validation'][key]['scope'].startswith('authored_usd_') + require(data['validation'][key]['scope'].startswith('authored_usd_'), 'Authored validation scope differs: ' + rid) return asset['catalog_id'] with ThreadPoolExecutor(max_workers=4) as pool: passed = list(pool.map(check, report['assets'])) @@ -52,8 +53,10 @@ if __name__ == '__main__': parser = argparse.ArgumentParser() parser.add_argument('root', type=Path) parser.add_argument('--report', type=Path) + parser.add_argument('--release-manifest', default='reports/current-release.json') + parser.add_argument('--require-ready', action='store_true') args = parser.parse_args() - result = verify(args.root) + result = verify(args.root, args.release_manifest, args.require_ready) if args.report: args.report.write_text(json.dumps(result, indent=2) + '\n') print(json.dumps(result, indent=2))