Add straw deformable sim asset (cadgen route deform, kind rod)

.gitattributes

@@ -59,3 +59,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.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/straw/pnp_straw.glb filter=lfs diff=lfs merge=lfs -text

assets/straw/README.md

@@ -0,0 +1,56 @@
+# Drinking straw: deformable simulation asset
+
+A simulation asset of the pink drinking straw in this dataset's `pnp_straw_v2` pick-and-place episodes, for Isaac Sim
+5.1. It stays straight like stiff plastic everywhere except where the gripper squeezes it: there it is squashed almost
+flat, tapering back to round. It was built with the `cadgen` harness (route `deform`, kind `rod`, `agentic_mesh/cadgen`
+in prj-agentic-rsr) and checked in Isaac Sim against episode `success/0000`.
+
+| file | what |
+|---|---|
+| `pnp_straw.usda` | the asset: rigid straw body + soft (FEM) sleeve at the grasp, physics materials |
+| `build_report.json` | method, size, mass, parameters |
+| `pnp_straw.glb` | render meshes for web viewers |
+| `report.json` | Isaac Sim check results |
+| `sim_sequence.mp4` | the check run: settle, squeeze, lift tilted 60°, carry, place in the cup, release |
+| `review_squash.png` | wrist-camera close-ups of the squeeze (9.5–13 s) next to the simulated squeeze |
+| `review_sequence.png` | rollout frames (6–24 s) above the matching simulation frames |
+
+Units are metres, Z-up.
+
+## Asset
+- **Size:** 210 mm long, 8 mm outer diameter, 0.2 mm wall, 0.93 g. Measured from the episode frames against the cup rim.
+- **Straight body:** one rigid body with the polypropylene physics material. It cannot bend.
+- **Squash zone:** a 64 mm soft (FEM volume deformable) hollow sleeve at 0.30 of the length, the grasp point in the
+  episode, attached to the rigid body at both end rings.
+  - Two finger pads close on it to a 1.4 mm gap. That flattens it until the lumen closes, and it tapers back to round
+    over 16–20 mm on each side.
+  - The sim wall is 0.7 mm, with the modulus scaled by (0.2/0.7)³ to keep the real wall's ring stiffness. Self-collision
+    is on.
+- **Look:** saturated magenta sampled from the episode.
+
+| parameter | value | source |
+|---|---|---|
+| Young's modulus | 1.5 GPa (rigid part); sleeve 1.5 GPa × (0.2/0.7)³ | polypropylene (MatWeb) |
+| Poisson ratio | 0.42 | polypropylene (literature) |
+| density | 905 kg/m³ | literature; the library straw says 900 |
+| friction static / dynamic | 0.4 / 0.3 | PalatialSim `D00830` straw |
+| solver | dt 1/480 s, 96 iterations | needed for the lumen to close |
+
+## Checks (Isaac Sim 5.1)
+| check | criterion | result |
+|---|---|---|
+| straight when held | ≤ 2 mm off a straight line outside the squash zone, at the episode's 60° tilt | pass (0.001 mm) |
+| squashed at the grip | minor axis ≤ 0.35 × OD; flattened width ≥ 1.25 × OD | pass (1.40 mm; 11.2 mm) |
+| squash taper | 10–35 mm each side | pass (20 / 16 mm) |
+| rest straight, stable, no penetration | | pass |
+| lift follows the gripper, ends in the cup | | pass |
+| after release (report only) | | residual flattening 0.14 mm |
+
+Remaining differences: the simulated taper is about 1.5× shorter than estimated from the foreshortened wrist view.
+The grippers are simple pads, and the grasp is a rigid joint.
+
+## License and attribution
+Released under CC-BY-4.0.
+- **Geometry:** procedural, from measurements of the episode frames.
+- **Friction, density and mass reference:** [PalatialSim/palatial-nv-asset-library](https://huggingface.co/datasets/PalatialSim/palatial-nv-asset-library)
+  `D00830` (CC-BY-4.0).

assets/straw/build_report.json

@@ -0,0 +1,71 @@
+{
+ "pass": true,
+ "asset": "$RUN/deform/asset/pnp_straw.usda",
+ "spec": "$REPO/agentic_mesh/cadgen/specs/pnp_straw.json",
+ "checks": {
+  "rigid_body": true,
+  "rigid_colliders": true,
+  "sleeve_deformable_body_api": true,
+  "sleeve_volume_sim_api": true,
+  "sleeve_material_api": true,
+  "sleeve_attachment": true
+ },
+ "dims_mm": {
+  "W": 8.0,
+  "D": 8.0,
+  "H": 210.0
+ },
+ "dims_note": "W, D = tube outer diameter (y, z); H = length (x, the rod axis)",
+ "mass_kg": 0.00093,
+ "method": "hybrid: rigid straight rod (UsdPhysics rigid body, 2 cylinder colliders, physics material) + 64 mm FEM hollow sleeve at the grasp (PhysX volume deformable, Isaac Sim 5.1 deformable beta) attached to the rigid body at both end rings; render meshes are hollow tubes",
+ "why_hybrid": "full-length FEM rod: material read back at runtime (E applied) but sag ~80 mm for E x0.01..x100 (soft hinge next to the grasp attachment); target: straight object, local squash only at the grasp",
+ "mesh_source": "procedural (library PalatialSim/palatial-nv-asset-library/D00830 used as reference only)",
+ "sleeve": {
+  "x_m": [
+   -0.074,
+   -0.009999999999999995
+  ],
+  "length_m": 0.064,
+  "nodes": 544,
+  "tets": 1536,
+  "sim_wall_m": 0.0007,
+  "E_sleeve_pa": 34985422.7405248,
+  "mass_kg": 0.00028342857142857146,
+  "density_eff": 283.0825545930131
+ },
+ "rigid": {
+  "mass_kg": 0.0006465714285714286,
+  "segments_m": {
+   "a": [
+    -0.105,
+    -0.074
+   ],
+   "b": [
+    -0.009999999999999995,
+    0.105
+   ]
+  },
+  "collider_gap_m": 0.0015
+ },
+ "params": {
+  "youngs_modulus_pa": 1500000000.0,
+  "sleeve_youngs_modulus_pa": 34985422.7405248,
+  "poissons_ratio": 0.42,
+  "density_kg_m3": 905.0,
+  "static_friction": 0.4,
+  "dynamic_friction": 0.3,
+  "elasticity_damping": 0.005,
+  "linear_damping": 0.05,
+  "solver_position_iterations": 96,
+  "mass_kg": 0.00093
+ },
+ "appearance": {
+  "color_rgb": [
+   0.8,
+   0.06,
+   0.45
+  ],
+  "opacity": 1.0,
+  "roughness": 0.35
+ }
+}

assets/straw/pnp_straw.glb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d716efde3164fcee72d8dc4047e543ef726245bab47c5c314478a37cfc61f3df
+size 263252

assets/straw/report.json

@@ -0,0 +1,713 @@
+{
+ "pass": true,
+ "asset": "$RUN/deform/asset/pnp_straw.usda",
+ "spec": "$REPO/agentic_mesh/cadgen/specs/pnp_straw.json",
+ "checks": {
+  "rest_stable": {
+   "pass": true,
+   "end_speed_m_s": 0.0,
+   "max_speed_m_s": 0.036
+  },
+  "rest_no_penetration": {
+   "pass": true,
+   "min_z_mm": -0.0,
+   "limit_mm": -1.5
+  },
+  "rest_straight": {
+   "pass": true,
+   "sleeve_axis_dev_mm": 0.381,
+   "length_mm": 210.0,
+   "tilt_from_table_deg": 0.0,
+   "target_length_mm": 210.0
+  },
+  "stable": {
+   "pass": true,
+   "nan": false,
+   "max_point_speed_m_s": 0.341,
+   "limit_m_s": 3.0
+  },
+  "no_penetration": {
+   "pass": true,
+   "min_z_mm_on_table": -0.0
+  },
+  "lift_follows": {
+   "pass": true,
+   "centroid_err_vs_rigid_m": 0.0,
+   "centroid_rise_m": 0.1136,
+   "gripper_lift_m": 0.15,
+   "tilt_deg": 60.0
+  },
+  "held_straight": {
+   "pass": true,
+   "max_dev_outside_squash_zone_mm": 0.001,
+   "tip_dev_long_end_mm": 0.001,
+   "tip_dev_short_end_mm": 0.0,
+   "limit_mm": 2.0,
+   "tilt_from_horizontal_deg": 60.0,
+   "target_tilt_deg": 60.0
+  },
+  "full_squash": {
+   "pass": true,
+   "flat_width_rule": ">= 1.25 x OD = 10.00 mm",
+   "contact_minor_axis_mm": 1.402,
+   "minor_limit_mm": 2.8,
+   "contact_flat_width_mm": 11.212,
+   "expected_flat_width_mm": 12.57,
+   "flat_width_tol_frac": 0.2,
+   "pads_gap_mm": 1.4,
+   "sim_wall_mm": 0.7
+  },
+  "squash_taper": {
+   "pass": true,
+   "taper_short_side_mm": 20.0,
+   "taper_long_side_mm": 16.0,
+   "taper_range_mm": [
+    10.0,
+    35.0
+   ],
+   "round_threshold_mm": 7.6,
+   "taper_reached_sleeve_end": [
+    false,
+    false
+   ],
+   "sleeve_end_ring_minor_mm": [
+    7.878,
+    7.878
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+   "far_limit_mm": 0.2,
+   "beyond_sleeve": "rigid body: cross-section and axis exact",
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+  "in_target": {
+   "pass": true,
+   "lower_end_r_from_target_axis_mm": 0.0,
+   "lower_end_z_mm": 30.0,
+   "tilt_from_vertical_deg": 0.0
+  }
+ },
+ "dims_mm": {
+  "W": 8.0,
+  "D": 8.0,
+  "H": 210.0
+ },
+ "params": {
+  "youngs_modulus_pa": 1500000000.0,
+  "sleeve_youngs_modulus_pa": 34985422.7405248,
+  "poissons_ratio": 0.42,
+  "density_kg_m3": 905.0,
+  "static_friction": 0.4,
+  "dynamic_friction": 0.3,
+  "elasticity_damping": 0.005,
+  "linear_damping": 0.05,
+  "solver_position_iterations": 96,
+  "mass_kg": 0.00093
+ },
+ "report": "$RUN/deform/isaac/report.json",
+ "timings_s": {
+  "boot": 17.5,
+  "sim_render": 110.4,
+  "total": 132.1
+ },
+ "diagnostics": {
+  "material_view_count": 1,
+  "runtime_youngs_modulus": [
+   34985424.0
+  ],
+  "runtime_poissons_ratio": [
+   0.41999998688697815
+  ]
+ },
+ "release": {
+  "info": "report only (a real PP straw keeps a crease)",
+  "recovered": false,
+  "residual_flattening_mm": 0.136,
+  "residual_minor_axis_mm": 7.864,
+  "sleeve_axis_dev_mm": 0.029,
+  "sleeve_axis_dev_rest_mm": 0.381,
+  "sleeve_axis_vs_rest_mm": -0.352,
+  "vs_rest_limit_mm": 0.2,
+  "followed_gripper": false,
+  "rigid_axis": "straight by construction",
+  "lower_end_r_from_target_axis_mm": 0.2
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+ "mass_kg": 0.00093,
+ "method": "hybrid: rigid straight rod (UsdPhysics rigid body, 2 cylinder colliders, physics material) + 64 mm FEM hollow sleeve at the grasp (PhysX volume deformable, Isaac Sim 5.1 deformable beta) attached to the rigid body at both end rings; render meshes are hollow tubes",
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+  "E_sleeve_pa": 34985422.7405248,
+  "mass_kg": 0.00028342857142857146,
+  "density_eff": 283.0825545930131
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+  "initial_yaw_deg": 25.0,
+  "place_target": {
+   "xy": [
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+   "rt": 0.0475,
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+   "lid": true,
+   "color": [
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+  "gpu_dynamics": true,
+  "grasp": "2 kinematic pads (box colliders) squeeze the FEM sleeve; fixed joint gripper->rigid body carries it",
+  "lift_m": 0.15,
+  "tilt_deg": 60.0,
+  "prelift_m": 0.012,
+  "pads_closed_gap_mm": 1.4
+ },
+ "video": {
+  "path": "$RUN/deform/isaac/sim_sequence.mp4",
+  "frames": 134,
+  "fps": 15,
+  "bytes": 87275
+ },
+ "outputs": [
+  "isaac_end.png",
+  "isaac_end_close.png",
+  "isaac_held.png",
+  "isaac_held_close.png",
+  "isaac_held_pinch.png",
+  "isaac_held_squash_edge.png",
+  "isaac_held_squash_face.png",
+  "isaac_rest.png",
+  "isaac_rest_close.png",
+  "isaac_squash_t00.70.png",
+  "isaac_squash_t01.00.png",
+  "isaac_squash_t01.25.png",
+  "isaac_squash_t01.50.png",
+  "isaac_squash_t03.60.png",
+  "keyframes.png",
+  "report.json",
+  "review_end.png",
+  "review_held.png",
+  "review_rest.png",
+  "review_sequence.png",
+  "review_squash.png",
+  "sim_sequence.mp4"
+ ]
+}

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