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license: cc-by-4.0
language:
- en
tags:
- robotics
- simulation
- usd
- simready
---
# DEEP Robotics SimReady assets
robots at DEEP Robotics.
Organisation: **DEEP Robotics**
Contact: **Percy Peng <pengbo@deeprobotics.cn>**
Prepared USD robot assets for NVIDIA SimReady Central: eight robot packages, with seven at `2026.10.22_00` and Lite3 at `2026.10.27_00`.
Each package includes its bill of materials, required profile-validation results,
runtime benchmark results, and original source license notices.
| Asset | Robot type | Source |
| --- | --- | --- |
| M20S | Quadruped with wheels | Existing OEM USD |
| M20 | Quadruped with wheels | High-resolution OEM URDF, updated mounting frames |
| X30 | Quadruped | High-resolution OEM URDF, updated mounting frames |
| S10 | Wheeled robot | Existing OEM USD |
| M20_Piper | Mobile manipulator | Existing OEM USD |
| DR02-std | Humanoid | High-resolution OEM URDF |
| DR02-pro | Humanoid with wrist joints and rubber hands | High-resolution OEM URDF |
| Lite3 | Quadruped | 20260821 OEM USD mechanics, high-resolution visuals, 20261027 corrected sensor frames |
Lite3 retains the 20260821 OEM mechanics and local high-resolution visuals,
with the 20261027 correction to the D435i/MID360 mounting orientations and explicit
optical/camera convention child frames. Mount translations and the IMU pose are unchanged. The supplied USD/MJCF thigh centers
of mass are preserved; the new URDF still records older values. Lite3, M20 and
X30 mounting frames preserve source positions and rotations and do not implement
camera or lidar simulation.
Lite3 corrects four invalid source knee position-drive targets from 0 degrees to
their unchanged OEM lower limit of 30.022985 degrees. This avoids Newton's
midpoint fallback (approximately 94.996402 degrees). Drive gains, hardware
torque caps, limits, masses, collisions and source geometry are retained.
Controlled ground-drop checks pass on both engines; the final packaged runtime
results remain authoritative, including unresolved slope findings.
## Simulation preparation
The staged models use relative package dependencies and UsdPreviewSurface
materials. Repairs preserve robot geometry and mechanical structure except for
removing exactly zero-area triangles and duplicate rendered surfaces. Rigid-body
hierarchies are flattened where needed while retaining world poses and remapping
joint targets. DR02 Pro retains its extra wrist DOFs, visible rubber hands, and
mesh-derived convex-hull hand collisions.
X30's mirrored render transforms are baked into its visual geometry while
preserving all world-space vertices and normals. Its visual instances are
expanded for portable material overrides. Its undersized torso collision box
is replaced with a convex envelope derived from existing CAD vertices; the
original box is retained disabled. OEM torso mass, inertia, and zero center of
mass are preserved, and the active collider count remains unchanged.
DR02 uses acceleration-drive stiffness 625 and damping 50. Its native torque
variant includes a passive-viscosity simulation preset resisting 2% of rated
torque at 1 rad/s. This is a simulation preset rather than measured hardware
friction. Native torque limits, joint limits, masses, and inertias are retained.
S10 and M20S include selectable Source/Locomotion control and Source/Ground
placement variants. Defaults use a simulation locomotion preset (leg position control and continuous-wheel velocity control) and
place the lowest visual/collision bound 5 mm above ground. Source choices
restore original control and frame placement. PhysX leg gains are 1000/100 for
S10 and 2000/100 for M20S; the Newton/MuJoCo variant uses runtime-specific
angular gain serialization. Geometry, relative mounting poses, mass, inertia,
and hardware torque/joint limits are retained. Newton slope rebound remains
a known runtime finding; read each package's results for exact verdicts.
Newton mesh collision representations and articulation self-collision settings
are explicit. X30's CAD hull and Piper's existing mesh colliders declare the
Newton mesh collision schema. S10/M20S retain their existing self-collision
setting; Piper retains the prior Newton importer default. These declarations
restore backend validation and runtime test coverage without changing geometry.
Lite3 explicitly preserves its source-disabled self-collision setting.
The X30 state-accuracy benchmark commands three 0-degree waypoints outside its
OEM knee minimum of about 20 degrees; the observed errors match that target
mismatch. Original joint limits and official failed verdicts are retained.
Newton runtime tests use the intended 1000-contact MuJoCo allocation. Dense
robot contacts can exceed the SDK default of 200; allocate enough contact
capacity when configuring your simulation.
Required Robot-Body profile validation and runtime physics benchmarks are
separate checks. Read the JSON results inside each package for exact findings;
package availability does not imply every runtime test passed. NVIDIA review is
pending. Source BSD notices remain in the packages alongside the CC-BY-4.0
submission license.
## NVIDIA submission
[Open pull request](https://github.com/NVIDIA-Omniverse/simready-central/pull/77) — awaiting review; not approved or merged.
## Lite3 sensor correction — 2026-10-27
The current Lite3 package is `simready.hf.deeproboticslab.simready-assets.Lite3.2026.10.27_00`. D435i mount pitch changes from −20° to +20°; MID360 changes from −15° to +15°. Positions and the IMU pose remain unchanged. ROS optical and USD camera convention frames are included as plain Xforms; this USD contains no active camera or lidar simulation.
Geometry, collisions, masses, inertias, joint limits, drive parameters, and the earlier valid knee defaults remain unchanged across all eight variant combinations. The matching [OEM repository correction](https://github.com/DeepRoboticsLab/deep_robotics_model/commit/52352f5bbf2a30b5d02ece91900415188e7abc74) passed URDF parsing, USD variants, cross-format directions, and 1,000 finite MuJoCo steps. The new SimReady package passed mandatory Robot-Body 3.0.0 validation and the PhysX ground-drop test; its full rerun recorded 4 fail, 6 missing, 21 pass, 5 skipped. Read the [immutable benchmark sidecar](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/f2eb1409e132797a927726a9ab614eff9b9a9830/Lite3/.metadata/Lite3_benchmark.json) for exact results and messages. Existing runtime limitations are not cleared by a sensor-frame correction.
Only Lite3 `2026.10.27_00` is included in the current NVIDIA submission. The superseded `2026.10.22_00` snapshot remains in Hugging Face history for reproducibility. The other seven robot package URLs are unchanged. [PR #77](https://github.com/NVIDIA-Omniverse/simready-central/pull/77) lists eight packages for eight robot models and remains subject to NVIDIA review.
## Current package results
Required authoring validation and runtime verdicts are separate. Skipped and unrecorded checks are not passes.
| Asset | Required Robot-Body 3.0.0 | Runtime verdicts | Immutable package |
| --- | --- | --- | --- |
| M20S | Pass | 1 error, 4 fail, 6 missing, 22 pass, 3 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/705670f44e2128ddaa4027d785cc397b8e4193c0/M20S/com.nvidia.simready.packaging.json) |
| M20 | Pass | 1 fail, 6 missing, 17 pass, 12 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/27b4c1211a073eaf0afa9bea4c5e2041a53ff72a/M20/com.nvidia.simready.packaging.json) |
| X30 | Pass | 3 fail, 20 pass, 13 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/f8974601bb487eab20bb212ac9842586669d3980/X30/com.nvidia.simready.packaging.json) |
| S10 | Pass | 1 error, 4 fail, 8 missing, 21 pass, 2 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/440e16d063e8e21ac460100e84299b111df525ee/S10/com.nvidia.simready.packaging.json) |
| M20_Piper | Pass | 2 fail, 15 missing, 19 pass, 2 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/9751cab19e5692a75aee9a25f440ba93994cdb79/M20_Piper/com.nvidia.simready.packaging.json) |
| DR02-std | Pass | 1 fail, 6 missing, 17 pass, 12 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/1c5c001c946cc6179944c98e5e41d9edd51ea3e4/DR02-std/com.nvidia.simready.packaging.json) |
| DR02-pro | Pass | 1 fail, 8 missing, 16 pass, 11 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/ebd156e765d5979ff2d8f280c905aa5c7dcb8e10/DR02-pro/com.nvidia.simready.packaging.json) |
| Lite3 | Pass | 4 fail, 6 missing, 21 pass, 5 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/f2eb1409e132797a927726a9ab614eff9b9a9830/Lite3/com.nvidia.simready.packaging.json) |
Exact failure messages, engine names and warnings remain in each immutable package's `.metadata/<asset>_benchmark.json`. The linked PR preserves official runtime findings; package availability does not imply every benchmark passed.
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