{
 "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"
}