File size: 9,395 Bytes
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"physics": {
"articulation": {
"schema_version": "articulation/2",
"root_link": "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": [
[
"blade_slider",
"handle_body"
]
],
"excluded_link_pairs": [
[
"blade_slider",
"handle_body"
]
],
"representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
"external_contacts": "enabled",
"other_engine_validation": "not_run"
},
"collider_aggregation": "link",
"joint_count": 1,
"joint_types": {
"prismatic": 1
},
"axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
"links": {
"handle_body": {
"prim": "/gen_1_1792063940462/handle_body",
"mass_kg": 0.1673,
"mass_source": "VLM per-part estimate, 33 of 33 meshes",
"colliders": 1,
"collision": [
{
"prim": "/gen_1_1792063940462/handle_body/Collisions/link_collision",
"approximation": "convexDecomposition",
"basis": "combined rigid link; bounded concave cook",
"source_mesh_count": 33,
"source_meshes": [
"/gen_1_1792063940462/handle_body/handle_body__visual_001/Upper_cast_grip_shell_003",
"/gen_1_1792063940462/handle_body/handle_body__visual_014/Track_ratchet_tooth_03_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_010/Rear_guide_rail_shoulder_003",
"/gen_1_1792063940462/handle_body/handle_body__visual_007/Folded_guide_side_003",
"/gen_1_1792063940462/handle_body/handle_body__visual_032/Cylinder_009",
"/gen_1_1792063940462/handle_body/handle_body__visual_005/Rear_guide_rail_002",
"/gen_1_1792063940462/handle_body/handle_body__visual_028/Track_ratchet_tooth_17_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_015/Track_ratchet_tooth_04_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_025/Track_ratchet_tooth_14_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_030/Rear_removable_cap_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_029/Track_ratchet_tooth_18_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_013/Track_ratchet_tooth_02_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_016/Track_ratchet_tooth_05_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_031/Cylinder_008",
"/gen_1_1792063940462/handle_body/handle_body__visual_009/Rear_guide_rail_003",
"/gen_1_1792063940462/handle_body/handle_body__visual_020/Track_ratchet_tooth_09_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_019/Track_ratchet_tooth_08_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_026/Track_ratchet_tooth_15_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_012/Track_ratchet_tooth_01_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_000/Lower_cast_grip_shell_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_021/Track_ratchet_tooth_10_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_017/Track_ratchet_tooth_06_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_024/Track_ratchet_tooth_13_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_018/Track_ratchet_tooth_07_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_002/Guide_bed_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_011/Track_ratchet_tooth_00_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_003/Folded_guide_side_002",
"/gen_1_1792063940462/handle_body/handle_body__visual_027/Track_ratchet_tooth_16_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_008/Overhanging_guide_lip_003",
"/gen_1_1792063940462/handle_body/handle_body__visual_004/Overhanging_guide_lip_002",
"/gen_1_1792063940462/handle_body/handle_body__visual_022/Track_ratchet_tooth_11_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_023/Track_ratchet_tooth_12_001",
"/gen_1_1792063940462/handle_body/handle_body__visual_006/Rear_guide_rail_shoulder_002"
],
"aggregation": "link",
"boolean_union": false,
"cooked_shape_count": null
}
]
},
"blade_slider": {
"prim": "/gen_1_1792063940462/blade_slider",
"mass_kg": 0.0202,
"mass_source": "VLM per-part estimate, 4 of 4 meshes",
"colliders": 1,
"collision": [
{
"prim": "/gen_1_1792063940462/blade_slider/Collisions/link_collision",
"approximation": "convexDecomposition",
"basis": "combined rigid link; bounded concave cook",
"source_mesh_count": 4,
"source_meshes": [
"/gen_1_1792063940462/blade_slider/blade_slider__visual_000/Segmented_steel_blade_001",
"/gen_1_1792063940462/blade_slider/blade_slider__visual_001/ground_edge_001",
"/gen_1_1792063940462/blade_slider/blade_slider__visual_003/Thumb_slider_pad_001",
"/gen_1_1792063940462/blade_slider/blade_slider__visual_002/Internal_slider_stem_001"
],
"aggregation": "link",
"boolean_union": false,
"cooked_shape_count": null
}
]
}
},
"joints": {
"blade_extend": {
"path": "/gen_1_1792063940462/Joints/blade_extend",
"type": "prismatic",
"parent": "handle_body",
"child": "blade_slider",
"axis_contract": [
0.0,
-1.0,
0.0
],
"axis_token": "X",
"frame_alignment_wxyz": [
0.707106781,
0.0,
-0.0,
-0.707106781
],
"limits": {
"lower": 0.0,
"upper": 0.04,
"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": "Push the thumb slider to extend or retract the blade; it stays where released. Visible ratchet teeth imply a concealed detent. Continuous friction holding approximates those indexed positions."
},
"status": "resolved",
"simulator_status": "not_run",
"effective_mass_or_inertia_si": 0.0202,
"gravity_bound_si": 0.198162,
"gravity_at_rest_si": -0.0,
"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": 0.29724300000000003,
"dynamic_friction_si": 0.2477025,
"required_capability": "PhysxJointAxisAPI",
"supported_links": {
"blade_slider": {
"mass_kg": 0.0202,
"mass_properties": "mesh integrals scaled to resolved mass"
}
}
}
}
},
"preview_controls": [],
"reference_pose": {
"blade_extend": 0.032
},
"provenance": {
"base_mode_reason": "Handheld utility knife resting on a surface with no mounting evidence; it is a freestanding movable object, 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": 0.1875,
"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"
}
} |