Physics settle bake for lab_workbench01 — 234/340 entities - #1
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Physics settle of lab_workbench01 assembly: - 234/340 entities settled on surfaces (69%) - Settled layer: ALab/entity/lab_workbench01/physics/lab_workbench01_settled.usda - Per-entity CSV with positions, drift, surface mapping: settle_per_entity.csv - Entity manifest: workbench_entities.csv, workbench_manifest.md Entity physics updates: - convexDecomposition for all collision shapes - Circuit board components (proc_dev_circuit_*) stripped of RigidBodyAPI - Bench seat, bonsai, thumb tacks stripped of RigidBodyAPI - Furniture_workbench01: collision on all 29 shelf boards + 4 curved shelves - Furniture entities are static colliders (no RigidBodyAPI) Settle approach: - SemiImplicit solver, ke=50000, kd=5000 - 5cm Y lift + XZ spring attractor (k=500, d=200) - Direct entity references (not through assembly) - Validated: 234 bodies stable under gravity (max_v=42 cm/s) Known issues: - 106 entities fell (workbench shelf objects need individual shelf collision) - Newton CoACD crashes after ~4 consecutive model builds (memory corruption) - Assembly reference composition doesn't propagate CollisionAPI to Newton
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Workbench Physics Settle Bake
Settles rigid-body entities on the
lab_workbench01assembly using Newton physics (SemiImplicit solver) and bakes the resulting transforms into per-entity domain layers.What this does
physics/<entity>_settled.usdalayer with baked resting transformsalab/settle_per_entity.csv(358 rows with positions, drift, surface assignment)alab/workbench_settled_test.usda(234 bodies, 270 collision shapes, 2 cameras)alab/run_settle_all.py,alab/run_settle_direct.py,alab/run_one_batch.pyPhysics settings (proven stable)
Known issues — 106 entities still unsettled
These entities fall through their support surfaces due to missing or incomplete collision geometry:
Next steps: Add collision geometry for individual shelf boards at each height level + floor plane, then re-run the 106 failures.
Excluded entities (not settled — by design)
proc_dev_circuit_*) — RigidBodyAPI stripped (soldered parts, 32+ neighbors cause chain explosions)decor_thumb_tack01— stripped (30 neighbors)furniture_bench_seat01— stripped (falls over)vegetation_bonsai*+decor_bonsai_jar01— stripped (complex tree geometry)