The validator on ReplicaCAD's furniture converted to MJCF and on kitchen scenes built from it with the approved objects
662aab6 verified | { | |
| "name": "knife_block", | |
| "path": "knife_block.zip", | |
| "mjcf": "scene.xml", | |
| "mujoco": "3.17.0", | |
| "bodies": 7, | |
| "geoms": 61, | |
| "joints": 7, | |
| "timestep": 0.001, | |
| "mass_kg": 3.534, | |
| "floor_added": false, | |
| "checks": [ | |
| { | |
| "id": "loads", | |
| "level": "pass", | |
| "message": "loads in MuJoCo 3.17.0: 7 bodies, 61 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): knife_block/knife_block 711 kg/m\u00b3 (2.5405 kg), paring_9cm/paring_9cm 2527 kg/m\u00b3 (0.0814 kg), boning_15cm/boning_15cm 2548 kg/m\u00b3 (0.1217 kg), utility_13cm/utility_13cm 2728 kg/m\u00b3 (0.0938 kg), bread_20cm/bread_20cm 2921 kg/m\u00b3 (0.2026 kg), santoku_17cm/santoku_17cm 3190 kg/m\u00b3 (0.218 kg)", | |
| "data": { | |
| "bodies": [ | |
| [ | |
| "knife_block/knife_block", | |
| 711, | |
| 2.5405 | |
| ], | |
| [ | |
| "chef_20cm/chef_20cm", | |
| 3329, | |
| 0.276 | |
| ], | |
| [ | |
| "bread_20cm/bread_20cm", | |
| 2921, | |
| 0.2026 | |
| ], | |
| [ | |
| "santoku_17cm/santoku_17cm", | |
| 3190, | |
| 0.218 | |
| ], | |
| [ | |
| "utility_13cm/utility_13cm", | |
| 2728, | |
| 0.0938 | |
| ], | |
| [ | |
| "boning_15cm/boning_15cm", | |
| 2548, | |
| 0.1217 | |
| ], | |
| [ | |
| "paring_9cm/paring_9cm", | |
| 2527, | |
| 0.0814 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "id": "inertia", | |
| "level": "pass", | |
| "message": "rotational inertia against a solid of the same mass filling its collision hull (1 = the same): bread_20cm/bread_20cm 1.17\u00d7, chef_20cm/chef_20cm 1.14\u00d7, santoku_17cm/santoku_17cm 1.14\u00d7, paring_9cm/paring_9cm 0.91\u00d7, boning_15cm/boning_15cm 0.95\u00d7, knife_block/knife_block 1.0\u00d7", | |
| "data": { | |
| "bodies": [ | |
| [ | |
| "knife_block/knife_block", | |
| 1.0 | |
| ], | |
| [ | |
| "chef_20cm/chef_20cm", | |
| 1.14 | |
| ], | |
| [ | |
| "bread_20cm/bread_20cm", | |
| 1.17 | |
| ], | |
| [ | |
| "santoku_17cm/santoku_17cm", | |
| 1.14 | |
| ], | |
| [ | |
| "utility_13cm/utility_13cm", | |
| 1.0 | |
| ], | |
| [ | |
| "boning_15cm/boning_15cm", | |
| 0.95 | |
| ], | |
| [ | |
| "paring_9cm/paring_9cm", | |
| 0.91 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "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": "pass", | |
| "message": "0 of 40 colliding geoms have MuJoCo's default friction (1.0 sliding): the rest are set", | |
| "data": { | |
| "default": 0, | |
| "geoms": 40 | |
| } | |
| }, | |
| { | |
| "id": "contact-softness", | |
| "level": "pass", | |
| "message": "0 of 40 colliding geoms use MuJoCo's default contact softness (solref 0.02 s)", | |
| "data": { | |
| "default": 0, | |
| "thin": [ | |
| [ | |
| "knife_block/knife_block", | |
| "geom20", | |
| 3.0 | |
| ], | |
| [ | |
| "knife_block/knife_block", | |
| "geom21", | |
| 3.0 | |
| ], | |
| [ | |
| "knife_block/knife_block", | |
| "geom22", | |
| 3.0 | |
| ], | |
| [ | |
| "knife_block/knife_block", | |
| "geom23", | |
| 3.0 | |
| ], | |
| [ | |
| "chef_20cm/chef_20cm", | |
| "geom25", | |
| 2.8 | |
| ], | |
| [ | |
| "bread_20cm/bread_20cm", | |
| "geom31", | |
| 2.0 | |
| ], | |
| [ | |
| "santoku_17cm/santoku_17cm", | |
| "geom37", | |
| 2.2 | |
| ], | |
| [ | |
| "utility_13cm/utility_13cm", | |
| "geom43", | |
| 1.6 | |
| ], | |
| [ | |
| "boning_15cm/boning_15cm", | |
| "geom49", | |
| 2.0 | |
| ], | |
| [ | |
| "paring_9cm/paring_9cm", | |
| "geom55", | |
| 1.5 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "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": 0.04, | |
| "turn_deg": 0.01, | |
| "max_speed": 0.0031 | |
| } | |
| }, | |
| { | |
| "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": "timestep", | |
| "level": "pass", | |
| "message": "settled at 1 ms and at 0.5 ms steps, paring_9cm/paring_9cm ends 0.0 mm and 0.0\u00b0 apart", | |
| "data": { | |
| "body": "paring_9cm/paring_9cm", | |
| "mm": 0.01, | |
| "deg": 0.01 | |
| } | |
| }, | |
| { | |
| "id": "tip-margin", | |
| "level": "pass", | |
| "message": "knife_block/knife_block with the 6 bodies resting on it can tilt 13.4\u00b0 toward its least stable side before its centre of mass passes the edge of its footprint", | |
| "data": { | |
| "body": "knife_block/knife_block", | |
| "deg": 13.4 | |
| } | |
| }, | |
| { | |
| "id": "drop", | |
| "level": "pass", | |
| "message": "dropped from 10 cm it bounces back 8% of the way and sinks 1.6 mm into the floor on impact", | |
| "data": { | |
| "bounce": 0.078, | |
| "floor_mm": 1.6 | |
| } | |
| } | |
| ], | |
| "verdict": "pass" | |
| } |