| { |
| "physics": { |
| "articulation": { |
| "schema_version": "articulation/2", |
| "root_link": "base", |
| "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": [ |
| [ |
| "base", |
| "swivel" |
| ], |
| [ |
| "lower_arm", |
| "swivel" |
| ], |
| [ |
| "lower_arm", |
| "upper_arm" |
| ], |
| [ |
| "shade", |
| "shade_yoke" |
| ], |
| [ |
| "shade_yoke", |
| "upper_arm" |
| ] |
| ], |
| "excluded_link_pairs": [ |
| [ |
| "base", |
| "swivel" |
| ], |
| [ |
| "lower_arm", |
| "swivel" |
| ], |
| [ |
| "lower_arm", |
| "upper_arm" |
| ], |
| [ |
| "shade", |
| "shade_yoke" |
| ], |
| [ |
| "shade_yoke", |
| "upper_arm" |
| ] |
| ], |
| "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled", |
| "external_contacts": "enabled", |
| "other_engine_validation": "not_run" |
| }, |
| "collider_aggregation": "link", |
| "joint_count": 5, |
| "joint_types": { |
| "revolute": 5 |
| }, |
| "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis", |
| "links": { |
| "base": { |
| "prim": "/desk_lamp/base", |
| "mass_kg": 1.1004, |
| "mass_source": "VLM per-part estimate, 3 of 3 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/desk_lamp/base/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 3, |
| "source_meshes": [ |
| "/desk_lamp/base/base__visual_000/Weighted_circular_foot_001", |
| "/desk_lamp/base/base__visual_002/Cylinder_043", |
| "/desk_lamp/base/base__visual_001/Cylinder_042" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "swivel": { |
| "prim": "/desk_lamp/swivel", |
| "mass_kg": 0.0501, |
| "mass_source": "VLM per-part estimate, 4 of 4 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/desk_lamp/swivel/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 4, |
| "source_meshes": [ |
| "/desk_lamp/swivel/swivel__visual_000/Cylinder_044", |
| "/desk_lamp/swivel/swivel__visual_003/Cylinder_045", |
| "/desk_lamp/swivel/swivel__visual_001/Cube_020", |
| "/desk_lamp/swivel/swivel__visual_002/Cube_021" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "lower_arm": { |
| "prim": "/desk_lamp/lower_arm", |
| "mass_kg": 0.176, |
| "mass_source": "VLM per-part estimate, 24 of 24 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/desk_lamp/lower_arm/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 24, |
| "source_meshes": [ |
| "/desk_lamp/lower_arm/lower_arm__visual_004/Coiled_counterbalance_spring_004", |
| "/desk_lamp/lower_arm/lower_arm__visual_008/Cylinder_049", |
| "/desk_lamp/lower_arm/lower_arm__visual_016/Cylinder_056", |
| "/desk_lamp/lower_arm/lower_arm__visual_001/Cube_023", |
| "/desk_lamp/lower_arm/lower_arm__visual_021/Cylinder_060", |
| "/desk_lamp/lower_arm/lower_arm__visual_018/Cylinder_058", |
| "/desk_lamp/lower_arm/lower_arm__visual_012/Coiled_counterbalance_spring_005", |
| "/desk_lamp/lower_arm/lower_arm__visual_015/Cylinder_055", |
| "/desk_lamp/lower_arm/lower_arm__visual_019/Cylinder_059", |
| "/desk_lamp/lower_arm/lower_arm__visual_010/Cylinder_051", |
| "/desk_lamp/lower_arm/lower_arm__visual_013/Cylinder_053", |
| "/desk_lamp/lower_arm/lower_arm__visual_022/Cylinder_061", |
| "/desk_lamp/lower_arm/lower_arm__visual_014/Cylinder_054", |
| "/desk_lamp/lower_arm/lower_arm__visual_005/Cylinder_046", |
| "/desk_lamp/lower_arm/lower_arm__visual_000/Cube_022", |
| "/desk_lamp/lower_arm/lower_arm__visual_023/Cylinder_062", |
| "/desk_lamp/lower_arm/lower_arm__visual_009/Cylinder_050", |
| "/desk_lamp/lower_arm/lower_arm__visual_006/Cylinder_047", |
| "/desk_lamp/lower_arm/lower_arm__visual_002/Cube_024", |
| "/desk_lamp/lower_arm/lower_arm__visual_007/Cylinder_048", |
| "/desk_lamp/lower_arm/lower_arm__visual_020/Elbow_slack_power_lead_001", |
| "/desk_lamp/lower_arm/lower_arm__visual_011/Cylinder_052", |
| "/desk_lamp/lower_arm/lower_arm__visual_003/Cube_025", |
| "/desk_lamp/lower_arm/lower_arm__visual_017/Cylinder_057" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "upper_arm": { |
| "prim": "/desk_lamp/upper_arm", |
| "mass_kg": 0.137, |
| "mass_source": "VLM per-part estimate, 20 of 20 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/desk_lamp/upper_arm/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 20, |
| "source_meshes": [ |
| "/desk_lamp/upper_arm/upper_arm__visual_016/Cylinder_073", |
| "/desk_lamp/upper_arm/upper_arm__visual_007/Cylinder_065", |
| "/desk_lamp/upper_arm/upper_arm__visual_002/Cube_028", |
| "/desk_lamp/upper_arm/upper_arm__visual_011/Cylinder_069", |
| "/desk_lamp/upper_arm/upper_arm__visual_003/Cube_029", |
| "/desk_lamp/upper_arm/upper_arm__visual_019/Cylinder_076", |
| "/desk_lamp/upper_arm/upper_arm__visual_015/Cylinder_072", |
| "/desk_lamp/upper_arm/upper_arm__visual_012/Coiled_counterbalance_spring_007", |
| "/desk_lamp/upper_arm/upper_arm__visual_000/Cube_026", |
| "/desk_lamp/upper_arm/upper_arm__visual_018/Cylinder_075", |
| "/desk_lamp/upper_arm/upper_arm__visual_004/Coiled_counterbalance_spring_006", |
| "/desk_lamp/upper_arm/upper_arm__visual_010/Cylinder_068", |
| "/desk_lamp/upper_arm/upper_arm__visual_008/Cylinder_066", |
| "/desk_lamp/upper_arm/upper_arm__visual_013/Cylinder_070", |
| "/desk_lamp/upper_arm/upper_arm__visual_009/Cylinder_067", |
| "/desk_lamp/upper_arm/upper_arm__visual_006/Cylinder_064", |
| "/desk_lamp/upper_arm/upper_arm__visual_014/Cylinder_071", |
| "/desk_lamp/upper_arm/upper_arm__visual_005/Cylinder_063", |
| "/desk_lamp/upper_arm/upper_arm__visual_017/Cylinder_074", |
| "/desk_lamp/upper_arm/upper_arm__visual_001/Cube_027" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "shade_yoke": { |
| "prim": "/desk_lamp/shade_yoke", |
| "mass_kg": 0.043, |
| "mass_source": "VLM per-part estimate, 4 of 4 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/desk_lamp/shade_yoke/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 4, |
| "source_meshes": [ |
| "/desk_lamp/shade_yoke/shade_yoke__visual_000/Cylinder_077", |
| "/desk_lamp/shade_yoke/shade_yoke__visual_003/Cylinder_079", |
| "/desk_lamp/shade_yoke/shade_yoke__visual_002/Stamped_hanger_001", |
| "/desk_lamp/shade_yoke/shade_yoke__visual_001/Cylinder_078" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "shade": { |
| "prim": "/desk_lamp/shade", |
| "mass_kg": 0.1791, |
| "mass_source": "VLM per-part estimate, 7 of 7 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/desk_lamp/shade/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 7, |
| "source_meshes": [ |
| "/desk_lamp/shade/shade__visual_002/Cylinder_080", |
| "/desk_lamp/shade/shade__visual_005/Sphere_001", |
| "/desk_lamp/shade/shade__visual_006/Curved_head_power_lead_003", |
| "/desk_lamp/shade/shade__visual_000/Flared_hollow_reflector_001", |
| "/desk_lamp/shade/shade__visual_004/Cylinder_082", |
| "/desk_lamp/shade/shade__visual_003/Cylinder_081", |
| "/desk_lamp/shade/shade__visual_001/Socket_housing_001" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| } |
| }, |
| "joints": { |
| "base_swivel": { |
| "path": "/desk_lamp/Joints/base_swivel", |
| "type": "revolute", |
| "parent": "base", |
| "child": "swivel", |
| "axis_contract": [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "axis_token": "X", |
| "frame_alignment_wxyz": [ |
| 0.707106781, |
| 0.0, |
| -0.707106781, |
| 0.0 |
| ], |
| "limits": { |
| "lower": -148.969027, |
| "upper": 148.969027, |
| "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": "medium", |
| "mode": "hold_position", |
| "reason": "Hand turns the turret; inferred friction retains its direction after release." |
| }, |
| "status": "resolved", |
| "simulator_status": "not_run", |
| "effective_mass_or_inertia_si": 0.25032790113370895, |
| "gravity_bound_si": 3.218161704889255, |
| "gravity_at_rest_si": 0.0, |
| "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": 4.827242557333882, |
| "dynamic_friction_si": 4.0227021311115685, |
| "required_capability": "PhysxJointAxisAPI", |
| "supported_links": { |
| "swivel": { |
| "mass_kg": 0.0501, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| }, |
| "lower_arm": { |
| "mass_kg": 0.176, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| }, |
| "upper_arm": { |
| "mass_kg": 0.137, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| }, |
| "shade_yoke": { |
| "mass_kg": 0.043, |
| "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" |
| }, |
| "shade": { |
| "mass_kg": 0.1791, |
| "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" |
| } |
| } |
| } |
| }, |
| "shoulder": { |
| "path": "/desk_lamp/Joints/shoulder", |
| "type": "revolute", |
| "parent": "swivel", |
| "child": "lower_arm", |
| "axis_contract": [ |
| 0.0, |
| 1.0, |
| 0.0 |
| ], |
| "axis_token": "X", |
| "frame_alignment_wxyz": [ |
| 0.707106781, |
| 0.0, |
| -0.0, |
| 0.707106781 |
| ], |
| "limits": { |
| "lower": -34.377468, |
| "upper": 25.783101, |
| "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": "Hand positioning yields against visible spring counterbalance and pivot friction; stays where released." |
| }, |
| "status": "resolved", |
| "simulator_status": "not_run", |
| "effective_mass_or_inertia_si": 0.231148552993673, |
| "gravity_bound_si": 3.050297219436395, |
| "gravity_at_rest_si": -0.4149131051246455, |
| "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": 4.575445829154592, |
| "dynamic_friction_si": 3.8128715242954936, |
| "required_capability": "PhysxJointAxisAPI", |
| "supported_links": { |
| "lower_arm": { |
| "mass_kg": 0.176, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| }, |
| "upper_arm": { |
| "mass_kg": 0.137, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| }, |
| "shade_yoke": { |
| "mass_kg": 0.043, |
| "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" |
| }, |
| "shade": { |
| "mass_kg": 0.1791, |
| "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" |
| } |
| } |
| } |
| }, |
| "elbow": { |
| "path": "/desk_lamp/Joints/elbow", |
| "type": "revolute", |
| "parent": "lower_arm", |
| "child": "upper_arm", |
| "axis_contract": [ |
| 0.0, |
| 1.0, |
| 0.0 |
| ], |
| "axis_token": "X", |
| "frame_alignment_wxyz": [ |
| 0.707106781, |
| 0.0, |
| -0.0, |
| 0.707106781 |
| ], |
| "limits": { |
| "lower": -51.566202, |
| "upper": 51.566202, |
| "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": "Hand changes reach; visible springs and friction are approximated by holding the released position." |
| }, |
| "status": "resolved", |
| "simulator_status": "not_run", |
| "effective_mass_or_inertia_si": 0.056462339283912526, |
| "gravity_bound_si": 1.258135308061397, |
| "gravity_at_rest_si": -1.053595162470959, |
| "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": 1.8872029620920956, |
| "dynamic_friction_si": 1.5726691350767463, |
| "required_capability": "PhysxJointAxisAPI", |
| "supported_links": { |
| "upper_arm": { |
| "mass_kg": 0.137, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| }, |
| "shade_yoke": { |
| "mass_kg": 0.043, |
| "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" |
| }, |
| "shade": { |
| "mass_kg": 0.1791, |
| "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" |
| } |
| } |
| } |
| }, |
| "shade_tilt": { |
| "path": "/desk_lamp/Joints/shade_tilt", |
| "type": "revolute", |
| "parent": "upper_arm", |
| "child": "shade_yoke", |
| "axis_contract": [ |
| 0.0, |
| 1.0, |
| 0.0 |
| ], |
| "axis_token": "X", |
| "frame_alignment_wxyz": [ |
| 0.707106781, |
| 0.0, |
| -0.0, |
| 0.707106781 |
| ], |
| "limits": { |
| "lower": -45.836624, |
| "upper": 45.836624, |
| "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": "Hand aims the shade; friction pivot holds its angle after release." |
| }, |
| "status": "resolved", |
| "simulator_status": "not_run", |
| "effective_mass_or_inertia_si": 0.004229555819075782, |
| "gravity_bound_si": 0.23826998573031227, |
| "gravity_at_rest_si": -0.16098669737476856, |
| "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": 0.35740497859546844, |
| "dynamic_friction_si": 0.29783748216289035, |
| "required_capability": "PhysxJointAxisAPI", |
| "supported_links": { |
| "shade_yoke": { |
| "mass_kg": 0.043, |
| "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" |
| }, |
| "shade": { |
| "mass_kg": 0.1791, |
| "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" |
| } |
| } |
| } |
| }, |
| "shade_swivel": { |
| "path": "/desk_lamp/Joints/shade_swivel", |
| "type": "revolute", |
| "parent": "shade_yoke", |
| "child": "shade", |
| "axis_contract": [ |
| 1.0, |
| 0.0, |
| 0.0 |
| ], |
| "axis_token": "X", |
| "frame_alignment_wxyz": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "limits": { |
| "lower": -57.29578, |
| "upper": 68.754935, |
| "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": "low", |
| "mode": "hold_position", |
| "reason": "Hand swivels the head; an inferred friction fitting holds the released aim. The second axis is uncertain in the single view." |
| }, |
| "status": "resolved", |
| "simulator_status": "not_run", |
| "effective_mass_or_inertia_si": 0.0020186803950416527, |
| "gravity_bound_si": 0.11922159569674627, |
| "gravity_at_rest_si": 0.0, |
| "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": 0.1788323935451194, |
| "dynamic_friction_si": 0.14902699462093283, |
| "required_capability": "PhysxJointAxisAPI", |
| "supported_links": { |
| "shade": { |
| "mass_kg": 0.1791, |
| "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)" |
| } |
| } |
| } |
| } |
| }, |
| "preview_controls": [], |
| "reference_pose": { |
| "base_swivel": 0.0, |
| "elbow": 0.0, |
| "shade_swivel": 0.0, |
| "shade_tilt": 0.0, |
| "shoulder": 0.0 |
| }, |
| "provenance": { |
| "base_mode_reason": "Freestanding desk lamp with a weighted round base and no clamp or bolt-down visible; it can be lifted and moved, 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": 1.6856, |
| "colliders": 6, |
| "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" |
| } |
| } |
