{
 "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"
}