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"name": "kitchen_counter",
"path": "kitchen_counter.xml",
"mjcf": "kitchen_counter.xml",
"mujoco": "3.17.0",
"bodies": 9,
"geoms": 56,
"joints": 7,
"timestep": 0.002,
"mass_kg": 152.0,
"floor_added": true,
"checks": [
{
"id": "loads",
"level": "pass",
"message": "loads in MuJoCo 3.17.0: 9 bodies, 56 geoms, 7 joints"
},
{
"id": "mass-source",
"level": "pass",
"message": "every colliding body has an explicit <inertial>"
},
{
"id": "density",
"level": "pass",
"message": "mass over the volume MuJoCo collides (convex hulls, so a hollow object reads low): drawer1_top 81 kg/m\u00b3 (5.0 kg), drawer1_bottom 81 kg/m\u00b3 (5.0 kg), drawer3 130 kg/m\u00b3 (4.0 kg), drawer4 141 kg/m\u00b3 (6.0 kg), drawer2_top 159 kg/m\u00b3 (4.0 kg), drawer2_middle 159 kg/m\u00b3 (4.0 kg)",
"data": {
"bodies": [
[
"body",
204,
120.0
],
[
"drawer1_top",
81,
5.0
],
[
"drawer1_bottom",
81,
5.0
],
[
"drawer2_top",
159,
4.0
],
[
"drawer2_middle",
159,
4.0
],
[
"drawer2_bottom",
159,
4.0
],
[
"drawer3",
130,
4.0
],
[
"drawer4",
141,
6.0
]
]
}
},
{
"id": "inertia",
"level": "warn",
"message": "rotational inertia against a solid of the same mass filling its collision hull (1 = the same): body 0.01\u00d7, drawer2_top 5.83\u00d7, drawer2_middle 5.83\u00d7, drawer2_bottom 5.83\u00d7, drawer3 3.77\u00d7, drawer1_top 2.8\u00d7",
"data": {
"bodies": [
[
"body",
0.01
],
[
"drawer1_top",
2.8
],
[
"drawer1_bottom",
2.8
],
[
"drawer2_top",
5.83
],
[
"drawer2_middle",
5.83
],
[
"drawer2_bottom",
5.83
],
[
"drawer3",
3.77
],
[
"drawer4",
2.4
]
]
}
},
{
"id": "centre-of-mass",
"level": "pass",
"message": "every body's centre of mass is within its collision geometry's bounds",
"data": {
"bodies": []
}
},
{
"id": "friction",
"level": "warn",
"message": "47 of 47 colliding geoms have MuJoCo's default friction (1.0 sliding): none is set from a material",
"data": {
"default": 47,
"geoms": 47
}
},
{
"id": "contact-softness",
"level": "pass",
"message": "47 of 47 colliding geoms use MuJoCo's default contact softness (solref 0.02 s)",
"data": {
"default": 47,
"thin": []
}
},
{
"id": "hull-fill",
"level": "pass",
"message": "no colliding mesh loses much to its convex hull",
"data": {
"geoms": []
}
},
{
"id": "floating-pieces",
"level": "pass",
"message": "every body's collision pieces touch each other",
"data": {
"bodies": []
}
},
{
"id": "visual-fit",
"level": "warn",
"message": "these visual meshes reach beyond their collision geometry: what's drawn there doesn't collide, and what rests on it looks sunk in: body by 361.9 mm, drawer2_top by 46.1 mm, drawer2_middle by 46.1 mm, drawer2_bottom by 46.1 mm, drawer4 by 45.9 mm, drawer1_top by 35.1 mm",
"data": {
"bodies": [
[
"body",
361.9,
"above"
],
[
"drawer1_top",
35.1,
"below"
],
[
"drawer1_bottom",
35.1,
"below"
],
[
"drawer2_top",
46.1,
"above"
],
[
"drawer2_middle",
46.1,
"above"
],
[
"drawer2_bottom",
46.1,
"above"
],
[
"drawer3",
20.1,
"below"
],
[
"drawer4",
45.9,
"above"
]
]
}
},
{
"id": "welded-bodies",
"level": "pass",
"message": "1 child bodies have no joint and move with their parent: body",
"data": {
"bodies": [
"body"
]
}
},
{
"id": "joints",
"level": "pass",
"message": "7 hinge or slide joints: left_slide_top (slide, range [0.0, 0.5], damping 0.01), left_slide_bottom (slide, range [0.0, 0.5], damping 0.01), middle_slide_top (slide, range [0.0, 0.5], damping 0.01), middle_slide_middle (slide, range [0.0, 0.5], damping 0.01), middle_slide_bottom (slide, range [0.0, 0.5], damping 0.01), right_slide_top (slide, range [0.0, 0.5], damping 0.01), right_slide_bottom (slide, range [0.0, 0.5], damping 0.01)"
},
{
"id": "fixed-to-world",
"level": "pass",
"message": "its root is fixed to the world, as furniture is (kept with --keep-fixed)"
},
{
"id": "starts-apart",
"level": "pass",
"message": "no body starts inside another",
"data": {
"pairs": []
}
},
{
"id": "settles",
"level": "pass",
"message": "after 2 s on the floor nothing moves more than 0.0 mm or 0.0\u00b0 in 0.2 s",
"data": {
"drift_mm": 0.0,
"turn_deg": 0.0,
"max_speed": 0.0
}
},
{
"id": "no-overlap",
"level": "pass",
"message": "settling: deepest at any moment none; once settled, between bodies none, into the floor none (allowed: 0.5 mm between bodies and 1 mm into the floor at rest, 3 mm at any moment)",
"data": {
"overlap": {
"max_mm": 0.0,
"pairs": [],
"bodies": null,
"floor": null,
"end": {
"max_mm": 0.0,
"pairs": [],
"bodies": null,
"floor": null
}
}
}
},
{
"id": "joints-hold",
"level": "pass",
"message": "left alone for 2 s, none of the 7 joints moves more than 5\u00b0 or 5 mm",
"data": {
"joints": []
}
},
{
"id": "joints-reach",
"level": "pass",
"message": "each of the 7 limited joints reaches both ends of its range when driven",
"data": {
"reach": [
[
"left_slide_top",
"upper",
1.0,
null
],
[
"left_slide_top",
"lower",
1.0,
null
],
[
"left_slide_bottom",
"upper",
1.0,
null
],
[
"left_slide_bottom",
"lower",
1.0,
null
],
[
"middle_slide_top",
"upper",
1.0,
null
],
[
"middle_slide_top",
"lower",
1.0,
null
],
[
"middle_slide_middle",
"upper",
1.0,
null
],
[
"middle_slide_middle",
"lower",
1.0,
null
],
[
"middle_slide_bottom",
"upper",
1.0,
null
],
[
"middle_slide_bottom",
"lower",
1.0,
null
],
[
"right_slide_top",
"upper",
1.0,
null
],
[
"right_slide_top",
"lower",
1.0,
null
],
[
"right_slide_bottom",
"upper",
1.0,
null
],
[
"right_slide_bottom",
"lower",
1.0,
null
]
]
}
}
],
"verdict": "warn"
} |