{
 "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"
}