{
  "schema": "dvidia.usd-workstation-benchmark/v1",
  "cases": [
    {
      "id": "case-00",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 0.1,
      "height_m": 0.05,
      "control": "normal"
    },
    {
      "id": "case-01",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 0.1,
      "height_m": 0.1,
      "control": "normal"
    },
    {
      "id": "case-02",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 0.1,
      "height_m": 0.2,
      "control": "normal"
    },
    {
      "id": "case-03",
      "seed": 301729,
      "kind": "slide",
      "mass_kg": 0.04,
      "friction": 0.1,
      "height_m": 0.0,
      "control": "normal"
    },
    {
      "id": "case-04",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 0.5,
      "height_m": 0.05,
      "control": "normal"
    },
    {
      "id": "case-05",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 0.5,
      "height_m": 0.1,
      "control": "normal"
    },
    {
      "id": "case-06",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 0.5,
      "height_m": 0.2,
      "control": "normal"
    },
    {
      "id": "case-07",
      "seed": 301729,
      "kind": "slide",
      "mass_kg": 0.04,
      "friction": 0.5,
      "height_m": 0.0,
      "control": "normal"
    },
    {
      "id": "case-08",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 1.0,
      "height_m": 0.05,
      "control": "normal"
    },
    {
      "id": "case-09",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 1.0,
      "height_m": 0.1,
      "control": "normal"
    },
    {
      "id": "case-10",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 1.0,
      "height_m": 0.2,
      "control": "normal"
    },
    {
      "id": "case-11",
      "seed": 301729,
      "kind": "slide",
      "mass_kg": 0.04,
      "friction": 1.0,
      "height_m": 0.0,
      "control": "normal"
    },
    {
      "id": "case-12",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.08,
      "friction": 0.1,
      "height_m": 0.05,
      "control": "normal"
    },
    {
      "id": "case-13",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.08,
      "friction": 0.1,
      "height_m": 0.1,
      "control": "normal"
    },
    {
      "id": "case-14",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.08,
      "friction": 0.1,
      "height_m": 0.2,
      "control": "normal"
    },
    {
      "id": "case-15",
      "seed": 301729,
      "kind": "slide",
      "mass_kg": 0.08,
      "friction": 0.1,
      "height_m": 0.0,
      "control": "normal"
    },
    {
      "id": "case-16",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.08,
      "friction": 0.5,
      "height_m": 0.05,
      "control": "normal"
    },
    {
      "id": "case-17",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.08,
      "friction": 0.5,
      "height_m": 0.1,
      "control": "normal"
    },
    {
      "id": "case-18",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.08,
      "friction": 0.5,
      "height_m": 0.2,
      "control": "normal"
    },
    {
      "id": "case-19",
      "seed": 301729,
      "kind": "slide",
      "mass_kg": 0.08,
      "friction": 0.5,
      "height_m": 0.0,
      "control": "normal"
    },
    {
      "id": "case-20",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.08,
      "friction": 1.0,
      "height_m": 0.05,
      "control": "normal"
    },
    {
      "id": "case-21",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.08,
      "friction": 1.0,
      "height_m": 0.1,
      "control": "normal"
    },
    {
      "id": "case-22",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.08,
      "friction": 1.0,
      "height_m": 0.2,
      "control": "normal"
    },
    {
      "id": "case-23",
      "seed": 301729,
      "kind": "slide",
      "mass_kg": 0.08,
      "friction": 1.0,
      "height_m": 0.0,
      "control": "normal"
    },
    {
      "id": "case-24",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.16,
      "friction": 0.1,
      "height_m": 0.05,
      "control": "normal"
    },
    {
      "id": "case-25",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.16,
      "friction": 0.1,
      "height_m": 0.1,
      "control": "normal"
    },
    {
      "id": "case-26",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.16,
      "friction": 0.1,
      "height_m": 0.2,
      "control": "normal"
    },
    {
      "id": "case-27",
      "seed": 301729,
      "kind": "slide",
      "mass_kg": 0.16,
      "friction": 0.1,
      "height_m": 0.0,
      "control": "normal"
    },
    {
      "id": "case-28",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.16,
      "friction": 0.5,
      "height_m": 0.05,
      "control": "normal"
    },
    {
      "id": "case-29",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.16,
      "friction": 0.5,
      "height_m": 0.1,
      "control": "normal"
    },
    {
      "id": "case-30",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.16,
      "friction": 0.5,
      "height_m": 0.2,
      "control": "normal"
    },
    {
      "id": "case-31",
      "seed": 301729,
      "kind": "slide",
      "mass_kg": 0.16,
      "friction": 0.5,
      "height_m": 0.0,
      "control": "normal"
    },
    {
      "id": "case-32",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.16,
      "friction": 1.0,
      "height_m": 0.05,
      "control": "normal"
    },
    {
      "id": "case-33",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.16,
      "friction": 1.0,
      "height_m": 0.1,
      "control": "normal"
    },
    {
      "id": "case-34",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.16,
      "friction": 1.0,
      "height_m": 0.2,
      "control": "normal"
    },
    {
      "id": "case-35",
      "seed": 301729,
      "kind": "slide",
      "mass_kg": 0.16,
      "friction": 1.0,
      "height_m": 0.0,
      "control": "normal"
    },
    {
      "id": "case-36",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 0.5,
      "height_m": 0.05,
      "control": "table_disabled"
    },
    {
      "id": "case-37",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 0.5,
      "height_m": 0.05,
      "control": "gravity_disabled"
    },
    {
      "id": "case-38",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 0.5,
      "height_m": 0.1,
      "control": "table_disabled"
    },
    {
      "id": "case-39",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 0.5,
      "height_m": 0.1,
      "control": "gravity_disabled"
    },
    {
      "id": "case-40",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 0.5,
      "height_m": 0.2,
      "control": "table_disabled"
    },
    {
      "id": "case-41",
      "seed": 301729,
      "kind": "drop",
      "mass_kg": 0.04,
      "friction": 0.5,
      "height_m": 0.2,
      "control": "gravity_disabled"
    },
    {
      "id": "case-42",
      "seed": 301729,
      "kind": "slide",
      "mass_kg": 0.04,
      "friction": 0.0,
      "height_m": 0.0,
      "control": "friction_disabled"
    },
    {
      "id": "case-43",
      "seed": 301729,
      "kind": "slide",
      "mass_kg": 0.08,
      "friction": 0.0,
      "height_m": 0.0,
      "control": "friction_disabled"
    },
    {
      "id": "case-44",
      "seed": 301729,
      "kind": "slide",
      "mass_kg": 0.16,
      "friction": 0.0,
      "height_m": 0.0,
      "control": "friction_disabled"
    }
  ],
  "source": {
    "usd_scene.py": {
      "bytes": 23550,
      "sha256": "8b6891deb214f2397249181390350336593a89adbc73cf0c30bcdfe885171470"
    },
    "usd_scene_benchmark.py": {
      "bytes": 18366,
      "sha256": "b64d739362079635f89b9f448359565f09711d74a95aeeebaba0ea7bb3f79f39"
    },
    "asset_library.py": {
      "bytes": 9837,
      "sha256": "347bfdeb61e22eb3f65e317c18f94d3b2076d05def77630ebbb6e7dde427c2a7"
    },
    "asset_catalog.json": {
      "bytes": 37117,
      "sha256": "592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7"
    },
    "robot_profiles.py": {
      "bytes": 26493,
      "sha256": "fb90782a6a9979e282182118ae0e3e29d00f101255cc57378dd3f692672bb13d"
    },
    "robot_profiles.lock.json": {
      "bytes": 35002,
      "sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe"
    },
    "reference_sim.py": {
      "bytes": 24336,
      "sha256": "c1201d22eb13dd07a236ee63cc4ba68e129f6067e8db61ed41af2d820eb5e3b8"
    },
    "reference_assets.lock.json": {
      "bytes": 10029,
      "sha256": "941eb6f9fd474635a590b82c66b59a9d5124d8e0d9ddc203006f5b921d8d2861"
    },
    "asset_preview.py": {
      "bytes": 16887,
      "sha256": "12f4806162504a3c8773b10b516d6b7abb05f670a1f5817be144ea98fc1d25d8"
    },
    "reference_replay.py": {
      "bytes": 26037,
      "sha256": "f73731434d55bac150db16c7205d341a70b95ce13e582e7a23d11dee31b27a19"
    }
  },
  "timestep_s": 0.001,
  "example_recipe": {
    "bytes": 808,
    "sha256": "2377675db198f34eb52f7def51992c9312303a083a3998da5646e5446dffe651"
  },
  "example_stage": {
    "bytes": 2247,
    "sha256": "f72ebcc58e58ceff891acebb4ef6639a5b26555098a921277d537f528cfbe8e6"
  },
  "scope": "Passive rigid-box scene conversion, drop/support and Coulomb sliding. Arm holds native home controls; no policy, shoe grasp or video learning.",
  "thresholds": {
    "drop_early_position_error_m": 0.001,
    "drop_final_height_error_m": 0.001,
    "drop_final_speed_m_s": 0.02,
    "normal_slide_final_speed_m_s": 0.02,
    "sliding_distance_relative_error": 0.35,
    "sliding_distance_absolute_floor_m": 0.002,
    "initial_slide_speed_tolerance_m_s": 0.005,
    "negative_slide_final_speed_m_s": 0.3
  },
  "duration_s": {
    "drop": 2.0,
    "slide": 1.0
  },
  "slide_initial_speed_m_s": 0.4,
  "slide_pre_settle_s": 0.5,
  "negative_controls": "Disable compiled tabletop collision or gravity after verified construction; friction-disabled is authored in USD for both bodies. All controls are declared and recorded.",
  "goal_semantics": "Independent geometry, velocities, table contact and no robot contact over250ms; this verifies passive settling, not a manipulation skill.",
  "timing_scope": "One CPU worker; shared-host load may overlap frozen grip confirmation and publication. Includes model loading/validation; excludes downloads, camera and physical actuators.",
  "physics_calibrated": false,
  "learned_skill": false,
  "physical_robot_ready": false
}
