World Store

Passive video → a world that actually simulates.

Reconstruction gives you pixels. We give you physics: segmented objects with inferred mass, friction, compliance — and articulated joints — exported as collision-correct USD/MJCF.

Video / images

Phone clip, teleop POV, or a Marble/Cosmos export.

→

geometry

3DGS reconstruct

Splats → meshes, segment objects. commodity

→

physics

Infer properties

Mass, friction, restitution, articulation. our moat

→

out

Sim-ready asset

USD / MJCF + collision meshes, versioned.

kitchen_counter_v3

articulated7 objectsUSD · MJCF

3DGS + physics overlay · frame 142/300

collision: convex-decomp ✓

cabinet · μ=0.42 · m=14.2kg

mug · m=0.31kg

drawer · prismatic

bottle · μ=0.30

vs. World Labs / Marble & NVIDIA Cosmos: they produce a beautiful navigable world and export geometry — but they do not infer mass, friction, or which parts are hinged vs. fixed. Artha takes their export as input and adds the joint + material layer that makes it trainable.

Inferred physics

selected: drawer_01

Articulationprismatic

Travel0 – 0.48 m

Mass3.8 kg ±0.6

Friction μ0.35 ±0.05

Restitution0.05

Sourcevideo + prior

Property confidence

Low-confidence props get flagged for the real-world probe step (push/pull to identify μ & mass) before training.

Scene objects

cabinet_01 revolute · 14.2kg

drawer_01 prismatic · 3.8kg

mug_01 rigid · 0.31kg

bottle_01 rigid · 0.52kg

countertop static · μ=0.6

Export

artha export kitchen_counter_v3 \ --format usd,mjcf \ --collision convex-decomp \ --randomize visual=high physics=low \ --target isaac-lab

Domain-randomization default = "visual aggressive, physics conservative." Matches the 2025–26 best-practice recipe for closing sim-to-real on contact-rich tasks — encoded as a one-flag default, not tribal knowledge.

Provenance & versioning

Version	Source	Δ change	Real-probe validated
v3	iphone_clip_0612.mov	+ drawer articulation inferred	yes · μ,m measured	simulate →
v2	marble_export.glb	+ mass/friction priors	sim-only	diff
v1	3 photos	geometry only	no	diff

Mock only — illustrative data. See Artha.md §3 (Pillar 1) and §6 differentiation.