| { |
| "physics": { |
| "articulation": { |
| "schema_version": "articulation/2", |
| "root_link": "upper_arm", |
| "base_mode": "free", |
| "world_joint": null, |
| "behavior_sleep_threshold": 9.999999974752427e-07, |
| "handoff_base_mode": "free", |
| "base_mode_source": "handoff", |
| "collision_filter": { |
| "mode": "adjacent", |
| "explicit_excluded_link_pairs": [], |
| "handoff_excluded_link_pairs": [ |
| [ |
| "latch_hook", |
| "lower_arm" |
| ], |
| [ |
| "lower_arm", |
| "upper_arm" |
| ] |
| ], |
| "excluded_link_pairs": [ |
| [ |
| "latch_hook", |
| "lower_arm" |
| ], |
| [ |
| "lower_arm", |
| "upper_arm" |
| ] |
| ], |
| "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled", |
| "external_contacts": "enabled", |
| "other_engine_validation": "not_run" |
| }, |
| "collider_aggregation": "link", |
| "joint_count": 2, |
| "joint_types": { |
| "revolute": 2 |
| }, |
| "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis", |
| "links": { |
| "upper_arm": { |
| "prim": "/industrial_shears/upper_arm", |
| "mass_kg": 2.8543, |
| "mass_source": "VLM per-part estimate, 9 of 9 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/industrial_shears/upper_arm/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 9, |
| "source_meshes": [ |
| "/industrial_shears/upper_arm/upper_arm__visual_004/Cylinder_010", |
| "/industrial_shears/upper_arm/upper_arm__visual_007/Upper_grip_001", |
| "/industrial_shears/upper_arm/upper_arm__visual_001/Lower_jaw_with_upper_handle_tang_001", |
| "/industrial_shears/upper_arm/upper_arm__visual_003/Cylinder_009", |
| "/industrial_shears/upper_arm/upper_arm__visual_006/Cylinder_012", |
| "/industrial_shears/upper_arm/upper_arm__visual_000/Upper_tang_sleeve_001", |
| "/industrial_shears/upper_arm/upper_arm__visual_002/Cylinder_008", |
| "/industrial_shears/upper_arm/upper_arm__visual_005/Cylinder_011", |
| "/industrial_shears/upper_arm/upper_arm__visual_008/Upper_grip_diamond_knurl_001" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "lower_arm": { |
| "prim": "/industrial_shears/lower_arm", |
| "mass_kg": 1.3737, |
| "mass_source": "VLM per-part estimate, 5 of 5 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/industrial_shears/lower_arm/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 5, |
| "source_meshes": [ |
| "/industrial_shears/lower_arm/lower_arm__visual_001/Ground_blade_bevel_001", |
| "/industrial_shears/lower_arm/lower_arm__visual_004/Cylinder_013", |
| "/industrial_shears/lower_arm/lower_arm__visual_002/Lower_grip_001", |
| "/industrial_shears/lower_arm/lower_arm__visual_000/Upper_blade_with_lower_handle_tang_001", |
| "/industrial_shears/lower_arm/lower_arm__visual_003/Lower_grip_diamond_knurl_001" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "latch_hook": { |
| "prim": "/industrial_shears/latch_hook", |
| "mass_kg": 0.0481, |
| "mass_source": "VLM per-part estimate, 3 of 3 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/industrial_shears/latch_hook/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 3, |
| "source_meshes": [ |
| "/industrial_shears/latch_hook/latch_hook__visual_000/Cylinder_014", |
| "/industrial_shears/latch_hook/latch_hook__visual_002/Cylinder_015", |
| "/industrial_shears/latch_hook/latch_hook__visual_001/Curved_storage_latch_001" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| } |
| }, |
| "joints": { |
| "jaw_pivot": { |
| "path": "/industrial_shears/Joints/jaw_pivot", |
| "type": "revolute", |
| "parent": "upper_arm", |
| "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": -2.864789, |
| "upper": 20.053523, |
| "unit": "deg" |
| }, |
| "drive": { |
| "type": "force", |
| "stiffness": 0.03119048662483692, |
| "damping": 0.008626492694020271, |
| "damping_si": 0.49426159678437276, |
| "stiffness_si": 1.787083224283236, |
| "max_force": 2.958813117527109, |
| "target_position": 34.92682647705078, |
| "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": "spring_return", |
| "reason": "Squeezing closes the jaws; releasing returns to the photographed open pose. A concealed return spring is inferred from this tool type and storage latch, not directly observed.", |
| "rest_position": 0.0 |
| }, |
| "status": "resolved", |
| "simulator_status": "not_run", |
| "effective_mass_or_inertia_si": 0.03417503487474956, |
| "gravity_bound_si": 1.191388816188824, |
| "gravity_at_rest_si": -1.0893847377255204, |
| "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": 1.787083224283236, |
| "damping_si": 0.49426159678437276, |
| "target_position_si": 0.6095881394457447, |
| "max_effort_si": 2.958813117527109, |
| "static_friction_si": 0.0, |
| "dynamic_friction_si": 0.0, |
| "nominal_settling_seconds": 1.0, |
| "rest_position_si": 0.0, |
| "supported_links": { |
| "lower_arm": { |
| "mass_kg": 1.3737, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| }, |
| "latch_hook": { |
| "mass_kg": 0.0481, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| } |
| } |
| } |
| }, |
| "latch_pivot": { |
| "path": "/industrial_shears/Joints/latch_pivot", |
| "type": "revolute", |
| "parent": "lower_arm", |
| "child": "latch_hook", |
| "axis_contract": [ |
| 0.0, |
| 1.0, |
| 0.0 |
| ], |
| "axis_token": "X", |
| "frame_alignment_wxyz": [ |
| 0.707106781, |
| 0.0, |
| -0.0, |
| 0.707106781 |
| ], |
| "limits": { |
| "lower": -17.188734, |
| "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": "The user flips the storage hook; assumed rivet friction keeps it where released. Engagement is not modeled as a constraint." |
| }, |
| "status": "resolved", |
| "simulator_status": "not_run", |
| "effective_mass_or_inertia_si": 8.229282973590835e-05, |
| "gravity_bound_si": 0.015227504965178586, |
| "gravity_at_rest_si": -0.0011557810370623604, |
| "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": 0.02284125744776788, |
| "dynamic_friction_si": 0.01903438120647323, |
| "required_capability": "PhysxJointAxisAPI", |
| "supported_links": { |
| "latch_hook": { |
| "mass_kg": 0.0481, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| } |
| } |
| } |
| } |
| }, |
| "preview_controls": [], |
| "reference_pose": { |
| "jaw_pivot": 0.0, |
| "latch_pivot": 0.0 |
| }, |
| "provenance": { |
| "base_mode_reason": "This is a handheld cutting tool with no mounting to the world. It is a freestanding object that gets picked up and carried, so it uses a free base.", |
| "base_mode_source": "author_explicit", |
| "contract_revision": "2.0", |
| "producer": "articulated-asset-generation", |
| "producer_version": "0.1.0" |
| } |
| }, |
| "mass_kg": 4.2761, |
| "colliders": 3, |
| "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" |
| } |
| } |
