| { |
| "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", |
| "blade" |
| ], |
| [ |
| "base", |
| "carriage" |
| ], |
| [ |
| "base", |
| "flywheel" |
| ], |
| [ |
| "base", |
| "thickness_knob" |
| ], |
| [ |
| "carriage", |
| "pusher" |
| ], |
| [ |
| "clamp_arm", |
| "pusher" |
| ], |
| [ |
| "crank_grip", |
| "flywheel" |
| ] |
| ], |
| "excluded_link_pairs": [ |
| [ |
| "base", |
| "blade" |
| ], |
| [ |
| "base", |
| "carriage" |
| ], |
| [ |
| "base", |
| "flywheel" |
| ], |
| [ |
| "base", |
| "thickness_knob" |
| ], |
| [ |
| "carriage", |
| "pusher" |
| ], |
| [ |
| "clamp_arm", |
| "pusher" |
| ], |
| [ |
| "crank_grip", |
| "flywheel" |
| ] |
| ], |
| "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled", |
| "external_contacts": "enabled", |
| "other_engine_validation": "not_run" |
| }, |
| "collider_aggregation": "link", |
| "joint_count": 7, |
| "joint_types": { |
| "revolute": 5, |
| "prismatic": 2 |
| }, |
| "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis", |
| "links": { |
| "base": { |
| "prim": "/meat_slicer/base", |
| "mass_kg": 50.0, |
| "mass_source": "set by hand to a realistic value (was 351.8 kg)", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/meat_slicer/base/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 42, |
| "source_meshes": [ |
| "/meat_slicer/base/base__visual_006/Cylinder_118", |
| "/meat_slicer/base/base__visual_022/Cylinder_129", |
| "/meat_slicer/base/base__visual_040/Cylinder_142", |
| "/meat_slicer/base/base__visual_028/Cylinder_134", |
| "/meat_slicer/base/base__visual_010/Cylinder_121", |
| "/meat_slicer/base/base__visual_009/Cylinder_120", |
| "/meat_slicer/base/base__visual_005/Cylinder_117", |
| "/meat_slicer/base/base__visual_008/Rubber_foot_006", |
| "/meat_slicer/base/base__visual_030/Cube_031", |
| "/meat_slicer/base/base__visual_013/Cylinder_123", |
| "/meat_slicer/base/base__visual_017/Cylinder_126", |
| "/meat_slicer/base/base__visual_011/Cylinder_122", |
| "/meat_slicer/base/base__visual_032/Cylinder_136", |
| "/meat_slicer/base/base__visual_000/Rubber_foot_004", |
| "/meat_slicer/base/base__visual_021/Cylinder_128", |
| "/meat_slicer/base/base__visual_015/Cylinder_125", |
| "/meat_slicer/base/base__visual_029/Cylinder_135", |
| "/meat_slicer/base/base__visual_025/Cylinder_132", |
| "/meat_slicer/base/base__visual_001/Cylinder_114", |
| "/meat_slicer/base/base__visual_033/Cylinder_137", |
| "/meat_slicer/base/base__visual_031/Guard_retaining_tab_001", |
| "/meat_slicer/base/base__visual_004/Rubber_foot_005", |
| "/meat_slicer/base/base__visual_035/Cube_032", |
| "/meat_slicer/base/base__visual_026/Cylinder_133", |
| "/meat_slicer/base/base__visual_018/Protective_outer_blade_rim_001", |
| "/meat_slicer/base/base__visual_034/Cylinder_138", |
| "/meat_slicer/base/base__visual_014/Cylinder_124", |
| "/meat_slicer/base/base__visual_027/Cube_030", |
| "/meat_slicer/base/base__visual_036/Cylinder_139", |
| "/meat_slicer/base/base__visual_007/Cylinder_119", |
| "/meat_slicer/base/base__visual_019/Crescent_blade_face_shield_001", |
| "/meat_slicer/base/base__visual_041/Arched_cast_frame_002", |
| "/meat_slicer/base/base__visual_023/Cylinder_130", |
| "/meat_slicer/base/base__visual_012/Rubber_foot_007", |
| "/meat_slicer/base/base__visual_024/Cylinder_131", |
| "/meat_slicer/base/base__visual_038/Cylinder_140", |
| "/meat_slicer/base/base__visual_016/Tapered_blade_tower_001", |
| "/meat_slicer/base/base__visual_037/Cube_033", |
| "/meat_slicer/base/base__visual_002/Cylinder_115", |
| "/meat_slicer/base/base__visual_020/Cylinder_127", |
| "/meat_slicer/base/base__visual_039/Cylinder_141", |
| "/meat_slicer/base/base__visual_003/Cylinder_116" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "flywheel": { |
| "prim": "/meat_slicer/flywheel", |
| "mass_kg": 8.0, |
| "mass_source": "set by hand to a realistic value (was 49.8 kg)", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/meat_slicer/flywheel/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 5, |
| "source_meshes": [ |
| "/meat_slicer/flywheel/flywheel__visual_002/Cylinder_144", |
| "/meat_slicer/flywheel/flywheel__visual_004/Flywheel_cast_rim_001", |
| "/meat_slicer/flywheel/flywheel__visual_000/Polished_outer_rim_band_001", |
| "/meat_slicer/flywheel/flywheel__visual_001/Cylinder_143", |
| "/meat_slicer/flywheel/flywheel__visual_003/Cylinder_145" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "crank_grip": { |
| "prim": "/meat_slicer/crank_grip", |
| "mass_kg": 0.3, |
| "mass_source": "set by hand to a realistic value (was 1.8 kg)", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/meat_slicer/crank_grip/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "auto-convex: convex decomposition instead of sdf", |
| "source_mesh_count": 1, |
| "source_meshes": [ |
| "/meat_slicer/crank_grip/crank_grip__visual_000/Grip_001" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "blade": { |
| "prim": "/meat_slicer/blade", |
| "mass_kg": 3.0, |
| "mass_source": "set by hand to a realistic value (was 12.3 kg)", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/meat_slicer/blade/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 3, |
| "source_meshes": [ |
| "/meat_slicer/blade/blade__visual_000/Cylinder_146", |
| "/meat_slicer/blade/blade__visual_001/Cylinder_147", |
| "/meat_slicer/blade/blade__visual_002/Cylinder_148" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "carriage": { |
| "prim": "/meat_slicer/carriage", |
| "mass_kg": 4.0, |
| "mass_source": "set by hand to a realistic value (was 34.4 kg)", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/meat_slicer/carriage/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 7, |
| "source_meshes": [ |
| "/meat_slicer/carriage/carriage__visual_000/Cube_034", |
| "/meat_slicer/carriage/carriage__visual_005/Cube_038", |
| "/meat_slicer/carriage/carriage__visual_002/Cube_036", |
| "/meat_slicer/carriage/carriage__visual_001/Cube_035", |
| "/meat_slicer/carriage/carriage__visual_004/Cylinder_149", |
| "/meat_slicer/carriage/carriage__visual_006/Cylinder_150", |
| "/meat_slicer/carriage/carriage__visual_003/Cube_037" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "pusher": { |
| "prim": "/meat_slicer/pusher", |
| "mass_kg": 2.0, |
| "mass_source": "set by hand to a realistic value (was 15.1 kg)", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/meat_slicer/pusher/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 58, |
| "source_meshes": [ |
| "/meat_slicer/pusher/pusher__visual_004/Cube_043", |
| "/meat_slicer/pusher/pusher__visual_006/Cube_045", |
| "/meat_slicer/pusher/pusher__visual_045/Cylinder_177", |
| "/meat_slicer/pusher/pusher__visual_014/Cube_053", |
| "/meat_slicer/pusher/pusher__visual_035/Cylinder_167", |
| "/meat_slicer/pusher/pusher__visual_044/Cylinder_176", |
| "/meat_slicer/pusher/pusher__visual_028/Cylinder_160", |
| "/meat_slicer/pusher/pusher__visual_053/Cylinder_185", |
| "/meat_slicer/pusher/pusher__visual_047/Cylinder_179", |
| "/meat_slicer/pusher/pusher__visual_043/Cylinder_175", |
| "/meat_slicer/pusher/pusher__visual_005/Cube_044", |
| "/meat_slicer/pusher/pusher__visual_003/Cube_042", |
| "/meat_slicer/pusher/pusher__visual_042/Cylinder_174", |
| "/meat_slicer/pusher/pusher__visual_015/Cube_054", |
| "/meat_slicer/pusher/pusher__visual_041/Cylinder_173", |
| "/meat_slicer/pusher/pusher__visual_056/Cylinder_188", |
| "/meat_slicer/pusher/pusher__visual_010/Cube_049", |
| "/meat_slicer/pusher/pusher__visual_019/Cylinder_151", |
| "/meat_slicer/pusher/pusher__visual_001/Cube_040", |
| "/meat_slicer/pusher/pusher__visual_040/Cylinder_172", |
| "/meat_slicer/pusher/pusher__visual_027/Cylinder_159", |
| "/meat_slicer/pusher/pusher__visual_017/Cube_056", |
| "/meat_slicer/pusher/pusher__visual_021/Cylinder_153", |
| "/meat_slicer/pusher/pusher__visual_039/Cylinder_171", |
| "/meat_slicer/pusher/pusher__visual_052/Cylinder_184", |
| "/meat_slicer/pusher/pusher__visual_026/Cylinder_158", |
| "/meat_slicer/pusher/pusher__visual_016/Cube_055", |
| "/meat_slicer/pusher/pusher__visual_000/Cube_039", |
| "/meat_slicer/pusher/pusher__visual_038/Cylinder_170", |
| "/meat_slicer/pusher/pusher__visual_046/Cylinder_178", |
| "/meat_slicer/pusher/pusher__visual_025/Cylinder_157", |
| "/meat_slicer/pusher/pusher__visual_011/Cube_050", |
| "/meat_slicer/pusher/pusher__visual_037/Cylinder_169", |
| "/meat_slicer/pusher/pusher__visual_036/Cylinder_168", |
| "/meat_slicer/pusher/pusher__visual_048/Cylinder_180", |
| "/meat_slicer/pusher/pusher__visual_022/Cylinder_154", |
| "/meat_slicer/pusher/pusher__visual_055/Cylinder_187", |
| "/meat_slicer/pusher/pusher__visual_051/Cylinder_183", |
| "/meat_slicer/pusher/pusher__visual_002/Cube_041", |
| "/meat_slicer/pusher/pusher__visual_050/Cylinder_182", |
| "/meat_slicer/pusher/pusher__visual_034/Cylinder_166", |
| "/meat_slicer/pusher/pusher__visual_012/Cube_051", |
| "/meat_slicer/pusher/pusher__visual_049/Cylinder_181", |
| "/meat_slicer/pusher/pusher__visual_008/Cube_047", |
| "/meat_slicer/pusher/pusher__visual_033/Cylinder_165", |
| "/meat_slicer/pusher/pusher__visual_023/Cylinder_155", |
| "/meat_slicer/pusher/pusher__visual_020/Cylinder_152", |
| "/meat_slicer/pusher/pusher__visual_032/Cylinder_164", |
| "/meat_slicer/pusher/pusher__visual_018/Hinge_pedestal_001", |
| "/meat_slicer/pusher/pusher__visual_009/Cube_048", |
| "/meat_slicer/pusher/pusher__visual_031/Cylinder_163", |
| "/meat_slicer/pusher/pusher__visual_054/Cylinder_186", |
| "/meat_slicer/pusher/pusher__visual_013/Cube_052", |
| "/meat_slicer/pusher/pusher__visual_057/Cylinder_189", |
| "/meat_slicer/pusher/pusher__visual_030/Cylinder_162", |
| "/meat_slicer/pusher/pusher__visual_024/Cylinder_156", |
| "/meat_slicer/pusher/pusher__visual_029/Cylinder_161", |
| "/meat_slicer/pusher/pusher__visual_007/Cube_046" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "clamp_arm": { |
| "prim": "/meat_slicer/clamp_arm", |
| "mass_kg": 0.8, |
| "mass_source": "set by hand to a realistic value (was 4.1 kg)", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/meat_slicer/clamp_arm/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 7, |
| "source_meshes": [ |
| "/meat_slicer/clamp_arm/clamp_arm__visual_002/Clamp_descending_bracket_001", |
| "/meat_slicer/clamp_arm/clamp_arm__visual_001/Cube_058", |
| "/meat_slicer/clamp_arm/clamp_arm__visual_006/Cylinder_192", |
| "/meat_slicer/clamp_arm/clamp_arm__visual_003/Cylinder_190", |
| "/meat_slicer/clamp_arm/clamp_arm__visual_005/Fluted_grip_001", |
| "/meat_slicer/clamp_arm/clamp_arm__visual_000/Cube_057", |
| "/meat_slicer/clamp_arm/clamp_arm__visual_004/Cylinder_191" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "thickness_knob": { |
| "prim": "/meat_slicer/thickness_knob", |
| "mass_kg": 0.1, |
| "mass_source": "set by hand to a realistic value (was 0.4 kg)", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/meat_slicer/thickness_knob/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 34, |
| "source_meshes": [ |
| "/meat_slicer/thickness_knob/thickness_knob__visual_012/Cylinder_205", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_007/Cylinder_200", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_022/Cylinder_215", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_010/Cylinder_203", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_002/Cylinder_195", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_009/Cylinder_202", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_013/Cylinder_206", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_023/Cylinder_216", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_008/Cylinder_201", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_024/Cylinder_217", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_032/Cylinder_225", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_003/Cylinder_196", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_006/Cylinder_199", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_020/Cylinder_213", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_014/Cylinder_207", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_005/Cylinder_198", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_019/Cylinder_212", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_025/Cylinder_218", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_018/Cylinder_211", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_004/Cylinder_197", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_031/Cylinder_224", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_026/Cylinder_219", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_015/Cylinder_208", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_021/Cylinder_214", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_000/Cylinder_193", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_016/Cylinder_209", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_033/Cylinder_226", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_030/Cylinder_223", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_011/Cylinder_204", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_029/Cylinder_222", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_001/Cylinder_194", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_028/Cylinder_221", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_017/Cylinder_210", |
| "/meat_slicer/thickness_knob/thickness_knob__visual_027/Cylinder_220" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| } |
| }, |
| "joints": { |
| "flywheel_spin": { |
| "path": "/meat_slicer/Joints/flywheel_spin", |
| "type": "revolute", |
| "parent": "base", |
| "child": "flywheel", |
| "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", |
| "continuous": true, |
| "authored": false |
| }, |
| "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": "Hand cranked wheel coasts and slows by bearing friction after release." |
| }, |
| "status": "passive", |
| "simulator_status": "not_run" |
| } |
| }, |
| "crank_grip_spin": { |
| "path": "/meat_slicer/Joints/crank_grip_spin", |
| "type": "revolute", |
| "parent": "flywheel", |
| "child": "crank_grip", |
| "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", |
| "continuous": true, |
| "authored": false |
| }, |
| "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": "Sleeve rotates freely on crank pin during manipulation and remains loose after release." |
| }, |
| "status": "passive", |
| "simulator_status": "not_run" |
| } |
| }, |
| "blade_spin": { |
| "path": "/meat_slicer/Joints/blade_spin", |
| "type": "revolute", |
| "parent": "base", |
| "child": "blade", |
| "axis_contract": [ |
| 0.0, |
| 1.0, |
| 0.0 |
| ], |
| "axis_token": "X", |
| "frame_alignment_wxyz": [ |
| 0.707106781, |
| 0.0, |
| -0.0, |
| 0.707106781 |
| ], |
| "limits": { |
| "lower": -180.0, |
| "upper": 180.0, |
| "unit": "deg", |
| "continuous": true, |
| "authored": false |
| }, |
| "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": "Driven blade coasts after release; concealed drive coupling is not represented." |
| }, |
| "status": "passive", |
| "simulator_status": "not_run" |
| } |
| }, |
| "carriage_slide": { |
| "path": "/meat_slicer/Joints/carriage_slide", |
| "type": "prismatic", |
| "parent": "base", |
| "child": "carriage", |
| "axis_contract": [ |
| 1.0, |
| 0.0, |
| 0.0 |
| ], |
| "axis_token": "X", |
| "frame_alignment_wxyz": [ |
| 1.0, |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "limits": { |
| "lower": -0.1, |
| "upper": 0.0, |
| "unit": "m" |
| }, |
| "drive": { |
| "type": "force", |
| "stiffness": 0.0, |
| "damping": 10.0, |
| "damping_unit": "N*s/m", |
| "damping_si": 10.0, |
| "damping_si_unit": "N*s/m", |
| "note": "passive joint: damping only; no actuation authored" |
| }, |
| "behavior": { |
| "intent": { |
| "confidence": "medium", |
| "mode": "none", |
| "reason": "Carriage slides along level guide and rests with ordinary friction; hidden cam is omitted." |
| }, |
| "status": "passive", |
| "simulator_status": "not_run" |
| } |
| }, |
| "pusher_feed": { |
| "path": "/meat_slicer/Joints/pusher_feed", |
| "type": "prismatic", |
| "parent": "carriage", |
| "child": "pusher", |
| "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": 0.04, |
| "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": "medium", |
| "mode": "hold_position", |
| "reason": "Feed is pushed toward blade and stays at its setting through an inferred screw or ratchet." |
| }, |
| "status": "resolved", |
| "simulator_status": "not_run", |
| "effective_mass_or_inertia_si": 19.265, |
| "gravity_bound_si": 188.98965, |
| "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." |
| ], |
| "stiffness_si": 0.0, |
| "damping_si": 0.0, |
| "target_position_si": 0.0, |
| "max_effort_si": 0.0, |
| "static_friction_si": 283.48447500000003, |
| "dynamic_friction_si": 236.2370625, |
| "required_capability": "PhysxJointAxisAPI", |
| "supported_links": { |
| "pusher": { |
| "mass_kg": 15.124, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| }, |
| "clamp_arm": { |
| "mass_kg": 4.141, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| } |
| } |
| } |
| }, |
| "clamp_arm_hinge": { |
| "path": "/meat_slicer/Joints/clamp_arm_hinge", |
| "type": "revolute", |
| "parent": "pusher", |
| "child": "clamp_arm", |
| "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": 68.754935, |
| "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": "low", |
| "mode": "none", |
| "reason": "Handle lifts clamp; gravity lowers it after release. No spring is observed." |
| }, |
| "status": "passive", |
| "simulator_status": "not_run" |
| } |
| }, |
| "thickness_knob_turn": { |
| "path": "/meat_slicer/Joints/thickness_knob_turn", |
| "type": "revolute", |
| "parent": "base", |
| "child": "thickness_knob", |
| "axis_contract": [ |
| 0.0, |
| 0.0, |
| 1.0 |
| ], |
| "axis_token": "X", |
| "frame_alignment_wxyz": [ |
| 0.707106781, |
| 0.0, |
| -0.707106781, |
| 0.0 |
| ], |
| "limits": { |
| "lower": -171.887339, |
| "upper": 171.887339, |
| "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": "Threaded knob turns by hand and friction retains setting; exact adjustment purpose is uncertain." |
| }, |
| "status": "resolved", |
| "simulator_status": "not_run", |
| "effective_mass_or_inertia_si": 0.0004205519864306788, |
| "gravity_bound_si": 0.1040114878425617, |
| "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": 0.15601723176384255, |
| "dynamic_friction_si": 0.13001435980320214, |
| "required_capability": "PhysxJointAxisAPI", |
| "supported_links": { |
| "thickness_knob": { |
| "mass_kg": 0.378, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| } |
| } |
| } |
| } |
| }, |
| "preview_controls": [], |
| "reference_pose": { |
| "blade_spin": 0.0, |
| "carriage_slide": 0.0, |
| "clamp_arm_hinge": 0.0, |
| "crank_grip_spin": 0.0, |
| "flywheel_spin": 0.0, |
| "pusher_feed": 0.0, |
| "thickness_knob_turn": 0.0 |
| }, |
| "provenance": { |
| "base_mode_reason": "Freestanding countertop slicer on four rubber feet; there are no bolts to a counter or other world mounting, so the base is left free.", |
| "base_mode_source": "author_explicit", |
| "contract_revision": "2.0", |
| "producer": "articulated-asset-generation", |
| "producer_version": "0.1.0" |
| } |
| }, |
| "mass_kg": 68.2, |
| "colliders": 8, |
| "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" |
| } |
| } |
