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"physics": {
"articulation": {
"schema_version": "articulation/2",
"root_link": "body",
"base_mode": "free",
"world_joint": null,
"behavior_sleep_threshold": null,
"handoff_base_mode": "free",
"base_mode_source": "handoff",
"collision_filter": {
"mode": "adjacent",
"explicit_excluded_link_pairs": [],
"excluded_link_pairs": [
[
"body",
"mast"
],
[
"body",
"wheel_fl"
],
[
"body",
"wheel_fr"
],
[
"body",
"wheel_rl"
],
[
"body",
"wheel_rr"
],
[
"carriage",
"mast"
]
],
"representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
"external_contacts": "enabled",
"other_engine_validation": "not_run"
},
"collider_aggregation": "link",
"joint_count": 6,
"joint_types": {
"revolute": 5,
"prismatic": 1
},
"axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
"links": {
"body": {
"prim": "/sm_forklift_yellowblackindustrial_k7q2/body",
"mass_kg": 3300.0,
"mass_source": "set by hand to a realistic value (was 24214.7 kg)",
"colliders": 1,
"collision": [
{
"prim": "/sm_forklift_yellowblackindustrial_k7q2/body/Collisions/link_collision",
"approximation": "convexDecomposition",
"basis": "combined rigid link; bounded concave cook",
"source_mesh_count": 131,
"source_meshes": [
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],
"aggregation": "link",
"boolean_union": false,
"cooked_shape_count": null
}
]
},
"mast": {
"prim": "/sm_forklift_yellowblackindustrial_k7q2/mast",
"mass_kg": 300.0,
"mass_source": "set by hand to a realistic value (was 2004.4 kg)",
"colliders": 1,
"collision": [
{
"prim": "/sm_forklift_yellowblackindustrial_k7q2/mast/Collisions/link_collision",
"approximation": "convexDecomposition",
"basis": "combined rigid link; bounded concave cook",
"source_mesh_count": 244,
"source_meshes": [
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"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_189/Lift_chain_leaf_plate_266",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_096/Lift_chain_leaf_plate_208",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_185/Cylinder_262",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_027/Lift_chain_leaf_plate_162",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_233/Cylinder_278",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_135/Lift_chain_leaf_plate_230",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_080/Cylinder_227",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_168/Lift_chain_leaf_plate_252",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_235/Rounded_crown_end_cover_002",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_118/Cube_177",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_048/Lift_chain_leaf_plate_176",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_063/Lift_chain_leaf_plate_186",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_101/Cylinder_234",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_026/Cylinder_209",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_003/Cube_175",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_068/Cylinder_223",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_172/Lift_chain_leaf_plate_255",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_156/Lift_chain_leaf_plate_244",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_089/Cylinder_230",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_084/Lift_chain_leaf_plate_200",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_239/Cylinder_281",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_122/Cylinder_241",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_227/Cylinder_276",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_047/Cylinder_216",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_222/Lift_chain_leaf_plate_288",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_105/Lift_chain_leaf_plate_214",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_009/Lift_chain_leaf_plate_150",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_013/Lift_chain_leaf_plate_153",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_067/Lift_chain_leaf_plate_189",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_140/Cylinder_247",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_139/Lift_chain_leaf_plate_233",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_046/Lift_chain_leaf_plate_175",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_178/Lift_chain_leaf_plate_259",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_088/Lift_chain_leaf_plate_203",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_243/Cylinder_284",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_126/Lift_chain_leaf_plate_224",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_051/Lift_chain_leaf_plate_178",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_226/Lift_chain_leaf_plate_291",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_109/Lift_chain_leaf_plate_217",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_034/Lift_chain_leaf_plate_167",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_066/Lift_chain_leaf_plate_188",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_017/Cylinder_206",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_196/Lift_chain_leaf_plate_271",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_087/Lift_chain_leaf_plate_202",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_161/Cylinder_254",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_230/Cylinder_277",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_092/Cylinder_231",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_130/Lift_chain_leaf_plate_227",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_107/Cylinder_236",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_151/Lift_chain_leaf_plate_241",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_113/Cylinder_238",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_058/Lift_chain_leaf_plate_183",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_002/Cube_174",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_044/Cylinder_215",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_021/Lift_chain_leaf_plate_158",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_201/Lift_chain_leaf_plate_274",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_210/Lift_chain_leaf_plate_280",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_055/Lift_chain_leaf_plate_181",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_216/Lift_chain_leaf_plate_284",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_106/Lift_chain_leaf_plate_215",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_155/Cylinder_252",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_134/Cylinder_245",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_197/Cylinder_266",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_079/Lift_chain_leaf_plate_197",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_234/Cube_180",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_043/Lift_chain_leaf_plate_173",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_062/Cylinder_221",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_184/Lift_chain_leaf_plate_263",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_025/Lift_chain_leaf_plate_161",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_166/Lift_chain_leaf_plate_251",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_182/Cylinder_261",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_001/Cube_173",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_138/Lift_chain_leaf_plate_232",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_042/Lift_chain_leaf_plate_172",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_177/Lift_chain_leaf_plate_258",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_167/Cylinder_256",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_238/Rounded_crown_end_cover_003",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_205/Lift_chain_leaf_plate_277",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_150/Lift_chain_leaf_plate_240",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_008/Cylinder_203",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_149/Cylinder_250",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_029/Cylinder_210",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_217/Lift_chain_leaf_plate_285",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_104/Cylinder_235",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_215/Cylinder_272",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_083/Cylinder_228",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_187/Lift_chain_leaf_plate_265",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_012/Lift_chain_leaf_plate_152",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_171/Lift_chain_leaf_plate_254",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_242/Cylinder_283",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_125/Cylinder_242",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_154/Lift_chain_leaf_plate_243",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_198/Lift_chain_leaf_plate_272",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_225/Lift_chain_leaf_plate_290",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_108/Lift_chain_leaf_plate_216",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_061/Lift_chain_leaf_plate_185",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_016/Lift_chain_leaf_plate_155",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_143/Cylinder_248",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_040/Lift_chain_leaf_plate_171",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_209/Cylinder_270",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_175/Lift_chain_leaf_plate_257",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_129/Lift_chain_leaf_plate_226",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_102/Lift_chain_leaf_plate_212",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_074/Cylinder_225",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_004/Cylinder_201",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_229/Lift_chain_leaf_plate_293",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_112/Lift_chain_leaf_plate_219",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_037/Lift_chain_leaf_plate_169",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_141/Lift_chain_leaf_plate_234",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_081/Lift_chain_leaf_plate_198",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_020/Cylinder_207",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_192/Lift_chain_leaf_plate_268",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_059/Cylinder_220",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_176/Cylinder_259",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_199/Lift_chain_leaf_plate_273",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_133/Lift_chain_leaf_plate_229",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_162/Lift_chain_leaf_plate_248",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_000/Cube_172",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_038/Cylinder_213",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_116/Cylinder_239",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_041/Cylinder_214",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_145/Lift_chain_leaf_plate_237",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_099/Lift_chain_leaf_plate_210",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_024/Lift_chain_leaf_plate_160",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_214/Lift_chain_leaf_plate_283",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_128/Cylinder_243",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_144/Lift_chain_leaf_plate_236",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_100/Lift_chain_leaf_plate_211",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_159/Lift_chain_leaf_plate_246",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_121/Cylinder_240",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_137/Cylinder_246",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_211/Lift_chain_leaf_plate_281",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_082/Lift_chain_leaf_plate_199",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_237/Cylinder_280",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_120/Cube_179",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_045/Lift_chain_leaf_plate_174",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_065/Cylinder_222",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_170/Cylinder_257",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_103/Lift_chain_leaf_plate_213",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_028/Lift_chain_leaf_plate_163",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_022/Lift_chain_leaf_plate_159",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_006/Lift_chain_leaf_plate_148",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_057/Lift_chain_leaf_plate_182",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_200/Cylinder_267",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_142/Lift_chain_leaf_plate_235",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_164/Cylinder_255",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_078/Lift_chain_leaf_plate_196",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_208/Lift_chain_leaf_plate_279",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_033/Lift_chain_leaf_plate_166",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_086/Cylinder_229",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_241/Cube_181",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_124/Lift_chain_leaf_plate_223",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_049/Lift_chain_leaf_plate_177",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_069/Lift_chain_leaf_plate_190",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_224/Cylinder_275",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_014/Cylinder_205",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_064/Lift_chain_leaf_plate_187",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_015/Lift_chain_leaf_plate_154",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_119/Cube_178",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_191/Cylinder_264",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_075/Lift_chain_leaf_plate_194",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_220/Lift_chain_leaf_plate_287",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_090/Lift_chain_leaf_plate_204",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_202/Lift_chain_leaf_plate_275",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_097/Lift_chain_leaf_plate_209",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_053/Cylinder_218",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_073/Lift_chain_leaf_plate_193",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_228/Lift_chain_leaf_plate_292",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_111/Lift_chain_leaf_plate_218",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_036/Lift_chain_leaf_plate_168",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_147/Lift_chain_leaf_plate_238",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_076/Lift_chain_leaf_plate_195",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_019/Lift_chain_leaf_plate_157",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_213/Lift_chain_leaf_plate_282",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_188/Cylinder_263",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_219/Lift_chain_leaf_plate_286",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_158/Cylinder_253",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_054/Lift_chain_leaf_plate_180",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_094/Lift_chain_leaf_plate_207",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_232/Lift_chain_leaf_plate_295",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_132/Lift_chain_leaf_plate_228",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_077/Cylinder_226",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_117/Cube_176",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_115/Lift_chain_leaf_plate_221",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_060/Lift_chain_leaf_plate_184",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_180/Lift_chain_leaf_plate_260",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_011/Cylinder_204",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_098/Cylinder_233",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_169/Lift_chain_leaf_plate_253",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_023/Cylinder_208",
"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_221/Cylinder_274"
],
"aggregation": "link",
"boolean_union": false,
"cooked_shape_count": null
}
]
},
"carriage": {
"prim": "/sm_forklift_yellowblackindustrial_k7q2/carriage",
"mass_kg": 120.0,
"mass_source": "set by hand to a realistic value (was 943.6 kg)",
"colliders": 1,
"collision": [
{
"prim": "/sm_forklift_yellowblackindustrial_k7q2/carriage/Collisions/link_collision",
"approximation": "convexDecomposition",
"basis": "combined rigid link; bounded concave cook",
"source_mesh_count": 31,
"source_meshes": [
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_000/Cube_182",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_003/Cylinder_286",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_030/Cylinder_297",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_024/Cube_195",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_020/Cube_193",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_009/Cylinder_289",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_015/Cube_188",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_014/Cube_187",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_001/Cube_183",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_002/Cylinder_285",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_013/Cube_186",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_029/Cylinder_296",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_025/Cylinder_292",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_008/Carriage_hydraulic_return_hose_001",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_007/Cube_185",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_005/Cylinder_288",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_010/Cylinder_290",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_017/Cube_190",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_016/Cube_189",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_012/Bent_backrest_frame_001",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_021/Forged_tapered_fork_with_radiused_heel_002",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_027/Cylinder_294",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_018/Cube_191",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_004/Cylinder_287",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_026/Cylinder_293",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_019/Cube_192",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_011/Cylinder_291",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_006/Cube_184",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_022/Cube_194",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_023/Forged_tapered_fork_with_radiused_heel_003",
"/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_028/Cylinder_295"
],
"aggregation": "link",
"boolean_union": false,
"cooked_shape_count": null
}
]
},
"wheel_fl": {
"prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl",
"mass_kg": 45.0,
"mass_source": "set by hand to a realistic value (was 1668.3 kg)",
"colliders": 1,
"collision": [
{
"prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/Collisions/link_collision",
"approximation": "convexDecomposition",
"basis": "combined rigid link; bounded concave cook",
"source_mesh_count": 14,
"source_meshes": [
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_060/Cylinder_298",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_059/Torus_011",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_068/Cylinder_306",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_056/Tread_shoe_279",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_061/Cylinder_299",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_064/Cylinder_302",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_069/Cylinder_307",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_058/Torus_010",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_057/Spun_rim_dish_004",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_066/Cylinder_304",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_063/Cylinder_301",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_065/Cylinder_303",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_062/Cylinder_300",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_067/Cylinder_305"
],
"aggregation": "link",
"boolean_union": false,
"cooked_shape_count": null
}
]
},
"wheel_fr": {
"prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr",
"mass_kg": 45.0,
"mass_source": "set by hand to a realistic value (was 1668.3 kg)",
"colliders": 1,
"collision": [
{
"prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/Collisions/link_collision",
"approximation": "convexDecomposition",
"basis": "combined rigid link; bounded concave cook",
"source_mesh_count": 14,
"source_meshes": [
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_057/Spun_rim_dish_005",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_068/Cylinder_316",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_064/Cylinder_312",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_058/Torus_012",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_069/Cylinder_317",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_065/Cylinder_313",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_060/Cylinder_308",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_061/Cylinder_309",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_056/Tread_shoe_335",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_059/Torus_013",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_066/Cylinder_314",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_062/Cylinder_310",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_067/Cylinder_315",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_063/Cylinder_311"
],
"aggregation": "link",
"boolean_union": false,
"cooked_shape_count": null
}
]
},
"wheel_rl": {
"prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl",
"mass_kg": 30.0,
"mass_source": "set by hand to a realistic value (was 852.3 kg)",
"colliders": 1,
"collision": [
{
"prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/Collisions/link_collision",
"approximation": "convexDecomposition",
"basis": "combined rigid link; bounded concave cook",
"source_mesh_count": 14,
"source_meshes": [
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_060/Cylinder_318",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_062/Cylinder_320",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_066/Cylinder_324",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_067/Cylinder_325",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_061/Cylinder_319",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_063/Cylinder_321",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_059/Torus_015",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_068/Cylinder_326",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_058/Torus_014",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_064/Cylinder_322",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_069/Cylinder_327",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_056/Tread_shoe_391",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_065/Cylinder_323",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_057/Spun_rim_dish_006"
],
"aggregation": "link",
"boolean_union": false,
"cooked_shape_count": null
}
]
},
"wheel_rr": {
"prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr",
"mass_kg": 30.0,
"mass_source": "set by hand to a realistic value (was 852.3 kg)",
"colliders": 1,
"collision": [
{
"prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/Collisions/link_collision",
"approximation": "convexDecomposition",
"basis": "combined rigid link; bounded concave cook",
"source_mesh_count": 14,
"source_meshes": [
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_061/Cylinder_329",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_069/Cylinder_337",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_065/Cylinder_333",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_062/Cylinder_330",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_057/Spun_rim_dish_007",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_066/Cylinder_334",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_056/Tread_shoe_447",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_058/Torus_016",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_067/Cylinder_335",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_063/Cylinder_331",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_060/Cylinder_328",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_059/Torus_017",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_068/Cylinder_336",
"/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_064/Cylinder_332"
],
"aggregation": "link",
"boolean_union": false,
"cooked_shape_count": null
}
]
}
},
"joints": {
"wheel_fl_roll": {
"path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/wheel_fl_roll",
"type": "revolute",
"parent": "body",
"child": "wheel_fl",
"axis_contract": [
1.0,
0.0,
0.0
],
"axis_token": "X",
"frame_alignment_wxyz": [
1.0,
0.0,
0.0,
0.0
],
"limits": {
"lower": -180.0,
"upper": 180.0,
"unit": "deg"
},
"drive": {
"type": "force",
"stiffness": 0.0,
"damping": 0.0017453292519943296,
"damping_unit": "N*m*s/deg",
"damping_si": 0.1,
"damping_si_unit": "N*m*s/rad",
"note": "passive joint: damping only; no actuation authored"
},
"behavior": {
"intent": {
"confidence": "high",
"mode": "none",
"reason": "Wheel bearings permit passive rolling after release."
},
"status": "passive",
"simulator_status": "not_run"
}
},
"wheel_fr_roll": {
"path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/wheel_fr_roll",
"type": "revolute",
"parent": "body",
"child": "wheel_fr",
"axis_contract": [
1.0,
0.0,
0.0
],
"axis_token": "X",
"frame_alignment_wxyz": [
1.0,
0.0,
0.0,
0.0
],
"limits": {
"lower": -180.0,
"upper": 180.0,
"unit": "deg"
},
"drive": {
"type": "force",
"stiffness": 0.0,
"damping": 0.0017453292519943296,
"damping_unit": "N*m*s/deg",
"damping_si": 0.1,
"damping_si_unit": "N*m*s/rad",
"note": "passive joint: damping only; no actuation authored"
},
"behavior": {
"intent": {
"confidence": "high",
"mode": "none",
"reason": "Wheel bearings permit passive rolling after release."
},
"status": "passive",
"simulator_status": "not_run"
}
},
"wheel_rl_roll": {
"path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/wheel_rl_roll",
"type": "revolute",
"parent": "body",
"child": "wheel_rl",
"axis_contract": [
1.0,
0.0,
0.0
],
"axis_token": "X",
"frame_alignment_wxyz": [
1.0,
0.0,
0.0,
0.0
],
"limits": {
"lower": -180.0,
"upper": 180.0,
"unit": "deg"
},
"drive": {
"type": "force",
"stiffness": 0.0,
"damping": 0.0017453292519943296,
"damping_unit": "N*m*s/deg",
"damping_si": 0.1,
"damping_si_unit": "N*m*s/rad",
"note": "passive joint: damping only; no actuation authored"
},
"behavior": {
"intent": {
"confidence": "high",
"mode": "none",
"reason": "Wheel bearings permit passive rolling after release."
},
"status": "passive",
"simulator_status": "not_run"
}
},
"wheel_rr_roll": {
"path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/wheel_rr_roll",
"type": "revolute",
"parent": "body",
"child": "wheel_rr",
"axis_contract": [
1.0,
0.0,
0.0
],
"axis_token": "X",
"frame_alignment_wxyz": [
1.0,
0.0,
0.0,
0.0
],
"limits": {
"lower": -180.0,
"upper": 180.0,
"unit": "deg"
},
"drive": {
"type": "force",
"stiffness": 0.0,
"damping": 0.0017453292519943296,
"damping_unit": "N*m*s/deg",
"damping_si": 0.1,
"damping_si_unit": "N*m*s/rad",
"note": "passive joint: damping only; no actuation authored"
},
"behavior": {
"intent": {
"confidence": "high",
"mode": "none",
"reason": "Wheel bearings permit passive rolling after release."
},
"status": "passive",
"simulator_status": "not_run"
}
},
"mast_tilt": {
"path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/mast_tilt",
"type": "revolute",
"parent": "body",
"child": "mast",
"axis_contract": [
1.0,
0.0,
0.0
],
"axis_token": "X",
"frame_alignment_wxyz": [
1.0,
0.0,
0.0,
0.0
],
"limits": {
"lower": -3.437747,
"upper": 5.729578,
"unit": "deg"
},
"drive": {
"type": "force",
"stiffness": 0.0,
"damping": 0.0,
"damping_si": 0.0,
"stiffness_si": 0.0,
"max_force": 0.0,
"target_position": 0.0,
"target_velocity": 0.0,
"damping_unit": "N*m*s/deg",
"damping_si_unit": "N*m*s/rad"
},
"behavior": {
"recipe_version": "joint-behavior/1",
"intent": {
"confidence": "high",
"mode": "hold_position",
"reason": "Hydraulic tilt circuit holds the mast angle when released."
},
"status": "resolved",
"simulator_status": "not_run",
"effective_mass_or_inertia_si": 7554.43517411946,
"gravity_bound_si": 38546.886717178386,
"gravity_at_rest_si": 6152.984640958148,
"effort_unit": "N*m",
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
"warnings": [
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
],
"stiffness_si": 0.0,
"damping_si": 0.0,
"target_position_si": 0.0,
"max_effort_si": 0.0,
"static_friction_si": 57820.33007576758,
"dynamic_friction_si": 48183.608396472984,
"required_capability": "PhysxJointAxisAPI",
"supported_links": {
"mast": {
"mass_kg": 2004.3766,
"mass_properties": "mesh integrals scaled to resolved mass"
},
"carriage": {
"mass_kg": 943.5742,
"mass_properties": "mesh integrals scaled to resolved mass"
}
}
}
},
"fork_lift": {
"path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/fork_lift",
"type": "prismatic",
"parent": "mast",
"child": "carriage",
"axis_contract": [
0.0,
0.0,
1.0
],
"axis_token": "X",
"frame_alignment_wxyz": [
0.707106781,
0.0,
-0.707106781,
0.0
],
"limits": {
"lower": 0.0,
"upper": 1.15,
"unit": "m"
},
"drive": {
"type": "force",
"stiffness": 0.0,
"damping": 0.0,
"damping_si": 0.0,
"stiffness_si": 0.0,
"max_force": 0.0,
"target_position": 0.0,
"target_velocity": 0.0,
"damping_unit": "N*s/m",
"damping_si_unit": "N*s/m"
},
"behavior": {
"recipe_version": "joint-behavior/1",
"intent": {
"confidence": "high",
"mode": "hold_position",
"reason": "Lift hydraulic valve holds carriage elevation when released."
},
"status": "resolved",
"simulator_status": "not_run",
"effective_mass_or_inertia_si": 943.5742,
"gravity_bound_si": 9256.462902000001,
"gravity_at_rest_si": -9256.462902000001,
"effort_unit": "N",
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
"warnings": [
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
],
"stiffness_si": 0.0,
"damping_si": 0.0,
"target_position_si": 0.0,
"max_effort_si": 0.0,
"static_friction_si": 13884.694353000003,
"dynamic_friction_si": 11570.578627500001,
"required_capability": "PhysxJointAxisAPI",
"supported_links": {
"carriage": {
"mass_kg": 943.5742,
"mass_properties": "mesh integrals scaled to resolved mass"
}
}
}
}
},
"preview_controls": [],
"reference_pose": {
"fork_lift": 0.0,
"mast_tilt": 0.0
},
"provenance": {
"base_mode_reason": "Wheeled forklift is a movable vehicle with no world mounting.",
"base_mode_source": "author_explicit",
"contract_revision": "2.0",
"producer": "articulated-asset-generation",
"producer_version": "0.1.0"
}
},
"mass_kg": 3870.0,
"colliders": 7,
"status": "articulated_body",
"material_class": "metal_steel",
"engine": "physx",
"multipart_physx": false,
"static_friction": 0.6,
"dynamic_friction": 0.45,
"restitution": 0.25,
"friction_model": "legacy",
"friction_convention": "pair_value_on_steel_dry"
}
} |