The validator on ReplicaCAD's furniture converted to MJCF and on kitchen scenes built from it with the approved objects
662aab6 verified | { | |
| "name": "kitchen_counter", | |
| "path": "kitchen_counter.xml", | |
| "mjcf": "kitchen_counter.xml", | |
| "mujoco": "3.17.0", | |
| "bodies": 9, | |
| "geoms": 56, | |
| "joints": 7, | |
| "timestep": 0.002, | |
| "mass_kg": 152.0, | |
| "floor_added": true, | |
| "checks": [ | |
| { | |
| "id": "loads", | |
| "level": "pass", | |
| "message": "loads in MuJoCo 3.17.0: 9 bodies, 56 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): drawer1_top 81 kg/m\u00b3 (5.0 kg), drawer1_bottom 81 kg/m\u00b3 (5.0 kg), drawer3 130 kg/m\u00b3 (4.0 kg), drawer4 141 kg/m\u00b3 (6.0 kg), drawer2_top 159 kg/m\u00b3 (4.0 kg), drawer2_middle 159 kg/m\u00b3 (4.0 kg)", | |
| "data": { | |
| "bodies": [ | |
| [ | |
| "body", | |
| 204, | |
| 120.0 | |
| ], | |
| [ | |
| "drawer1_top", | |
| 81, | |
| 5.0 | |
| ], | |
| [ | |
| "drawer1_bottom", | |
| 81, | |
| 5.0 | |
| ], | |
| [ | |
| "drawer2_top", | |
| 159, | |
| 4.0 | |
| ], | |
| [ | |
| "drawer2_middle", | |
| 159, | |
| 4.0 | |
| ], | |
| [ | |
| "drawer2_bottom", | |
| 159, | |
| 4.0 | |
| ], | |
| [ | |
| "drawer3", | |
| 130, | |
| 4.0 | |
| ], | |
| [ | |
| "drawer4", | |
| 141, | |
| 6.0 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "id": "inertia", | |
| "level": "warn", | |
| "message": "rotational inertia against a solid of the same mass filling its collision hull (1 = the same): body 0.01\u00d7, drawer2_top 5.83\u00d7, drawer2_middle 5.83\u00d7, drawer2_bottom 5.83\u00d7, drawer3 3.77\u00d7, drawer1_top 2.8\u00d7", | |
| "data": { | |
| "bodies": [ | |
| [ | |
| "body", | |
| 0.01 | |
| ], | |
| [ | |
| "drawer1_top", | |
| 2.8 | |
| ], | |
| [ | |
| "drawer1_bottom", | |
| 2.8 | |
| ], | |
| [ | |
| "drawer2_top", | |
| 5.83 | |
| ], | |
| [ | |
| "drawer2_middle", | |
| 5.83 | |
| ], | |
| [ | |
| "drawer2_bottom", | |
| 5.83 | |
| ], | |
| [ | |
| "drawer3", | |
| 3.77 | |
| ], | |
| [ | |
| "drawer4", | |
| 2.4 | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "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": "warn", | |
| "message": "47 of 47 colliding geoms have MuJoCo's default friction (1.0 sliding): none is set from a material", | |
| "data": { | |
| "default": 47, | |
| "geoms": 47 | |
| } | |
| }, | |
| { | |
| "id": "contact-softness", | |
| "level": "pass", | |
| "message": "47 of 47 colliding geoms use MuJoCo's default contact softness (solref 0.02 s)", | |
| "data": { | |
| "default": 47, | |
| "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: body by 361.9 mm, drawer2_top by 46.1 mm, drawer2_middle by 46.1 mm, drawer2_bottom by 46.1 mm, drawer4 by 45.9 mm, drawer1_top by 35.1 mm", | |
| "data": { | |
| "bodies": [ | |
| [ | |
| "body", | |
| 361.9, | |
| "above" | |
| ], | |
| [ | |
| "drawer1_top", | |
| 35.1, | |
| "below" | |
| ], | |
| [ | |
| "drawer1_bottom", | |
| 35.1, | |
| "below" | |
| ], | |
| [ | |
| "drawer2_top", | |
| 46.1, | |
| "above" | |
| ], | |
| [ | |
| "drawer2_middle", | |
| 46.1, | |
| "above" | |
| ], | |
| [ | |
| "drawer2_bottom", | |
| 46.1, | |
| "above" | |
| ], | |
| [ | |
| "drawer3", | |
| 20.1, | |
| "below" | |
| ], | |
| [ | |
| "drawer4", | |
| 45.9, | |
| "above" | |
| ] | |
| ] | |
| } | |
| }, | |
| { | |
| "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": "7 hinge or slide joints: left_slide_top (slide, range [0.0, 0.5], damping 0.01), left_slide_bottom (slide, range [0.0, 0.5], damping 0.01), middle_slide_top (slide, range [0.0, 0.5], damping 0.01), middle_slide_middle (slide, range [0.0, 0.5], damping 0.01), middle_slide_bottom (slide, range [0.0, 0.5], damping 0.01), right_slide_top (slide, range [0.0, 0.5], damping 0.01), right_slide_bottom (slide, range [0.0, 0.5], 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 7 joints moves more than 5\u00b0 or 5 mm", | |
| "data": { | |
| "joints": [] | |
| } | |
| }, | |
| { | |
| "id": "joints-reach", | |
| "level": "pass", | |
| "message": "each of the 7 limited joints reaches both ends of its range when driven", | |
| "data": { | |
| "reach": [ | |
| [ | |
| "left_slide_top", | |
| "upper", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "left_slide_top", | |
| "lower", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "left_slide_bottom", | |
| "upper", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "left_slide_bottom", | |
| "lower", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "middle_slide_top", | |
| "upper", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "middle_slide_top", | |
| "lower", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "middle_slide_middle", | |
| "upper", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "middle_slide_middle", | |
| "lower", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "middle_slide_bottom", | |
| "upper", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "middle_slide_bottom", | |
| "lower", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "right_slide_top", | |
| "upper", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "right_slide_top", | |
| "lower", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "right_slide_bottom", | |
| "upper", | |
| 1.0, | |
| null | |
| ], | |
| [ | |
| "right_slide_bottom", | |
| "lower", | |
| 1.0, | |
| null | |
| ] | |
| ] | |
| } | |
| } | |
| ], | |
| "verdict": "warn" | |
| } |