Document seven robot packages, validation, and remaining runtime findings

README.md

@@ -1,13 +1,98 @@
 ---
 license: cc-by-4.0
+language:
+- en
+tags:
+- robotics
+- simulation
+- usd
+- simready
 ---
 
 # DEEP Robotics SimReady assets
 
 robots at DEEP Robotics.
 
-Organisation: DEEP Robotics.
-Contact: Percy Peng <pengbo@deeprobotics.cn>.
+Organisation: **DEEP Robotics**  
+Contact: **Percy Peng <pengbo@deeprobotics.cn>**
 
-Prepared robot assets for NVIDIA SimReady Central. Original source notices are
-retained inside each package.
+Prepared USD robot assets for NVIDIA SimReady Central, version `2026.10.22_00`.
+Each package includes its bill of materials, required profile-validation results,
+runtime benchmark results, and original source license notices.
+
+| Asset | Robot type | Source |
+| --- | --- | --- |
+| M20S | Quadruped with wheels | Existing OEM USD |
+| M20 | Quadruped with wheels | High-resolution OEM URDF, updated mounting frames |
+| X30 | Quadruped | High-resolution OEM URDF, updated mounting frames |
+| S10 | Wheeled robot | Existing OEM USD |
+| M20_Piper | Mobile manipulator | Existing OEM USD |
+| DR02-std | Humanoid | High-resolution OEM URDF |
+| DR02-pro | Humanoid with wrist joints and rubber hands | High-resolution OEM URDF |
+
+Lite3 was compared with the published Isaac Sim asset and excluded because its
+geometry and mass were unchanged. M20 and X30 are updates: their new sensor
+mounting frames preserve the source positions and rotations. These frames do
+not implement camera or lidar simulation.
+
+## Simulation preparation
+
+The staged models use relative package dependencies and UsdPreviewSurface
+materials. Repairs preserve robot geometry and mechanical structure except for
+removing exactly zero-area triangles and duplicate rendered surfaces. Rigid-body
+hierarchies are flattened where needed while retaining world poses and remapping
+joint targets. DR02 Pro retains its extra wrist DOFs, visible rubber hands, and
+mesh-derived convex-hull hand collisions.
+
+X30's mirrored render transforms are baked into its visual geometry while
+preserving all world-space vertices and normals. Its visual instances are
+expanded for portable material overrides. Its undersized torso collision box
+is replaced with a convex envelope derived from existing CAD vertices; the
+original box is retained disabled. OEM torso mass, inertia, and zero center of
+mass are preserved, and the active collider count remains unchanged.
+
+DR02 uses acceleration-drive stiffness 625 and damping 50. Its native torque
+variant includes a passive-viscosity simulation preset resisting 2% of rated
+torque at 1 rad/s. This is a simulation preset rather than measured hardware
+friction. Native torque limits, joint limits, masses, and inertias are retained.
+
+S10 and M20S include selectable Source/Locomotion control and Source/Ground
+placement variants. Defaults use a simulation locomotion preset (leg position control and continuous-wheel velocity control) and
+place the lowest visual/collision bound 5 mm above ground. Source choices
+restore original control and frame placement. PhysX leg gains are 1000/100 for
+S10 and 2000/100 for M20S; the Newton/MuJoCo variant uses runtime-specific
+angular gain serialization. Geometry, relative mounting poses, mass, inertia,
+and hardware torque/joint limits are retained. Newton slope rebound remains
+a known runtime finding; read each package's results for exact verdicts.
+
+Newton mesh collision representations and articulation self-collision settings
+are explicit. X30's CAD hull and Piper's existing mesh colliders declare the
+Newton mesh collision schema. S10/M20S retain their existing self-collision
+setting; Piper retains the prior Newton importer default. These declarations
+restore backend validation and runtime test coverage without changing geometry.
+
+Newton runtime tests use the intended 1000-contact MuJoCo allocation. Dense
+robot contacts can exceed the SDK default of 200; allocate enough contact
+capacity when configuring your simulation.
+
+Required Robot-Body profile validation and runtime physics benchmarks are
+separate checks. Read the JSON results inside each package for exact findings;
+package availability does not imply every runtime test passed. NVIDIA review is
+pending. Source BSD notices remain in the packages alongside the CC-BY-4.0
+submission license.
+
+## Current package results
+
+Required validation and runtime verdicts are separate. Missing checks are not passes.
+
+| Asset | Required Robot-Body 3.0.0 | Runtime verdicts | Immutable package |
+| --- | --- | --- | --- |
+| M20S | Pass | 1 fail, 14 missing, 21 pass | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/56169e1b1f0865cadd1accc6390917c4ab4b16db/M20S/com.nvidia.simready.packaging.json) |
+| M20 | Pass | 1 fail, 6 missing, 17 pass, 12 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/40d5f3400a214f6f8120e94e587283cab17795be/M20/com.nvidia.simready.packaging.json) |
+| X30 | Pass | 3 fail, 20 pass, 13 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/f87f94a102b105b1a9e1300747380aa0c55456a9/X30/com.nvidia.simready.packaging.json) |
+| S10 | Pass | 1 fail, 14 missing, 21 pass | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/ba04e6a1c14c524b8f40008193d13ff0333121bf/S10/com.nvidia.simready.packaging.json) |
+| M20_Piper | Pass | 3 fail, 15 missing, 18 pass, 2 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/8787930ba787d003a299e7afb6b9f453475f5d46/M20_Piper/com.nvidia.simready.packaging.json) |
+| DR02-std | Pass | 2 fail, 8 missing, 15 pass, 11 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/562708df7241c2b023fcfc90ada873d92a63e536/DR02-std/com.nvidia.simready.packaging.json) |
+| DR02-pro | Pass | 2 fail, 8 missing, 15 pass, 11 skipped | [Package](https://huggingface.co/datasets/deeproboticslab/simready-assets/resolve/f47767b33160a3e7360d9c30ac506cbe4ed1ff88/DR02-pro/com.nvidia.simready.packaging.json) |
+
+Exact failure messages and engine names are retained in each package's `.metadata/<asset>_benchmark.json`.