niua.contract/v1

Every rule the gate enforces.

A contract is JSON that turns rules on and sets their thresholds. Unknown rules are rejected, so a typo never weakens a check. The 8 built-ins, one sentence each (robots and motion: simulation only, no hardware tested):

• articulated.sim-ready@1A URDF or MJCF robot or articulated object loads and runs in MuJoCo under simcheck with no errors: sound mass and inertia, working joints, and collision that matches the visible geometry.
• urdf.sim-ready@1A URDF robot is one valid tree with real masses, joint limits, meshes that resolve and a collider on every visible link, checked statically without running a simulator.
• motion.g1-safe@1A Unitree G1 motion clip stays inside its joint limits, its feet barely slide and stay out of the floor, and it stays upright when replayed in MuJoCo.
• splat.sim-ready@1A Gaussian splat and its collision mesh share one frame, the floor is level, the collider covers the floor, and boxes dropped in MuJoCo come to rest on it.
• glb.prop@1A 3D prop meets an engine's structural budget: named parts, assigned materials, collision, real-world scale, and at most 50,000 triangles and 2048 px textures.
• glb.prop-strict@1The same prop checks on a mobile budget: at most 10,000 triangles and 1024 px textures.
• wav.sfx@1A sound effect is 44.1 or 48 kHz, mono or stereo, 0.05 to 30 s long, never clips, and has no dead air at either end.
• wav.voice@1A voice line is mono, 0.3 to 60 s long, between -23 and -16 LUFS, and never clips.

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