# Current V1 simulation lab

Current CAD, articulated wheel/caster/jaw dynamics, recorded Newton CPU runs,
optional official MuJoCo WASM interaction, and two georeferenced real-site priors.
See [research and requirements](RESEARCH.md). This is an uncalibrated engineering
sandbox, not field qualification, autonomous navigation, or deployed Pico SIL.

## Reproduce

Use Python3.12 in an isolated environment and Node22:

```sh
python -m pip install -r requirements.txt
npm ci --ignore-scripts
python build_model.py
python compile_sites.py
python run_reference.py --site bench
python run_reference.py --site hurkamp
python run_reference.py --site dogPark
python -m pytest -q
node --test control.test.js
python validate_parity.py
node --test wasm.test.js
python stage.py
python -m http.server 8099 --directory dist
```

Open `/sim/v1/index.html`. Retained terrain/imagery allows offline scene compilation;
`compile_sites.py --fetch` explicitly refreshes the public elevation evidence.
The browser has no CDN or robot connection. Runtime assets are pinned by npm lock
and the staged SHA256 manifest. Only the single-thread MuJoCo build is shipped.

## Evidence boundaries

Source CAD is millimetres; physics/render coordinates are metres, x forward,
y left, z up. Real sites use EPSG:32618 east/north relative to the saved origin;
z is relative to the DEM minimum. The model contract records source hashes,
mass ranges, assumed motor curve and jaw force/speed limits. Detailed CAD meshes
are visual; simplified documented geometry supplies collisions. The secured bin
load has no loose-litter/slosh model. Camera view uses an assumed52° vertical FOV;
it is not calibrated IMX219 imagery or a detector/HIL evaluation.

Interactive commands share one sandbox validation gate with neutral arming,
sequence validation,150ms lease, hold-to-drive, blur/visibility stop and explicit
rearm. Disarming removes wheel torque: inertia/coasting remains physical. Jaw
holding approximates a self-locking actuator using a bounded position servo;
neither its8Nm cap nor8mm/s speed is measured. The exact Pico state machine,
10-second burst/60-second rest policy and real stop chain are **not** emulated.
No behavior here authorizes operating the real robot.

Contact sliding friction0.8, torsional friction0.002m and rolling friction0.00005m
are hypotheses. No calibrated tire deformation/rolling-resistance law is present.
Motor curves, current,8W electronics draw and35% jaw efficiency are hypotheses.
Energy cannot qualify six-hour endurance, battery sag or hot-weather behavior.

Recorded mode reads saved Newton1.7/MuJoCo3.15 CPU body states and metrics; rendering
does not recalculate dynamics. Interactive mode executes official MuJoCo3.15 WASM
on the same generated MJCF. Newton's CPU backend uses MuJoCo, so agreement is
an integration check, not independent cross-solver validation. GPU/Warp parity,
deformable litter, manipulation/transfer and photo reconstruction remain open.

Site imagery, GIS and coarse USGS terrain have dated provenance. Outlines do
not create surveyed curb/building collision geometry. Existing misaligned route
annotations are excluded. Travel traces record model motion, not visited/cleaned
ground or localized trash. The required five-photo metric reconstruction remains
open until capture imagery and measured scale/control points are available.

## Release

`stage.py` builds only reviewed public files into ignored `dist/`; it does not
upload. The existing beta bucket is `dregsbane-beta-sim`, distribution
`E360FCO454J5FW`. Preserve old keys, back up overwritten keys, upload assets first
and entry pages last, invalidate beta caches, and verify the live version against
`release-manifest.json`. Do not delete historical assets or publish production.

## Bin opening revision — October15

The current CAD straps wrap horizontally around the bin walls below the rim and return through the existing deck slots. The lid is a separate visual group, removed by default and selectable as fitted. This leaves the opening visible while both straps remain installed. The rigid secured-bin collision proxy and combined mass allowance are unchanged; lid selection is visual only. Flexible strap retention, loose litter and scoop-to-bin transfer remain unsimulated. See [routing and physical limits](../../cad/field-v1/initial-layout/bin-retention.md).