The validator on ReplicaCAD's furniture converted to MJCF and on kitchen scenes built from it with the approved objects
662aab6 verified | { | |
| "name": "Chefmate_8_Frypan", | |
| "path": "Chefmate_8_Frypan", | |
| "mjcf": "model.xml", | |
| "mujoco": "3.17.0", | |
| "bodies": 1, | |
| "geoms": 34, | |
| "joints": 1, | |
| "timestep": 0.002, | |
| "mass_kg": 1.8149, | |
| "floor_added": true, | |
| "checks": [ | |
| { | |
| "id": "loads", | |
| "level": "pass", | |
| "message": "loads in MuJoCo 3.17.0: 1 body, 34 geoms, 1 joint (with the free joints added here)" | |
| }, | |
| { | |
| "id": "fixed-to-world", | |
| "level": "warn", | |
| "message": "model has no joint, so MuJoCo welds it to the world and it will never move. Add <freejoint/> for a free object. The dynamic checks here add one.", | |
| "data": { | |
| "bodies": [ | |
| "model" | |
| ] | |
| } | |
| }, | |
| { | |
| "id": "mass-source", | |
| "level": "fail", | |
| "message": "1 body gets mass and inertia from its geoms (no <inertial>), at density 1000 kg/m\u00b3 (MuJoCo's default, water); the visual geoms count too: model 84% of the mass is the visual mesh", | |
| "data": { | |
| "bodies": [ | |
| "model" | |
| ], | |
| "visual_share": { | |
| "model": 0.843 | |
| } | |
| } | |
| }, | |
| { | |
| "id": "density", | |
| "level": "pass", | |
| "message": "mass over the volume MuJoCo collides (convex hulls, so a hollow object reads low): model 6614 kg/m\u00b3 (1.8149 kg)", | |
| "data": { | |
| "bodies": [ | |
| [ | |
| "model", | |
| 6614, | |
| 1.8149 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "id": "inertia", | |
| "level": "pass", | |
| "message": "rotational inertia against a solid of the same mass filling its collision hull (1 = the same): model 0.94\u00d7", | |
| "data": { | |
| "bodies": [ | |
| [ | |
| "model", | |
| 0.94 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "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": "32 of 32 colliding geoms have MuJoCo's default friction (1.0 sliding): none is set from a material", | |
| "data": { | |
| "default": 32, | |
| "geoms": 32 | |
| } | |
| }, | |
| { | |
| "id": "contact-softness", | |
| "level": "warn", | |
| "message": "32 of 32 colliding geoms use MuJoCo's default contact softness (solref 0.02 s), and 1 collision pieces are under 4 mm thick (thinnest 2.9 mm): a soft contact lets a thin part sink further than it is thick on impact, and the piece it sank into can then push it out the far side", | |
| "data": { | |
| "default": 32, | |
| "thin": [ | |
| [ | |
| "model", | |
| "geom32", | |
| 2.9 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "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": "pass", | |
| "message": "every visual mesh lies within 5 mm of its body's collision geometry", | |
| "data": { | |
| "bodies": [] | |
| } | |
| }, | |
| { | |
| "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 model 0.8 mm into floor at 0.04 s; once settled, between bodies none, into the floor model 0.18 mm into floor at 2.0 s (allowed: 0.5 mm between bodies and 1 mm into the floor at rest, 3 mm at any moment)", | |
| "data": { | |
| "overlap": { | |
| "max_mm": 0.8, | |
| "pairs": [ | |
| { | |
| "body": "model", | |
| "into": "floor", | |
| "mm": 0.8, | |
| "t": 0.04 | |
| } | |
| ], | |
| "bodies": null, | |
| "floor": { | |
| "body": "model", | |
| "into": "floor", | |
| "mm": 0.8, | |
| "t": 0.04 | |
| }, | |
| "end": { | |
| "max_mm": 0.18, | |
| "pairs": [ | |
| { | |
| "body": "model", | |
| "into": "floor", | |
| "mm": 0.18, | |
| "t": 2.0 | |
| } | |
| ], | |
| "bodies": null, | |
| "floor": { | |
| "body": "model", | |
| "into": "floor", | |
| "mm": 0.18, | |
| "t": 2.0 | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "id": "timestep", | |
| "level": "pass", | |
| "message": "settled at 2 ms and at 1 ms steps, it ends 0.0 mm and 0.0\u00b0 apart", | |
| "data": { | |
| "body": "model", | |
| "mm": 0.0, | |
| "deg": 0.0 | |
| } | |
| }, | |
| { | |
| "id": "tip-margin", | |
| "level": "pass", | |
| "message": "model can tilt 68.9\u00b0 toward its least stable side before its centre of mass passes the edge of its footprint", | |
| "data": { | |
| "body": "model", | |
| "deg": 68.9 | |
| } | |
| }, | |
| { | |
| "id": "drop", | |
| "level": "warn", | |
| "message": "dropped from 10 cm it bounces back 0% of the way and sinks 10.0 mm into the floor on impact (its geoms keep MuJoCo's soft default contacts; solref around 0.003 with a 1 ms step keeps it under 2 mm)", | |
| "data": { | |
| "bounce": 0.0, | |
| "floor_mm": 10.03 | |
| } | |
| } | |
| ], | |
| "verdict": "fail" | |
| } |