| { |
| "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": [ |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_069/Raked_front_guard_upright_003", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_013/Cube_107", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_087/Cube_150", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_049/Cylinder_172", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_092/Cube_155", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_097/Cube_160", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_106/Cube_169", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_006/Cube_100", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_033/Cube_123", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_095/Cube_158", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_042/Cube_131", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_011/Cube_105", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_027/Front_wheel_arch_003", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_074/Cube_138", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_075/Cube_139", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_010/Cube_104", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_112/Cylinder_186", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_046/Cube_133", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_031/Cube_121", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_036/Cylinder_170", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_014/Cube_108", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_000/Main_chassis_001", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_086/Cube_149", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_105/Cube_168", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_114/Cylinder_188", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_073/Cube_137", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_130/Cab_entry_grab_handle_003", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_037/Cube_126", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_018/Cube_110", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_056/Cylinder_174", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_057/Cylinder_175", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_029/Cylinder_169", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_109/Cylinder_183", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_127/Cylinder_199", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_007/Cube_101", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_022/Cube_114", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_005/Cube_099", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_094/Cube_157", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_089/Cube_152", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_061/Cylinder_178", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_050/Molded_D_loop_armrest_003", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_026/Cube_118", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_077/Cube_141", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_009/Cube_103", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_062/Sphere_004", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_124/Cylinder_196", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_115/Cylinder_189", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_096/Cube_159", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_053/Cube_134", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_030/Cube_120", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_122/Cylinder_194", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_065/Rear_guard_upright_002", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_048/Molded_D_loop_armrest_002", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_126/Cylinder_198", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_116/Cylinder_190", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_123/Cylinder_195", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_055/Torus_009", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_034/Cube_124", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_078/Cylinder_180", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_017/Cube_109", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_066/Raked_front_guard_upright_002", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_088/Cube_151", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_084/Cube_147", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_024/Cube_116", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_101/Cube_164", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_002/Counterweight_lower_bumper_band_001", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_021/Cube_113", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_082/Cube_145", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_023/Cube_115", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_081/Cube_144", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_098/Cube_161", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_108/Cylinder_182", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_099/Cube_162", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_119/Cylinder_191", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_044/Tapered_wraparound_seat_back_001", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_041/Cube_130", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_076/Cube_140", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_008/Cube_102", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_090/Cube_153", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_064/Sphere_005", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_083/Cube_146", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_040/Cube_129", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_113/Cylinder_187", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_038/Cube_127", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_104/Cube_167", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_012/Cube_106", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_079/Cube_142", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_071/Cube_135", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_047/Cylinder_171", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_093/Cube_156", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_043/Cube_132", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_129/Cab_entry_grab_handle_002", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_118/Cube_171", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_035/Cube_125", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_004/Continuous_side_skirt_with_recessed_entry_002", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_068/Rear_guard_upright_003", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_128/Cylinder_200", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_060/Sphere_003", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_019/Cube_111", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_120/Cylinder_192", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_110/Cylinder_184", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_052/Dashboard_side_cowl_001", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_020/Cube_112", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_121/Cylinder_193", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_058/Cylinder_176", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_003/Crowned_sloping_engine_cover_001", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_072/Cube_136", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_100/Cube_163", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_051/Sloping_steering_console_001", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_125/Cylinder_197", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_085/Cube_148", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_059/Cylinder_177", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_107/Cylinder_181", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_091/Cube_154", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_016/Continuous_side_skirt_with_recessed_entry_003", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_102/Cube_165", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_045/Sculpted_seat_cushion_001", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_028/Cube_119", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_063/Cylinder_179", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_001/Contoured_cast_rear_counterweight_001", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_070/Swept_overhead_guard_corner_003", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_080/Cube_143", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_032/Cube_122", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_025/Cube_117", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_015/Front_wheel_arch_002", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_103/Cube_166", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_067/Swept_overhead_guard_corner_002", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_054/Cylinder_173", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_117/Cube_170", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_111/Cylinder_185", |
| "/sm_forklift_yellowblackindustrial_k7q2/body/body__visual_039/Cube_128" |
| ], |
| "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": [ |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_206/Cylinder_269", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_207/Lift_chain_leaf_plate_278", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_032/Cylinder_211", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_136/Lift_chain_leaf_plate_231", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_165/Lift_chain_leaf_plate_250", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_236/Cylinder_279", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_203/Cylinder_268", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_095/Cylinder_232", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_218/Cylinder_273", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_186/Lift_chain_leaf_plate_264", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_223/Lift_chain_leaf_plate_289", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_163/Lift_chain_leaf_plate_249", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_183/Lift_chain_leaf_plate_262", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_031/Lift_chain_leaf_plate_165", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_193/Lift_chain_leaf_plate_269", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_052/Lift_chain_leaf_plate_179", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_085/Lift_chain_leaf_plate_201", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_240/Cylinder_282", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_174/Lift_chain_leaf_plate_256", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_123/Lift_chain_leaf_plate_222", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_152/Cylinder_251", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_010/Lift_chain_leaf_plate_151", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_190/Lift_chain_leaf_plate_267", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_146/Cylinder_249", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_030/Lift_chain_leaf_plate_164", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_212/Cylinder_271", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_007/Lift_chain_leaf_plate_149", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_157/Lift_chain_leaf_plate_245", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_173/Cylinder_258", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_153/Lift_chain_leaf_plate_242", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_127/Lift_chain_leaf_plate_225", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_072/Lift_chain_leaf_plate_192", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_005/Cylinder_202", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_110/Cylinder_237", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_035/Cylinder_212", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_071/Cylinder_224", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_018/Lift_chain_leaf_plate_156", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_195/Lift_chain_leaf_plate_270", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_194/Cylinder_265", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_050/Cylinder_217", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_056/Cylinder_219", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_148/Lift_chain_leaf_plate_239", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_179/Cylinder_260", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_093/Lift_chain_leaf_plate_206", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_131/Cylinder_244", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_160/Lift_chain_leaf_plate_247", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_070/Lift_chain_leaf_plate_191", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_231/Lift_chain_leaf_plate_294", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_114/Lift_chain_leaf_plate_220", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_039/Lift_chain_leaf_plate_170", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_181/Lift_chain_leaf_plate_261", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_091/Lift_chain_leaf_plate_205", |
| "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_204/Lift_chain_leaf_plate_276", |
| "/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" |
| } |
| } |
