| { |
| "physics": { |
| "articulation": { |
| "schema_version": "articulation/2", |
| "root_link": "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": [ |
| [ |
| "blade_slider", |
| "handle_body" |
| ] |
| ], |
| "excluded_link_pairs": [ |
| [ |
| "blade_slider", |
| "handle_body" |
| ] |
| ], |
| "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled", |
| "external_contacts": "enabled", |
| "other_engine_validation": "not_run" |
| }, |
| "collider_aggregation": "link", |
| "joint_count": 1, |
| "joint_types": { |
| "prismatic": 1 |
| }, |
| "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis", |
| "links": { |
| "handle_body": { |
| "prim": "/gen_1_1792063940462/handle_body", |
| "mass_kg": 0.1673, |
| "mass_source": "VLM per-part estimate, 33 of 33 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/gen_1_1792063940462/handle_body/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 33, |
| "source_meshes": [ |
| "/gen_1_1792063940462/handle_body/handle_body__visual_001/Upper_cast_grip_shell_003", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_014/Track_ratchet_tooth_03_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_010/Rear_guide_rail_shoulder_003", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_007/Folded_guide_side_003", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_032/Cylinder_009", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_005/Rear_guide_rail_002", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_028/Track_ratchet_tooth_17_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_015/Track_ratchet_tooth_04_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_025/Track_ratchet_tooth_14_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_030/Rear_removable_cap_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_029/Track_ratchet_tooth_18_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_013/Track_ratchet_tooth_02_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_016/Track_ratchet_tooth_05_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_031/Cylinder_008", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_009/Rear_guide_rail_003", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_020/Track_ratchet_tooth_09_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_019/Track_ratchet_tooth_08_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_026/Track_ratchet_tooth_15_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_012/Track_ratchet_tooth_01_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_000/Lower_cast_grip_shell_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_021/Track_ratchet_tooth_10_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_017/Track_ratchet_tooth_06_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_024/Track_ratchet_tooth_13_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_018/Track_ratchet_tooth_07_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_002/Guide_bed_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_011/Track_ratchet_tooth_00_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_003/Folded_guide_side_002", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_027/Track_ratchet_tooth_16_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_008/Overhanging_guide_lip_003", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_004/Overhanging_guide_lip_002", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_022/Track_ratchet_tooth_11_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_023/Track_ratchet_tooth_12_001", |
| "/gen_1_1792063940462/handle_body/handle_body__visual_006/Rear_guide_rail_shoulder_002" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| }, |
| "blade_slider": { |
| "prim": "/gen_1_1792063940462/blade_slider", |
| "mass_kg": 0.0202, |
| "mass_source": "VLM per-part estimate, 4 of 4 meshes", |
| "colliders": 1, |
| "collision": [ |
| { |
| "prim": "/gen_1_1792063940462/blade_slider/Collisions/link_collision", |
| "approximation": "convexDecomposition", |
| "basis": "combined rigid link; bounded concave cook", |
| "source_mesh_count": 4, |
| "source_meshes": [ |
| "/gen_1_1792063940462/blade_slider/blade_slider__visual_000/Segmented_steel_blade_001", |
| "/gen_1_1792063940462/blade_slider/blade_slider__visual_001/ground_edge_001", |
| "/gen_1_1792063940462/blade_slider/blade_slider__visual_003/Thumb_slider_pad_001", |
| "/gen_1_1792063940462/blade_slider/blade_slider__visual_002/Internal_slider_stem_001" |
| ], |
| "aggregation": "link", |
| "boolean_union": false, |
| "cooked_shape_count": null |
| } |
| ] |
| } |
| }, |
| "joints": { |
| "blade_extend": { |
| "path": "/gen_1_1792063940462/Joints/blade_extend", |
| "type": "prismatic", |
| "parent": "handle_body", |
| "child": "blade_slider", |
| "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": "high", |
| "mode": "hold_position", |
| "reason": "Push the thumb slider to extend or retract the blade; it stays where released. Visible ratchet teeth imply a concealed detent. Continuous friction holding approximates those indexed positions." |
| }, |
| "status": "resolved", |
| "simulator_status": "not_run", |
| "effective_mass_or_inertia_si": 0.0202, |
| "gravity_bound_si": 0.198162, |
| "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": 0.29724300000000003, |
| "dynamic_friction_si": 0.2477025, |
| "required_capability": "PhysxJointAxisAPI", |
| "supported_links": { |
| "blade_slider": { |
| "mass_kg": 0.0202, |
| "mass_properties": "mesh integrals scaled to resolved mass" |
| } |
| } |
| } |
| } |
| }, |
| "preview_controls": [], |
| "reference_pose": { |
| "blade_extend": 0.032 |
| }, |
| "provenance": { |
| "base_mode_reason": "Handheld utility knife resting on a surface with no mounting evidence; it is a freestanding movable object, 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": 0.1875, |
| "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" |
| } |
| } |
