Simulation assets
The main HiveBoard repository includes articulated digital assets for the physical mechanisms. Use these files when integrating HiveBoard into an existing simulator or robotics stack.
Browse the Simulation/ directory.
Available mechanism groups
| Folder | Mechanisms |
|---|---|
Button/ | Button |
Circuit Breaker/ | Circuit breaker |
Drawer/ | Drawer |
Honeycomb/ | Honeycomb base |
Key/ | Lock and key |
Lamp/ | Light bulb |
Peg Insertion/ | Peg insertion |
Shock Absorber/ | Shock absorber |
Threads/ | Thread (M8); Thread (M30) |
Valves/ | Ball valve; Gate valve (small); Gate valve (large) |
Folder names are retained for compatibility. The terminology reference maps older names to the task names used in the paper.
Model contents
Depending on the mechanism, the simulation package provides:
- visual meshes;
- collision meshes;
- revolute, continuous, and prismatic joints;
- joint ranges and limits;
- nominal mass and inertia; and
- URDF or USD exports.
Threaded motion is represented by coupled rotational and translational joints where a native helical joint is unavailable. This reproduces the advance of a threaded component while keeping the asset portable across simulators.
URDF and USD assets
| Goal | Starting point |
|---|---|
| Load or visualize a mechanism in an existing stack | URDF or USD assets in the main repository |
| Inspect kinematics or create a custom environment | Articulated asset plus your simulator's loader |
| Train and evaluate policies in Isaac Lab | Dedicated Isaac Lab repository |
| Compare simulation with the printed board | Record model commit and locally identified physical parameters |
Physical parameters
The provided masses, inertias, friction values, and contact properties are nominal. They are not system-identified values for every printed instance.
Printer calibration, filament, layer orientation, surface wear, sanding, and mechanism assembly can all change physical behavior. If close sim-to-real correspondence is required:
- print and assemble the target mechanism;
- measure its range and actuation resistance;
- identify the relevant simulation parameters;
- store the overrides separately from the original asset; and
- report both the asset commit and the identified values.
Validation before use
Before training or evaluation, check that:
- every referenced mesh resolves;
- the rest configuration has no unintended self-intersection;
- joint axes and ranges match the physical mechanism;
- collision geometry is sufficiently accurate for the task;
- units and scale are correct; and
- a full actuation cycle completes without instability.
A simulation experiment must define observations, actions, reset states, success checks, termination conditions, and evaluation seeds.