| { |
| "physics": { |
| "articulation": { |
| "schema_version": "articulation/2", |
| "root_link": "faucet_body", |
| "base_mode": "fixed", |
| "world_joint": "/faucet_kitchen/Joints/world_to_faucet_body", |
| "behavior_sleep_threshold": 9.999999974752427e-07, |
| "handoff_base_mode": "fixed", |
| "base_mode_source": "handoff", |
| "collision_filter": { |
| "mode": "adjacent", |
| "explicit_excluded_link_pairs": [], |
| "handoff_excluded_link_pairs": [ |
| [ |
| "faucet_body", |
| "lever_hub" |
| ], |
| [ |
| "faucet_body", |
| "spout" |
| ], |
| [ |
| "lever", |
| "lever_hub" |
| ], |
| [ |
| "spout", |
| "spray_head" |
| ] |
| ], |
| "excluded_link_pairs": [ |
| [ |
| "faucet_body", |
| "lever_hub" |
| ], |
| [ |
| "faucet_body", |
| "spout" |
| ], |
| [ |
| "lever", |
| "lever_hub" |
| ], |
| [ |
| "spout", |
| "spray_head" |
| ] |
| ], |
| "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled", |
| "external_contacts": "enabled", |
| "other_engine_validation": "not_run" |
| }, |
| "collider_aggregation": "link", |
| "joint_count": 4, |
| "joint_types": { |
| "revolute": 3, |
| "prismatic": 1 |
| }, |
| "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis", |
| "links": { |
| "faucet_body": { |
| "prim": "/faucet_kitchen/faucet_body", |
| "mass_kg": 0.8622, |
| "mass_source": "VLM per-part estimate, 2 of 2 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/faucet_kitchen/faucet_body/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 2, |
| "source_meshes": [ |
| "/faucet_kitchen/faucet_body/faucet_body__visual_000/Cylinder_016", |
| "/faucet_kitchen/faucet_body/faucet_body__visual_001/Cylinder_017" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "spout": { |
| "prim": "/faucet_kitchen/spout", |
| "mass_kg": 0.3598, |
| "mass_source": "VLM per-part estimate, 1 of 1 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/faucet_kitchen/spout/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "auto-convex: convex decomposition instead of sdf", |
| "source_mesh_count": 1, |
| "source_meshes": [ |
| "/faucet_kitchen/spout/spout__visual_000/Continuous_bent_tubular_spout_001" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "spray_head": { |
| "prim": "/faucet_kitchen/spray_head", |
| "mass_kg": 0.2061, |
| "mass_source": "VLM per-part estimate, 3 of 3 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/faucet_kitchen/spray_head/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 3, |
| "source_meshes": [ |
| "/faucet_kitchen/spray_head/spray_head__visual_000/Cylinder_018", |
| "/faucet_kitchen/spray_head/spray_head__visual_001/Cylinder_019", |
| "/faucet_kitchen/spray_head/spray_head__visual_002/Cylinder_020" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "lever_hub": { |
| "prim": "/faucet_kitchen/lever_hub", |
| "mass_kg": 0.105, |
| "mass_source": "VLM per-part estimate, 1 of 1 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/faucet_kitchen/lever_hub/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "auto-convex: convex decomposition instead of sdf", |
| "source_mesh_count": 1, |
| "source_meshes": [ |
| "/faucet_kitchen/lever_hub/lever_hub__visual_000/Cylinder_021" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "lever": { |
| "prim": "/faucet_kitchen/lever", |
| "mass_kg": 0.0412, |
| "mass_source": "VLM per-part estimate, 1 of 1 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/faucet_kitchen/lever/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "auto-convex: convex decomposition instead of sdf", |
| "source_mesh_count": 1, |
| "source_meshes": [ |
| "/faucet_kitchen/lever/lever__visual_000/Cylinder_022" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| } |
| }, |
| "joints": { |
| "spout_swivel": { |
| "path": "/faucet_kitchen/Joints/spout_swivel", |
| "type": "revolute", |
| "parent": "faucet_body", |
| "child": "spout", |
| "axis_contract": [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "axis_token": "X", |
| "frame_alignment_wxyz": [ |
| 0.707106781, |
| 0.0, |
| -0.707106781, |
| 0.0 |
| ], |
| "limits": { |
| "lower": -120.321137, |
| "upper": 120.321137, |
| "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": "The spout is swung by hand and stays where released through inferred O-ring swivel friction." |
| }, |
| "status": "resolved", |
| "simulator_status": "not_run", |
| "effective_mass_or_inertia_si": 0.10572721256261707, |
| "gravity_bound_si": 1.909757397100467, |
| "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": 2.8646360956507007, |
| "dynamic_friction_si": 2.387196746375584, |
| "required_capability": "PhysxJointAxisAPI", |
| "supported_links": { |
| "spout": { |
| "mass_kg": 0.3598, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| }, |
| "spray_head": { |
| "mass_kg": 0.2061, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| } |
| } |
| } |
| }, |
| "spray_pullout": { |
| "path": "/faucet_kitchen/Joints/spray_pullout", |
| "type": "prismatic", |
| "parent": "spout", |
| "child": "spray_head", |
| "axis_contract": [ |
| -1.0, |
| 0.0, |
| 0.0 |
| ], |
| "axis_token": "X", |
| "frame_alignment_wxyz": [ |
| 0.0, |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "limits": { |
| "lower": 0.0, |
| "upper": 0.35, |
| "unit": "m" |
| }, |
| "drive": { |
| "type": "force", |
| "stiffness": 0.7810182571411133, |
| "damping": 0.8024160265922546, |
| "damping_si": 0.8024159999999999, |
| "stiffness_si": 0.7810182399999999, |
| "max_force": 1.0, |
| "target_position": -0.3200949430465698, |
| "target_velocity": 0.0, |
| "damping_unit": "N*s/m", |
| "damping_si_unit": "N*s/m" |
| }, |
| "behavior": { |
| "recipe_version": "joint-behavior/1", |
| "intent": { |
| "confidence": "medium", |
| "mode": "gentle_close", |
| "reason": "Pull the head to extend it; an inferred hose counterweight and docking magnet gently return it after release. The straight slide approximates hose extension.", |
| "rest_position": 0.0 |
| }, |
| "status": "resolved", |
| "simulator_status": "not_run", |
| "effective_mass_or_inertia_si": 0.2061, |
| "gravity_bound_si": 2.021841, |
| "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.", |
| "Gentle effort cap cannot guarantee return or gravity support for this load." |
| ], |
| "stiffness_si": 0.7810182399999999, |
| "damping_si": 0.8024159999999999, |
| "target_position_si": -0.32009495706527935, |
| "max_effort_si": 1.0, |
| "static_friction_si": 0.0, |
| "dynamic_friction_si": 0.0, |
| "nominal_settling_seconds": 3.0, |
| "rest_position_si": 0.0, |
| "supported_links": { |
| "spray_head": { |
| "mass_kg": 0.2061, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| } |
| } |
| } |
| }, |
| "lever_temperature": { |
| "path": "/faucet_kitchen/Joints/lever_temperature", |
| "type": "revolute", |
| "parent": "faucet_body", |
| "child": "lever_hub", |
| "axis_contract": [ |
| 1.0, |
| 0.0, |
| 0.0 |
| ], |
| "axis_token": "X", |
| "frame_alignment_wxyz": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "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": "medium", |
| "mode": "hold_position", |
| "reason": "Rotate the cap and pin to adjust temperature; inferred cartridge friction maintains the setting after release." |
| }, |
| "status": "resolved", |
| "simulator_status": "not_run", |
| "effective_mass_or_inertia_si": 0.0002675130190969413, |
| "gravity_bound_si": 0.039558028243412466, |
| "gravity_at_rest_si": 4.897381855112149e-10, |
| "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": 0.0593370423651187, |
| "dynamic_friction_si": 0.049447535304265586, |
| "required_capability": "PhysxJointAxisAPI", |
| "supported_links": { |
| "lever_hub": { |
| "mass_kg": 0.105, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| }, |
| "lever": { |
| "mass_kg": 0.0412, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| } |
| } |
| } |
| }, |
| "lever_flow": { |
| "path": "/faucet_kitchen/Joints/lever_flow", |
| "type": "revolute", |
| "parent": "lever_hub", |
| "child": "lever", |
| "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": 28.64789, |
| "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": "Tilt the pin outward to set flow; inferred ceramic cartridge friction holds the selected position after release. Exact concealed tilt geometry is uncertain." |
| }, |
| "status": "resolved", |
| "simulator_status": "not_run", |
| "effective_mass_or_inertia_si": 9.201687693079187e-05, |
| "gravity_bound_si": 0.016470009519288755, |
| "gravity_at_rest_si": 4.120351969416625e-11, |
| "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": 0.024705014278933134, |
| "dynamic_friction_si": 0.020587511899110945, |
| "required_capability": "PhysxJointAxisAPI", |
| "supported_links": { |
| "lever": { |
| "mass_kg": 0.0412, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| } |
| } |
| } |
| } |
| }, |
| "preview_controls": [], |
| "reference_pose": { |
| "lever_flow": 0.0, |
| "lever_temperature": 0.0, |
| "spout_swivel": 0.0, |
| "spray_pullout": 0.0 |
| }, |
| "provenance": { |
| "base_mode_reason": "This is a deck-mounted kitchen mixer. The flanged base ring sits on a sink or countertop, and a faucet is normally bolted through the deck, so the body is anchored to the world.", |
| "base_mode_source": "author_explicit", |
| "contract_revision": "2.0", |
| "producer": "articulated-asset-generation", |
| "producer_version": "0.1.0" |
| } |
| }, |
| "mass_kg": 1.5743, |
| "colliders": 5, |
| "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" |
| } |
| } |
