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SIMPLE / fixes /openfaucet-axis-fix /validation /mesh_validation.json
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Add standalone OpenFaucet 004 USD axis correction
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{
"metric": "maximum bidirectional nearest-vertex distance, compared per moving link, millimeters",
"normalization": "MuJoCo world expressed relative to articulate_base; USD asset root is identity",
"mujoco_version": "3.10.0",
"joint_limits": [
[
-1.5707963267948966,
1.5707963267948966
],
[
-0.061199999999999984,
0.02519999999999999
]
],
"cpu_samples": 327,
"report_points": [
{
"family": "report",
"q0_rad": 0.0,
"q1_m": 0.0,
"original_max_mm": 7.178948294106305e-05,
"original_hinge_mm": 7.178948294106305e-05,
"original_slider_mm": 1.2185762793588669e-05,
"fixed_max_mm": 6.697829556897698e-05,
"fixed_hinge_mm": 6.697829556897698e-05,
"fixed_slider_mm": 1.2780970515955083e-05
},
{
"family": "report",
"q0_rad": 0.7,
"q1_m": 0.0,
"original_max_mm": 11.727036018332388,
"original_hinge_mm": 11.727036018332388,
"original_slider_mm": 1.2185762793588669e-05,
"fixed_max_mm": 6.376818002692829e-05,
"fixed_hinge_mm": 6.376818002692829e-05,
"fixed_slider_mm": 1.2780970515955083e-05
},
{
"family": "report",
"q0_rad": 1.2,
"q1_m": 0.0,
"original_max_mm": 22.28766610760307,
"original_hinge_mm": 22.28766610760307,
"original_slider_mm": 1.2185762793588669e-05,
"fixed_max_mm": 6.412111512340025e-05,
"fixed_hinge_mm": 6.412111512340025e-05,
"fixed_slider_mm": 1.2780970515955083e-05
},
{
"family": "report",
"q0_rad": 0.0,
"q1_m": -0.05,
"original_max_mm": 13.147425056562147,
"original_hinge_mm": 7.178948294106305e-05,
"original_slider_mm": 13.147425056562147,
"fixed_max_mm": 6.697829556897698e-05,
"fixed_hinge_mm": 6.697829556897698e-05,
"fixed_slider_mm": 1.3193770095063485e-05
}
],
"worst_original_mm": 31.059326809915724,
"worst_fixed_mm": 8.071852461278882e-05,
"inputs_sha256": {
"original_usd": "57c79537f2581b0ab0fa01c7242830c76c94464a8e4c7af09c74538f4b25982b",
"fixed_usd": "a30c2ea353248dc9a4aebce414c24bb1ea0bf015876e27b0c8283e5bfc6b51f8",
"mjcf": "c4d0af4fed7644779692b2f22a3c82f73476a587ba8eb623c98fafce98135fc0"
},
"actual_physx": {
"original": {
"frames": 120,
"worst_mesh_error_mm": 22.287626629667717
},
"fixed": {
"frames": 120,
"worst_mesh_error_mm": 7.119421556241838e-05
}
}
}