The validator on ReplicaCAD's furniture converted to MJCF and on kitchen scenes built from it with the approved objects
662aab6 verified | { | |
| "name": "fridge", | |
| "path": "fridge.xml", | |
| "mjcf": "fridge.xml", | |
| "mujoco": "3.17.0", | |
| "bodies": 4, | |
| "geoms": 16, | |
| "joints": 2, | |
| "timestep": 0.002, | |
| "mass_kg": 84.0, | |
| "floor_added": true, | |
| "checks": [ | |
| { | |
| "id": "loads", | |
| "level": "pass", | |
| "message": "loads in MuJoCo 3.17.0: 4 bodies, 16 geoms, 2 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): top_door 191 kg/m\u00b3 (8.0 kg), bottom_door 207 kg/m\u00b3 (6.0 kg), body 428 kg/m\u00b3 (70.0 kg)", | |
| "data": { | |
| "bodies": [ | |
| [ | |
| "body", | |
| 428, | |
| 70.0 | |
| ], | |
| [ | |
| "top_door", | |
| 191, | |
| 8.0 | |
| ], | |
| [ | |
| "bottom_door", | |
| 207, | |
| 6.0 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "id": "inertia", | |
| "level": "warn", | |
| "message": "rotational inertia against a solid of the same mass filling its collision hull (1 = the same): body 0.06\u00d7, bottom_door 2.82\u00d7, top_door 1.33\u00d7", | |
| "data": { | |
| "bodies": [ | |
| [ | |
| "body", | |
| 0.06 | |
| ], | |
| [ | |
| "top_door", | |
| 1.33 | |
| ], | |
| [ | |
| "bottom_door", | |
| 2.82 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "id": "centre-of-mass", | |
| "level": "warn", | |
| "message": "centre of mass outside the body: top_door at [0.0, 0.0, 0.0], bottom_door at [0.0, 0.0, 0.0]", | |
| "data": { | |
| "bodies": [ | |
| [ | |
| "top_door", | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| ], | |
| [ | |
| "bottom_door", | |
| [ | |
| 0.0, | |
| 0.0, | |
| 0.0 | |
| ] | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "id": "friction", | |
| "level": "warn", | |
| "message": "12 of 12 colliding geoms have MuJoCo's default friction (1.0 sliding): none is set from a material", | |
| "data": { | |
| "default": 12, | |
| "geoms": 12 | |
| } | |
| }, | |
| { | |
| "id": "contact-softness", | |
| "level": "pass", | |
| "message": "12 of 12 colliding geoms use MuJoCo's default contact softness (solref 0.02 s)", | |
| "data": { | |
| "default": 12, | |
| "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: top_door by 162.3 mm, body by 61.8 mm, bottom_door by 52.7 mm", | |
| "data": { | |
| "bodies": [ | |
| [ | |
| "body", | |
| 61.8, | |
| "above" | |
| ], | |
| [ | |
| "top_door", | |
| 162.3, | |
| "below" | |
| ], | |
| [ | |
| "bottom_door", | |
| 52.7, | |
| "below" | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "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": "2 hinge or slide joints: top_door_hinge (hinge, range [0.0, 2.3], damping 0.01), bottom_door_hinge (hinge, range [0.0, 2.5], 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 2 joints moves more than 5\u00b0 or 5 mm", | |
| "data": { | |
| "joints": [] | |
| } | |
| }, | |
| { | |
| "id": "joints-reach", | |
| "level": "pass", | |
| "message": "each of the 2 limited joints reaches both ends of its range when driven", | |
| "data": { | |
| "reach": [ | |
| [ | |
| "top_door_hinge", | |
| "upper", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "top_door_hinge", | |
| "lower", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "bottom_door_hinge", | |
| "upper", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "bottom_door_hinge", | |
| "lower", | |
| 1.0, | |
| null | |
| ] | |
| ] | |
| } | |
| } | |
| ], | |
| "verdict": "warn" | |
| } |