| { |
| "physics": { |
| "articulation": { |
| "schema_version": "articulation/2", |
| "root_link": "lower_handle_body", |
| "base_mode": "free", |
| "world_joint": null, |
| "behavior_sleep_threshold": null, |
| "handoff_base_mode": "free", |
| "base_mode_source": "handoff", |
| "collision_filter": { |
| "mode": "adjacent", |
| "explicit_excluded_link_pairs": [], |
| "handoff_excluded_link_pairs": [ |
| [ |
| "lower_handle_body", |
| "upper_handle" |
| ] |
| ], |
| "excluded_link_pairs": [ |
| [ |
| "lower_handle_body", |
| "upper_handle" |
| ] |
| ], |
| "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled", |
| "external_contacts": "enabled", |
| "other_engine_validation": "not_run" |
| }, |
| "collider_aggregation": "link", |
| "joint_count": 1, |
| "joint_types": { |
| "revolute": 1 |
| }, |
| "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis", |
| "links": { |
| "lower_handle_body": { |
| "prim": "/garlic_press/lower_handle_body", |
| "mass_kg": 0.2572, |
| "mass_source": "VLM per-part estimate, 7 of 7 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/garlic_press/lower_handle_body/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 7, |
| "source_meshes": [ |
| "/garlic_press/lower_handle_body/lower_handle_body__visual_000/Deep_rounded_perforated_basket_003", |
| "/garlic_press/lower_handle_body/lower_handle_body__visual_005/Cylinder_065", |
| "/garlic_press/lower_handle_body/lower_handle_body__visual_003/Front_pivot_support_003", |
| "/garlic_press/lower_handle_body/lower_handle_body__visual_004/Cylinder_064", |
| "/garlic_press/lower_handle_body/lower_handle_body__visual_002/Front_pivot_support_002", |
| "/garlic_press/lower_handle_body/lower_handle_body__visual_001/Lower_tapered_solid_grip_001", |
| "/garlic_press/lower_handle_body/lower_handle_body__visual_006/Cylinder_066" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "upper_handle": { |
| "prim": "/garlic_press/upper_handle", |
| "mass_kg": 0.2879, |
| "mass_source": "VLM per-part estimate, 6 of 6 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/garlic_press/upper_handle/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 6, |
| "source_meshes": [ |
| "/garlic_press/upper_handle/upper_handle__visual_001/Cylinder_067", |
| "/garlic_press/upper_handle/upper_handle__visual_002/Cylinder_068", |
| "/garlic_press/upper_handle/upper_handle__visual_005/Cylinder_071", |
| "/garlic_press/upper_handle/upper_handle__visual_000/Upper_long_lever_grip_001", |
| "/garlic_press/upper_handle/upper_handle__visual_004/Cylinder_070", |
| "/garlic_press/upper_handle/upper_handle__visual_003/Cylinder_069" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| } |
| }, |
| "joints": { |
| "upper_handle_hinge": { |
| "path": "/garlic_press/Joints/upper_handle_hinge", |
| "type": "revolute", |
| "parent": "lower_handle_body", |
| "child": "upper_handle", |
| "axis_contract": [ |
| 0.0, |
| -1.0, |
| 0.0 |
| ], |
| "axis_token": "X", |
| "frame_alignment_wxyz": [ |
| 0.707106781, |
| 0.0, |
| -0.0, |
| -0.707106781 |
| ], |
| "limits": { |
| "lower": -5.729578, |
| "upper": 91.673247, |
| "unit": "deg" |
| }, |
| "drive": { |
| "type": "force", |
| "stiffness": 0.0, |
| "damping": 0.0017453292519943296, |
| "damping_unit": "N*m*s/deg", |
| "damping_si": 0.1, |
| "damping_si_unit": "N*m*s/rad", |
| "note": "passive joint: damping only; no actuation authored" |
| }, |
| "behavior": { |
| "intent": { |
| "confidence": "medium", |
| "mode": "none", |
| "reason": "User squeezes or lifts the lever; after release it is passive under gravity. No spring is visible or inferred for this hand press." |
| }, |
| "status": "passive", |
| "simulator_status": "not_run" |
| } |
| } |
| }, |
| "preview_controls": [], |
| "reference_pose": { |
| "upper_handle_hinge": 0.0 |
| }, |
| "provenance": { |
| "base_mode_reason": "Handheld kitchen garlic press with no mounting hardware; it is a freestanding movable tool, so the base is free.", |
| "base_mode_source": "author_explicit", |
| "contract_revision": "2.0", |
| "producer": "articulated-asset-generation", |
| "producer_version": "0.1.0" |
| } |
| }, |
| "mass_kg": 0.5451, |
| "colliders": 2, |
| "status": "articulated_body", |
| "material_class": "metal_aluminum", |
| "engine": "physx", |
| "multipart_physx": false, |
| "static_friction": 0.45, |
| "dynamic_friction": 0.35, |
| "restitution": 0.25, |
| "friction_model": "legacy", |
| "friction_convention": "pair_value_on_steel_dry" |
| } |
| } |
