File size: 5,798 Bytes
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"physics": {
"articulation": {
"schema_version": "articulation/2",
"root_link": "lower_handle_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": [],
"handoff_excluded_link_pairs": [
[
"lower_handle_body",
"upper_handle"
]
],
"excluded_link_pairs": [
[
"lower_handle_body",
"upper_handle"
]
],
"representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
"external_contacts": "enabled",
"other_engine_validation": "not_run"
},
"collider_aggregation": "link",
"joint_count": 1,
"joint_types": {
"revolute": 1
},
"axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
"links": {
"lower_handle_body": {
"prim": "/garlic_press/lower_handle_body",
"mass_kg": 0.2572,
"mass_source": "VLM per-part estimate, 7 of 7 meshes",
"colliders": 1,
"collision": [
{
"prim": "/garlic_press/lower_handle_body/Collisions/link_collision",
"approximation": "convexDecomposition",
"basis": "combined rigid link; bounded concave cook",
"source_mesh_count": 7,
"source_meshes": [
"/garlic_press/lower_handle_body/lower_handle_body__visual_000/Deep_rounded_perforated_basket_003",
"/garlic_press/lower_handle_body/lower_handle_body__visual_005/Cylinder_065",
"/garlic_press/lower_handle_body/lower_handle_body__visual_003/Front_pivot_support_003",
"/garlic_press/lower_handle_body/lower_handle_body__visual_004/Cylinder_064",
"/garlic_press/lower_handle_body/lower_handle_body__visual_002/Front_pivot_support_002",
"/garlic_press/lower_handle_body/lower_handle_body__visual_001/Lower_tapered_solid_grip_001",
"/garlic_press/lower_handle_body/lower_handle_body__visual_006/Cylinder_066"
],
"aggregation": "link",
"boolean_union": false,
"cooked_shape_count": null
}
]
},
"upper_handle": {
"prim": "/garlic_press/upper_handle",
"mass_kg": 0.2879,
"mass_source": "VLM per-part estimate, 6 of 6 meshes",
"colliders": 1,
"collision": [
{
"prim": "/garlic_press/upper_handle/Collisions/link_collision",
"approximation": "convexDecomposition",
"basis": "combined rigid link; bounded concave cook",
"source_mesh_count": 6,
"source_meshes": [
"/garlic_press/upper_handle/upper_handle__visual_001/Cylinder_067",
"/garlic_press/upper_handle/upper_handle__visual_002/Cylinder_068",
"/garlic_press/upper_handle/upper_handle__visual_005/Cylinder_071",
"/garlic_press/upper_handle/upper_handle__visual_000/Upper_long_lever_grip_001",
"/garlic_press/upper_handle/upper_handle__visual_004/Cylinder_070",
"/garlic_press/upper_handle/upper_handle__visual_003/Cylinder_069"
],
"aggregation": "link",
"boolean_union": false,
"cooked_shape_count": null
}
]
}
},
"joints": {
"upper_handle_hinge": {
"path": "/garlic_press/Joints/upper_handle_hinge",
"type": "revolute",
"parent": "lower_handle_body",
"child": "upper_handle",
"axis_contract": [
0.0,
-1.0,
0.0
],
"axis_token": "X",
"frame_alignment_wxyz": [
0.707106781,
0.0,
-0.0,
-0.707106781
],
"limits": {
"lower": -5.729578,
"upper": 91.673247,
"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": "medium",
"mode": "none",
"reason": "User squeezes or lifts the lever; after release it is passive under gravity. No spring is visible or inferred for this hand press."
},
"status": "passive",
"simulator_status": "not_run"
}
}
},
"preview_controls": [],
"reference_pose": {
"upper_handle_hinge": 0.0
},
"provenance": {
"base_mode_reason": "Handheld kitchen garlic press with no mounting hardware; it is a freestanding movable tool, so the base is free.",
"base_mode_source": "author_explicit",
"contract_revision": "2.0",
"producer": "articulated-asset-generation",
"producer_version": "0.1.0"
}
},
"mass_kg": 0.5451,
"colliders": 2,
"status": "articulated_body",
"material_class": "metal_aluminum",
"engine": "physx",
"multipart_physx": false,
"static_friction": 0.45,
"dynamic_friction": 0.35,
"restitution": 0.25,
"friction_model": "legacy",
"friction_convention": "pair_value_on_steel_dry"
}
} |