OhaoOpen NIUA

Ohao · Linköping, Sweden

Contact

For physics-sim, world-model and robotics teams: send the file your pipeline trusts least, and we will show you what the gate finds.

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What the gate checks today

Bring a file like these.

Each claim opens to its evidence: a demo you can run, the file we used, and a signed receipt you can verify. Simulation only, no hardware tested

  1. A robot is checked before a simulator sees it

    simulation only, no hardware tested

    NIUA reads a robot file (URDF) against its robot checklist, urdf.sim-ready@1: every part attached in one chain, a real weight on every moving part, a collision shape on every visible part, joint limits the right way round, 3D files that exist, sizes in meters, not millimeters. Each failure names the part, what was expected, what was found and the fix.

  2. A humanoid clip passes a physics replay

    simulation only, no hardware tested

    A real NVIDIA Unitree G1 humanoid clip passes motion.g1-safe@1 in a MuJoCo physics replay, run on CPU: every joint inside its range and speed limit, feet on the floor without sliding, upright the whole time. Four mistakes we planted were fixed first, each from a failure NIUA named.

    Measured 2026-10-15. tools/g1-motion/record_production.mjs: the production gate checked the published clips; MuJoCo 3.16.0, Menagerie unitree_g1, timestep 0.002 s, joint PD kp 500 kv 10.32, root unactuated, sampled at 50 Hz. Source: the first 3.5 s of NVIDIA GR00T-WholeBodyControl macarena_001__A545. production.json