{
 "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"
}