{
 "id": "pepper_mill",
 "name": "pepper mill",
 "kind": "articulated",
 "description": "wooden pepper mill; the top turns",
 "category": "kitchenware",
 "tags": [
  "twist",
  "bimanual"
 ],
 "source": {
  "type": "usdcraft",
  "path": "rigid/kitchen_dining/R033_pepper_mill/01_turned_wood_pepper_mill",
  "title": "Turned Wood Pepper Mill",
  "license": "Apache-2.0 (nvidia/USDCraft-10K, https://huggingface.co/datasets/nvidia/USDCraft-10K); converted to MJCF",
  "scale": 1.0
 },
 "model": "model.xml",
 "fixed": false,
 "size": [
  0.06,
  0.06,
  0.2
 ],
 "mass": 0.2585,
 "friction": 0.7,
 "joints": {
  "knob": {
   "joint": "knob",
   "type": "hinge",
   "range": [
    -12.5664,
    12.5664
   ],
   "closed": 0.0,
   "open": 6.2832,
   "body": "knob"
  }
 },
 "regions": {},
 "links": [
  "body",
  "grinder",
  "cap",
  "knob"
 ]
}