Add chilgyo_tangram_17cm sim asset (cadgen route build)

.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+assets/chilgyo_tangram_17cm/chilgyo_tangram_17cm.glb filter=lfs diff=lfs merge=lfs -text

assets/chilgyo_tangram_17cm/README.md

@@ -0,0 +1,71 @@
+# Chilgyo (칠교) tangram set, 17 cm frame: simulation asset
+
+A simulation-ready USD and GLB of the physical tangram set used in the `chilgyo/` recordings of this dataset. It has
+seven painted-wood pieces, each with a white silicone "bunny" handle glued on top, and a wooden frame. The asset was
+built with the `cadgen` harness (route `build`, `agentic_mesh/cadgen` in prj-agentic-rsr) and verified in Isaac Sim 5.1.
+
+| file | what |
+|---|---|
+| `chilgyo_tangram_17cm.usda` (+ `textures/`) | the asset: 8 rigid bodies, colliders, physics materials, masses, `layout` variant set |
+| `compose_report.json` | per-body mass, centre of mass, parts and colliders |
+| `chilgyo_tangram_17cm.glb` | render meshes for web viewers (one node per part) |
+
+Units are metres, Z-up.
+
+## Structure
+Each piece is one rigid body with two parts, and each part has its own mesh, collider, physics material and density:
+- `<Piece>__Wood`: painted wood.
+- `<Piece>__Handle`: white silicone bunny, convex-hull colliders.
+
+The frame (`Frame__Wood` walls and `Frame__Base` plywood base) is a separate wooden body. Body mass, centre of mass and
+inertia are computed from part density × mesh volume.
+
+| body | shape (mm) | mass (g) |
+|---|---|---|
+| RedLargeTri, YellowLargeTri | right isosceles triangle, legs 103.2, hypotenuse 146 | 20.87 each |
+| GreenMediumTri | legs 73.0, hypotenuse 103.2 | 12.87 |
+| BlueSmallTri, NavySmallTri | legs 51.6, hypotenuse 73.0 | 8.88 each |
+| WhiteSquare | 51.6 × 51.6 | 12.89 |
+| SalmonParallelogram | 73.0 × 51.6, 45°/135° | 12.87 |
+| Frame | 167 × 167 × 10, 148 opening, 3 mm base | 75.58 |
+
+- Every piece is 5 mm thick and the tangram square side is 146 mm. The whole set weighs 173.7 g.
+- The 167 mm frame (sold as "17 cm") comes from the manufacturer drawing.
+- Each bunny is a 24.4 mm dome, 13 mm tall, with 18.5 mm ears, a slit and a cable hole, weighing 4.94 g.
+
+**Layouts.** The `layout` variant set has four variants:
+- `square`: the classic square in the frame;
+- `figure`: the arrangement built in the recordings;
+- `scattered`;
+- `recorded_exo_0002`: piece poses fitted to episode 0002.
+
+## Physics materials
+| material | static μ | dynamic μ | restitution | density (kg/m³) | source |
+|---|---|---|---|---|---|
+| painted wood (pieces) | 0.38 | 0.285 | 0.28 | 605 | ALLSIDES `simready-scanned-objects` / `toy_block_6MPL7NVFVU` (friction, restitution; density from its 0.122 kg mass and 201.8 cm³ mesh) |
+| raw wood (frame) | 0.5 | 0.4 | 0.3 | 605 | PalatialSim `palatial-nv-asset-library` / `D00413` (friction, restitution) |
+| silicone (handles) | 0.8 | 0.8 | 0.2 | 1200 | NVIDIA `simready-assets` / `handTool_hammer_rubberMallet_a01` (friction, density). Restitution was lowered from 0.8 for soft silicone. |
+
+All colliders use a 1 mm contact offset and a 0 rest offset.
+
+## Verification (Isaac Sim 5.1)
+All 11 checks pass:
+- **Size:** 167.0 × 167.0 × 10.0 mm frame. The PhysX mass of 173.7 g equals the authored mass.
+- **Assembly:**
+  - `square` covers the target square with IoU 0.988 (as built), with no overlaps and 10 flush edges.
+  - `figure` matches the recorded outline with IoU 0.968, with no overlaps and 6 flush edges.
+- **Settle:** stable for 2 s in all four layouts, with 0.0 mm drift and 0.0° tilt.
+- **Drop-in:** a 5 mm drop into the frame settles in place.
+- **Lift-out:** a lifted piece clears the rim without moving the frame or the other pieces.
+- **Renders:** compared with photos of the real set and with recording frames.
+
+## License and attribution
+This asset is released under CC-BY-4.0.
+- **Geometry:** parametric, built from the published tangram proportions and measured dimensions. It is not scanned.
+- **Physics:** the material values above come from these CC-BY-4.0 assets:
+  - [ALLSIDES/simready-scanned-objects](https://huggingface.co/datasets/ALLSIDES/simready-scanned-objects): `toy_block_6MPL7NVFVU`
+  - [PalatialSim/palatial-nv-asset-library](https://huggingface.co/datasets/PalatialSim/palatial-nv-asset-library): `D00413`
+  - [nvidia/simready-assets](https://huggingface.co/datasets/nvidia/simready-assets): `handTool_hammer_rubberMallet_a01`
+
+This is an independent model of a commercially sold 칠교놀이 set. It is not affiliated with or endorsed by its
+manufacturer or seller.

assets/chilgyo_tangram_17cm/chilgyo_tangram_17cm.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ae797ebe5f34631d0007320c8ac548770646fea070d76f92caca2cf5a41ba18
+size 1344344

assets/chilgyo_tangram_17cm/compose_report.json

@@ -0,0 +1,1201 @@
+{
+ "pass": true,
+ "errors": [],
+ "warnings": [
+  "Frame__Wood: finger notch is render-only (colliders are full walls)"
+ ],
+ "asset": "./chilgyo_tangram_17cm.usda",
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+     "path": "/Model/Geometry/NavySmallTri/Colliders/handle_earL",
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+     "part": "Handle",
+     "physics_material": "silicone"
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+     "part": "Handle",
+     "physics_material": "silicone"
+    }
+   ]
+  },
+  "WhiteSquare": {
+   "path": "/Model/Geometry/WhiteSquare",
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+    0.003
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+   "static": false,
+   "mass_kg": 0.01289,
+   "mass_from_collider_densities_kg": 0.01325,
+   "com_local": [
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+    0.000431,
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+    2.3029899737734514e-06,
+    3.802871342265829e-06
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+   "volume_cm3": 17.257,
+   "parts": {
+    "Wood": {
+     "volume_cm3": 13.141,
+     "density": 605.0,
+     "mass_kg": 0.007951,
+     "physics_material": "painted_wood",
+     "com_local": [
+      0.0,
+      0.0,
+      0.0025
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+    },
+    "Handle": {
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+     "mass_kg": 0.004939,
+     "physics_material": "silicone",
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+      -0.001314,
+      0.001124,
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+   },
+   "colliders": [
+    {
+     "path": "/Model/Geometry/WhiteSquare/Colliders/wood",
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+       0.005
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+     "mass_from_density_kg": 0.007951,
+     "part": "Wood",
+     "physics_material": "painted_wood"
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+    {
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+     "mass_from_density_kg": 0.004882,
+     "part": "Handle",
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+    },
+    {
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+     "part": "Handle",
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+     "mass_from_density_kg": 0.000207,
+     "part": "Handle",
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+   ]
+  },
+  "SalmonParallelogram": {
+   "path": "/Model/Geometry/SalmonParallelogram",
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+    0.01825,
+    -0.05475,
+    0.003
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+   "static": false,
+   "mass_kg": 0.01287,
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+   "com_local": [
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+    5.0641453331222814e-06,
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+   "volume_cm3": 17.219,
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+     "mass_kg": 0.007927,
+     "physics_material": "painted_wood",
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+     "com_local": [
+      -0.000994,
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+     "part": "Wood",
+     "physics_material": "painted_wood"
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+    },
+    {
+     "path": "/Model/Geometry/SalmonParallelogram/Colliders/handle_earL",
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+     "bbox_local": [
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+     "part": "Handle",
+     "physics_material": "silicone"
+    },
+    {
+     "path": "/Model/Geometry/SalmonParallelogram/Colliders/handle_earR",
+     "type": "convexHull",
+     "hull_verts": 48,
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+     "part": "Handle",
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+    }
+   ]
+  },
+  "Frame": {
+   "path": "/Model/Geometry/Frame",
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+    0.0,
+    0.0
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+   "static": false,
+   "mass_kg": 0.07558,
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+   "com_local": [
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+     "density": 605.0,
+     "mass_kg": 0.035827,
+     "physics_material": "raw_wood",
+     "com_local": [
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+      0.00496
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+    },
+    "Base": {
+     "volume_cm3": 65.712,
+     "density": 605.0,
+     "mass_kg": 0.039756,
+     "physics_material": "raw_wood",
+     "com_local": [
+      0.0,
+      0.0,
+      0.0015
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+    }
+   },
+   "colliders": [
+    {
+     "path": "/Model/Geometry/Frame/Colliders/wood_0",
+     "type": "convexHull",
+     "hull_verts": 8,
+     "bbox_local": [
+      [
+       -0.0835,
+       -0.0835,
+       0.0
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+       -0.074,
+       0.01
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+     ],
+     "volume_cm3": 14.962,
+     "mass_from_density_kg": 0.009052,
+     "part": "Wood",
+     "physics_material": "raw_wood"
+    },
+    {
+     "path": "/Model/Geometry/Frame/Colliders/wood_1",
+     "type": "convexHull",
+     "hull_verts": 8,
+     "bbox_local": [
+      [
+       0.074,
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+       0.0
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+      [
+       0.0835,
+       0.0835,
+       0.01
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+     ],
+     "volume_cm3": 14.962,
+     "mass_from_density_kg": 0.009052,
+     "part": "Wood",
+     "physics_material": "raw_wood"
+    },
+    {
+     "path": "/Model/Geometry/Frame/Colliders/wood_2",
+     "type": "convexHull",
+     "hull_verts": 8,
+     "bbox_local": [
+      [
+       -0.0835,
+       0.074,
+       0.0
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+      [
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+       0.0835,
+       0.01
+      ]
+     ],
+     "volume_cm3": 14.962,
+     "mass_from_density_kg": 0.009052,
+     "part": "Wood",
+     "physics_material": "raw_wood"
+    },
+    {
+     "path": "/Model/Geometry/Frame/Colliders/wood_3",
+     "type": "convexHull",
+     "hull_verts": 8,
+     "bbox_local": [
+      [
+       -0.0835,
+       -0.0835,
+       0.0
+      ],
+      [
+       -0.074,
+       0.0835,
+       0.01
+      ]
+     ],
+     "volume_cm3": 14.962,
+     "mass_from_density_kg": 0.009052,
+     "part": "Wood",
+     "physics_material": "raw_wood"
+    },
+    {
+     "path": "/Model/Geometry/Frame/Colliders/base",
+     "type": "convexHull",
+     "hull_verts": 8,
+     "bbox_local": [
+      [
+       -0.074,
+       -0.074,
+       0.0
+      ],
+      [
+       0.074,
+       0.074,
+       0.003
+      ]
+     ],
+     "volume_cm3": 65.712,
+     "mass_from_density_kg": 0.039756,
+     "part": "Base",
+     "physics_material": "raw_wood"
+    }
+   ]
+  }
+ },
+ "physics_materials": {
+  "painted_wood": {
+   "static_friction": 0.3798,
+   "dynamic_friction": 0.2849,
+   "restitution": 0.28,
+   "density": 605.0,
+   "source": "ALLSIDES toy_block_6MPL7NVFVU pm_shell_mat; density = 0.122 kg / 201.8 cm3"
+  },
+  "raw_wood": {
+   "static_friction": 0.5,
+   "dynamic_friction": 0.4,
+   "restitution": 0.3,
+   "density": 605.0,
+   "source": "PalatialSim D00413 part_00_material (friction/restitution); density as painted_wood"
+  },
+  "silicone": {
+   "static_friction": 0.8,
+   "dynamic_friction": 0.8,
+   "restitution": 0.2,
+   "density": 1200.0,
+   "source": "NVIDIA SimReady handTool_hammer_rubberMallet_a01 rubber__new_black_a01 (friction, density); restitution 0.2 (soft silicone, see physics_reference.handle)"
+  }
+ },
+ "layouts": {
+  "square": {
+   "bodies": [
+    "RedLargeTri",
+    "YellowLargeTri",
+    "GreenMediumTri",
+    "BlueSmallTri",
+    "NavySmallTri",
+    "WhiteSquare",
+    "SalmonParallelogram",
+    "Frame"
+   ],
+   "excluded": []
+  },
+  "figure": {
+   "bodies": [
+    "RedLargeTri",
+    "YellowLargeTri",
+    "GreenMediumTri",
+    "BlueSmallTri",
+    "NavySmallTri",
+    "WhiteSquare",
+    "SalmonParallelogram"
+   ],
+   "excluded": [
+    "Frame"
+   ]
+  },
+  "scattered": {
+   "bodies": [
+    "RedLargeTri",
+    "YellowLargeTri",
+    "GreenMediumTri",
+    "BlueSmallTri",
+    "NavySmallTri",
+    "WhiteSquare",
+    "SalmonParallelogram",
+    "Frame"
+   ],
+   "excluded": []
+  },
+  "recorded_exo_0002": {
+   "bodies": [
+    "RedLargeTri",
+    "YellowLargeTri",
+    "GreenMediumTri",
+    "BlueSmallTri",
+    "NavySmallTri",
+    "WhiteSquare",
+    "SalmonParallelogram"
+   ],
+   "excluded": [
+    "Frame"
+   ]
+  }
+ },
+ "variant_set": "layout",
+ "default_layout": "square"
+}