ArtificialGate - Lab 2: Robot Screwdriving Interface
Physics: NVIDIA PhysX 5.6.1, CPU WebAssembly.
Bindings: physx-js-webidl 2.7.3 (community bindings).
Rendering: Three.js; original ArtificialGate branding.

This is a reduced-order engineering teaching model, not NVIDIA Isaac Sim
and not a calibrated robot, torque tool, or production fastening digital twin.
It is not authored, endorsed, or certified by NVIDIA.

PhysX integrates the compliant tool body, screw-head axial guide, spindle
rotor, contact impulses, and constraints at a fixed timestep. A native
rack-and-pinion constraint models an ideal 0.5 mm/revolution thread coupling.
The screw-head end stop represents a 4 mm seating travel. It does not solve
individual helical thread-face contacts, thread stripping, PCB damage,
wear, yielding, or deformable materials. Geometry is enlarged for clarity.

The arm follows a kinematic inverse-kinematics command; full arm link
dynamics and motor torques are not simulated. Observation, frame, camera,
and latency controls are educational perturbation models, not learned
perception systems. A software gate authorizes contact/rotation. The bit
collider remains upright; angular errors are checked before contact, not
resolved as tilted-bit contact dynamics. Driver stiffness controls a native
D6 spring drive, not contact-material stiffness.
Displayed peak contact load is from PhysX; guide reaction torque is the
constraint reaction, not a measurement of the motor's internal drive torque.

Only active experiment steps advance the displayed elapsed time.
Reset/new experiment clears it. Rendering does not advance the clock.
All simulation computation runs in the learner's browser.

Existing deployed engine files are reused without modification:
../../physicalai-lab1/physx-20260909/vendor/physx/
The following original distribution notices are reproduced in this release:
ENGINE-NOTICE.md and BINDINGS-LICENSE.txt.

References:
https://nvidia-omniverse.github.io/PhysX/physx/5.6.1/docs/Joints.html
https://github.com/fabmax/physx-js-webidl
https://github.com/NVIDIA-Omniverse/PhysX/blob/main/LICENSE.md