RESEARCH / OCTOBER 15, 2026

What this model can tell us.

The current V1 CAD now has wheel, caster and jaw articulation. Newton1.7 records CPU physics runs through MuJoCo3.15; the browser replays those states or runs official MuJoCo3.15 WASM interactively. Three.js0.186 renders the current geometry with separate collision shapes.

Real places, dated evidence

Hurkamp Park and Fredericksburg Dog Park use City of Fredericksburg2022 orthophotos, retained city GIS and USGS elevation retrieved October15,2026. Returned image extents, EPSG:32618 coordinates, raster orientation, source hashes and datum assumptions are retained in the exported provenance.

Terrain samples are too coarse to resolve curbs or this robot’s wheel/lip clearances. GIS outlines are map priors; obstacle heights, gate state and access remain unknown. Old misaligned route annotations are excluded. A travel trace is simulated motion, not surveyed or cleaned coverage.

What remains unverified

Mass distribution, motor curves, traction and jaw speed/holding are assumptions. The5kg and10kg bin cases explore those assumptions; they do not qualify payload. Estimated energy does not qualify six-hour endurance or hot weather. The synthetic camera view is not calibrated perception or Pi HIL. Interactive safety controls are a sandbox gate, not the complete Pico firmware.

Five-photo registration, measured scale/localization error, Gaussian splats with aligned collision proxies, GPU validation, deformable litter and active pickup/transfer remain open. Source images and measured controls are required before claiming a reconstructed site. No simulated pickup score is produced.

Why this engine

The August architecture requires Newton/MuJoCo dynamics and browser playback. Newton1.7’s simulation dependency selects MuJoCo3.15, so native and browser versions are matched. A second Rapier robot model would add avoidable drift. The single-thread WASM build runs on the existing static beta host.

Primary references: Newton MuJoCo solver, official WASM bindings, MuJoCo modeling, ArcGIS image extents, USGS elevation accuracy.

Full research and requirement review · Reproduction and model assumptions