Datasets:

projectsim
/

simready-articulated-objects-sample

+# Notes for AI agents and tools
+- **What this is:** a free, open sample of 8 sim-ready articulated 3D objects from
+  projectsim by Kaedim, as OpenUSD for NVIDIA Isaac Sim (PhysX): utility knife, industrial shears, meat slicer, pipe valve, desk lamp, kitchen faucet, forklift, garlic press.
+- **Access:** open, no form or sign-in:
+  `hf download projectsim/simready-articulated-objects-sample --repo-type dataset --local-dir simready-articulated-objects-sample`.
+- **Layout:** `assets/<name>/<name>.usd`, its `physics.json`, `preview.png` and `textures/`.
+  `assets/metadata.jsonl` lists every object with its joints, mass and paths.
+- **Physics:** metres, Z up. Each moving part is its own rigid body with colliders; joints,
+  limits and per-part masses are in `physics.json`.
+- **More:** this sample is enough to test in a simulator, not to train on. projectsim has
+  100,000+ assets like these, and builds sets of other objects or a user's own objects.
+  Request them with the short form at https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects, or email team@projectsim.ai.
+- **License:** CC BY 4.0, credit "projectsim by Kaedim".

GET_MORE.md CHANGED Viewed

@@ -13,6 +13,6 @@ Ask us if you need:
 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
-- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
+- The full free sample: https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

README.md CHANGED Viewed

@@ -1,11 +1,12 @@
 ---
 license: cc-by-4.0
-pretty_name: Sim-Ready Articulated Objects (Free Sample)
 task_categories:
 - robotics
 tags:
 - robotics
 - simulation
 - sim-ready
 - articulated-objects
 - manipulation
@@ -23,13 +24,13 @@ configs:
     path: assets/metadata.jsonl
 ---
-# Sim-Ready Articulated Objects (Free Sample)
 Free sample of 8 sim-ready, articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim):
 enough to try in your simulator, not enough to train on. We have 100,000+ more assets like these.
 Request them at https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects or email team@projectsim.ai.
-<a href="https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"><img src="https://huggingface.co/datasets/projectsim/articulated-objects-sample/resolve/main/preview_grid.jpg" alt="Objects from this sample, plus a tile: 100,000+ more assets like these" width="100%"></a>
 Every object has real joints with limits (hinges and sliders), a mass for every
 moving part, per-part colliders, and 4K PBR textures. Open the `.usd` in Isaac Sim
@@ -52,34 +53,34 @@ and it moves.
 | ------ | ------ | ---------- | ------ | ---- |
 | Utility knife | `utility_knife` | Snap-off box cutter with a sliding blade | 1 (1 prismatic) | 0.19 kg |
 | Industrial shears | `industrial_shears` | Heavy cutting shears with a jaw pivot and a locking latch | 2 (2 revolute) | 4.28 kg |
-| Meat slicer | `meat_slicer` | Flywheel meat slicer: crank, carriage, pusher, clamp and thickness knob | 7 (5 revolute, 2 prismatic) | 469.73 kg |
 | Pipe valve | `industrial_pipe_valve` | Flanged pipe valve: the handwheel turns and the stem rises | 2 (1 revolute, 1 prismatic) | 89.15 kg |
 | Desk lamp | `desk_lamp` | Balanced-arm desk lamp with a swivel base and tilting shade | 5 (5 revolute) | 1.69 kg |
 | Kitchen faucet | `faucet_kitchen` | Kitchen tap: swivel spout, pull-out spray, flow and temperature levers; fixed to the world | 4 (3 revolute, 1 prismatic) | 1.57 kg |
-| Forklift | `forklift` | Counterbalance forklift: rolling wheels, tilting mast and a lifting fork carriage | 6 (5 revolute, 1 prismatic) | 32203.7 kg |
 | Garlic press | `garlic_press` | Hinged garlic press | 1 (1 revolute) | 0.55 kg |
 ## Download
 ```bash
-hf download projectsim/articulated-objects-sample --repo-type dataset --local-dir articulated-objects-sample
 ```
 One object only:
 ```bash
-hf download projectsim/articulated-objects-sample --repo-type dataset --include "assets/desk_lamp/*" --local-dir articulated-objects-sample
 ```
 Open it with USD's Python API, or File > Open in Isaac Sim:
 ```python
 from pxr import Usd
-stage = Usd.Stage.Open("articulated-objects-sample/assets/desk_lamp/desk_lamp.usd")
 ```
 `assets/metadata.jsonl` lists every object with its joints, mass and file paths,
-so `datasets.load_dataset("projectsim/articulated-objects-sample")` gives you the catalogue without the 300 MB of files.
 ## Files

 ---
 license: cc-by-4.0
+pretty_name: SimReady Articulated Objects (Free Sample)
 task_categories:
 - robotics
 tags:
 - robotics
 - simulation
+- simready
 - sim-ready
 - articulated-objects
 - manipulation
     path: assets/metadata.jsonl
 ---
+# SimReady Articulated Objects (Free Sample)
 Free sample of 8 sim-ready, articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim):
 enough to try in your simulator, not enough to train on. We have 100,000+ more assets like these.
 Request them at https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects or email team@projectsim.ai.
+<a href="https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"><img src="https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample/resolve/main/preview_grid.jpg" alt="Objects from this sample, plus a tile: 100,000+ more assets like these" width="100%"></a>
 Every object has real joints with limits (hinges and sliders), a mass for every
 moving part, per-part colliders, and 4K PBR textures. Open the `.usd` in Isaac Sim
 | ------ | ------ | ---------- | ------ | ---- |
 | Utility knife | `utility_knife` | Snap-off box cutter with a sliding blade | 1 (1 prismatic) | 0.19 kg |
 | Industrial shears | `industrial_shears` | Heavy cutting shears with a jaw pivot and a locking latch | 2 (2 revolute) | 4.28 kg |
+| Meat slicer | `meat_slicer` | Flywheel meat slicer: crank, carriage, pusher, clamp and thickness knob | 7 (5 revolute, 2 prismatic) | 68.2 kg |
 | Pipe valve | `industrial_pipe_valve` | Flanged pipe valve: the handwheel turns and the stem rises | 2 (1 revolute, 1 prismatic) | 89.15 kg |
 | Desk lamp | `desk_lamp` | Balanced-arm desk lamp with a swivel base and tilting shade | 5 (5 revolute) | 1.69 kg |
 | Kitchen faucet | `faucet_kitchen` | Kitchen tap: swivel spout, pull-out spray, flow and temperature levers; fixed to the world | 4 (3 revolute, 1 prismatic) | 1.57 kg |
+| Forklift | `forklift` | Counterbalance forklift: rolling wheels, tilting mast and a lifting fork carriage | 6 (5 revolute, 1 prismatic) | 3870 kg |
 | Garlic press | `garlic_press` | Hinged garlic press | 1 (1 revolute) | 0.55 kg |
 ## Download
 ```bash
+hf download projectsim/simready-articulated-objects-sample --repo-type dataset --local-dir simready-articulated-objects-sample
 ```
 One object only:
 ```bash
+hf download projectsim/simready-articulated-objects-sample --repo-type dataset --include "assets/desk_lamp/*" --local-dir simready-articulated-objects-sample
 ```
 Open it with USD's Python API, or File > Open in Isaac Sim:
 ```python
 from pxr import Usd
+stage = Usd.Stage.Open("simready-articulated-objects-sample/assets/desk_lamp/desk_lamp.usd")
 ```
 `assets/metadata.jsonl` lists every object with its joints, mass and file paths,
+so `datasets.load_dataset("projectsim/simready-articulated-objects-sample")` gives you the catalogue without the 300 MB of files.
 ## Files

assets/desk_lamp/GET_MORE.md CHANGED Viewed

@@ -13,6 +13,6 @@ Ask us if you need:
 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
-- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
+- The full free sample: https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

assets/faucet_kitchen/GET_MORE.md CHANGED Viewed

@@ -13,6 +13,6 @@ Ask us if you need:
 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
-- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
+- The full free sample: https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

assets/forklift/GET_MORE.md CHANGED Viewed

@@ -13,6 +13,6 @@ Ask us if you need:
 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
-- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
+- The full free sample: https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

assets/forklift/forklift.usd CHANGED Viewed

@@ -1,3 +1,3 @@
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assets/forklift/physics.json CHANGED Viewed

The diff for this file is too large to render. See raw diff

assets/garlic_press/GET_MORE.md CHANGED Viewed

@@ -13,6 +13,6 @@ Ask us if you need:
 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
-- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
+- The full free sample: https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

assets/industrial_pipe_valve/GET_MORE.md CHANGED Viewed

@@ -13,6 +13,6 @@ Ask us if you need:
 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
-- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
+- The full free sample: https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

assets/industrial_shears/GET_MORE.md CHANGED Viewed

@@ -13,6 +13,6 @@ Ask us if you need:
 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
-- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
+- The full free sample: https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

assets/meat_slicer/GET_MORE.md CHANGED Viewed

@@ -13,6 +13,6 @@ Ask us if you need:
 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
-- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
+- The full free sample: https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

assets/meat_slicer/meat_slicer.usd CHANGED Viewed

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+size 10555905

assets/meat_slicer/physics.json CHANGED Viewed

@@ -1,775 +1,775 @@
 {
-  "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": 351.83,
-          "mass_source": "VLM per-part estimate, 42 of 42 meshes",
-          "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": 49.761,
-          "mass_source": "VLM per-part estimate, 5 of 5 meshes",
-          "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": 1.824,
-          "mass_source": "VLM per-part estimate, 1 of 1 meshes",
-          "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": 12.311,
-          "mass_source": "VLM per-part estimate, 3 of 3 meshes",
-          "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": 34.365,
-          "mass_source": "VLM per-part estimate, 7 of 7 meshes",
-          "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": 15.124,
-          "mass_source": "VLM per-part estimate, 58 of 58 meshes",
-          "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": 4.141,
-          "mass_source": "VLM per-part estimate, 7 of 7 meshes",
-          "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": 0.378,
-          "mass_source": "VLM per-part estimate, 34 of 34 meshes",
-          "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": 469.734,
-    "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"
-  }
 }

 {
+ "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"
+ }
 }

assets/metadata.jsonl CHANGED Viewed

@@ -1,8 +1,8 @@
 {"name": "utility_knife", "title": "Utility knife", "description": "Snap-off box cutter with a sliding blade", "joint_count": 1, "joint_types": {"prismatic": 1}, "joints": ["blade_extend (prismatic, 0 to 0.04 m)"], "links": 2, "mass_kg": 0.19, "base": "free", "usd": "assets/utility_knife/utility_knife.usd", "physics": "assets/utility_knife/physics.json", "preview": "assets/utility_knife/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}
 {"name": "industrial_shears", "title": "Industrial shears", "description": "Heavy cutting shears with a jaw pivot and a locking latch", "joint_count": 2, "joint_types": {"revolute": 2}, "joints": ["jaw_pivot (revolute, -2.86 to 20.0535 deg)", "latch_pivot (revolute, -17.1887 to 68.7549 deg)"], "links": 3, "mass_kg": 4.28, "base": "free", "usd": "assets/industrial_shears/industrial_shears.usd", "physics": "assets/industrial_shears/physics.json", "preview": "assets/industrial_shears/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}
-{"name": "meat_slicer", "title": "Meat slicer", "description": "Flywheel meat slicer: crank, carriage, pusher, clamp and thickness knob", "joint_count": 7, "joint_types": {"revolute": 5, "prismatic": 2}, "joints": ["flywheel_spin (revolute, -180 to 180 deg)", "crank_grip_spin (revolute, -180 to 180 deg)", "blade_spin (revolute, -180 to 180 deg)", "carriage_slide (prismatic, -0.1 to 0 m)", "pusher_feed (prismatic, 0 to 0.04 m)", "clamp_arm_hinge (revolute, 0 to 68.7549 deg)", "thickness_knob_turn (revolute, -171.887 to 171.887 deg)"], "links": 8, "mass_kg": 469.73, "base": "free", "usd": "assets/meat_slicer/meat_slicer.usd", "physics": "assets/meat_slicer/physics.json", "preview": "assets/meat_slicer/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}
 {"name": "industrial_pipe_valve", "title": "Pipe valve", "description": "Flanged pipe valve: the handwheel turns and the stem rises", "joint_count": 2, "joint_types": {"revolute": 1, "prismatic": 1}, "joints": ["handwheel_spin (revolute, 0 to 1799.09 deg)", "stem_lift (prismatic, 0 to 0.04 m)"], "links": 3, "mass_kg": 89.15, "base": "free", "usd": "assets/industrial_pipe_valve/industrial_pipe_valve.usd", "physics": "assets/industrial_pipe_valve/physics.json", "preview": "assets/industrial_pipe_valve/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}
 {"name": "desk_lamp", "title": "Desk lamp", "description": "Balanced-arm desk lamp with a swivel base and tilting shade", "joint_count": 5, "joint_types": {"revolute": 5}, "joints": ["base_swivel (revolute, -148.969 to 148.969 deg)", "shoulder (revolute, -34.3775 to 25.7831 deg)", "elbow (revolute, -51.5662 to 51.5662 deg)", "shade_tilt (revolute, -45.8366 to 45.8366 deg)", "shade_swivel (revolute, -57.2958 to 68.7549 deg)"], "links": 6, "mass_kg": 1.69, "base": "free", "usd": "assets/desk_lamp/desk_lamp.usd", "physics": "assets/desk_lamp/physics.json", "preview": "assets/desk_lamp/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}
 {"name": "faucet_kitchen", "title": "Kitchen faucet", "description": "Kitchen tap: swivel spout, pull-out spray, flow and temperature levers; fixed to the world", "joint_count": 4, "joint_types": {"revolute": 3, "prismatic": 1}, "joints": ["spout_swivel (revolute, -120.321 to 120.321 deg)", "spray_pullout (prismatic, 0 to 0.35 m)", "lever_temperature (revolute, -45.8366 to 45.8366 deg)", "lever_flow (revolute, 0 to 28.6479 deg)"], "links": 5, "mass_kg": 1.57, "base": "fixed", "usd": "assets/faucet_kitchen/faucet_kitchen.usd", "physics": "assets/faucet_kitchen/physics.json", "preview": "assets/faucet_kitchen/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}
-{"name": "forklift", "title": "Forklift", "description": "Counterbalance forklift: rolling wheels, tilting mast and a lifting fork carriage", "joint_count": 6, "joint_types": {"revolute": 5, "prismatic": 1}, "joints": ["wheel_fl_roll (revolute, -180 to 180 deg)", "wheel_fr_roll (revolute, -180 to 180 deg)", "wheel_rl_roll (revolute, -180 to 180 deg)", "wheel_rr_roll (revolute, -180 to 180 deg)", "mast_tilt (revolute, -3.44 to 5.73 deg)", "fork_lift (prismatic, 0 to 1.15 m)"], "links": 7, "mass_kg": 32203.72, "base": "free", "usd": "assets/forklift/forklift.usd", "physics": "assets/forklift/physics.json", "preview": "assets/forklift/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}
 {"name": "garlic_press", "title": "Garlic press", "description": "Hinged garlic press", "joint_count": 1, "joint_types": {"revolute": 1}, "joints": ["upper_handle_hinge (revolute, -5.73 to 91.6732 deg)"], "links": 2, "mass_kg": 0.55, "base": "free", "usd": "assets/garlic_press/garlic_press.usd", "physics": "assets/garlic_press/physics.json", "preview": "assets/garlic_press/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}

 {"name": "utility_knife", "title": "Utility knife", "description": "Snap-off box cutter with a sliding blade", "joint_count": 1, "joint_types": {"prismatic": 1}, "joints": ["blade_extend (prismatic, 0 to 0.04 m)"], "links": 2, "mass_kg": 0.19, "base": "free", "usd": "assets/utility_knife/utility_knife.usd", "physics": "assets/utility_knife/physics.json", "preview": "assets/utility_knife/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}
 {"name": "industrial_shears", "title": "Industrial shears", "description": "Heavy cutting shears with a jaw pivot and a locking latch", "joint_count": 2, "joint_types": {"revolute": 2}, "joints": ["jaw_pivot (revolute, -2.86 to 20.0535 deg)", "latch_pivot (revolute, -17.1887 to 68.7549 deg)"], "links": 3, "mass_kg": 4.28, "base": "free", "usd": "assets/industrial_shears/industrial_shears.usd", "physics": "assets/industrial_shears/physics.json", "preview": "assets/industrial_shears/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}
+{"name": "meat_slicer", "title": "Meat slicer", "description": "Flywheel meat slicer: crank, carriage, pusher, clamp and thickness knob", "joint_count": 7, "joint_types": {"revolute": 5, "prismatic": 2}, "joints": ["flywheel_spin (revolute, -180 to 180 deg)", "crank_grip_spin (revolute, -180 to 180 deg)", "blade_spin (revolute, -180 to 180 deg)", "carriage_slide (prismatic, -0.1 to 0 m)", "pusher_feed (prismatic, 0 to 0.04 m)", "clamp_arm_hinge (revolute, 0 to 68.7549 deg)", "thickness_knob_turn (revolute, -171.887 to 171.887 deg)"], "links": 8, "mass_kg": 68.2, "base": "free", "usd": "assets/meat_slicer/meat_slicer.usd", "physics": "assets/meat_slicer/physics.json", "preview": "assets/meat_slicer/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}
 {"name": "industrial_pipe_valve", "title": "Pipe valve", "description": "Flanged pipe valve: the handwheel turns and the stem rises", "joint_count": 2, "joint_types": {"revolute": 1, "prismatic": 1}, "joints": ["handwheel_spin (revolute, 0 to 1799.09 deg)", "stem_lift (prismatic, 0 to 0.04 m)"], "links": 3, "mass_kg": 89.15, "base": "free", "usd": "assets/industrial_pipe_valve/industrial_pipe_valve.usd", "physics": "assets/industrial_pipe_valve/physics.json", "preview": "assets/industrial_pipe_valve/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}
 {"name": "desk_lamp", "title": "Desk lamp", "description": "Balanced-arm desk lamp with a swivel base and tilting shade", "joint_count": 5, "joint_types": {"revolute": 5}, "joints": ["base_swivel (revolute, -148.969 to 148.969 deg)", "shoulder (revolute, -34.3775 to 25.7831 deg)", "elbow (revolute, -51.5662 to 51.5662 deg)", "shade_tilt (revolute, -45.8366 to 45.8366 deg)", "shade_swivel (revolute, -57.2958 to 68.7549 deg)"], "links": 6, "mass_kg": 1.69, "base": "free", "usd": "assets/desk_lamp/desk_lamp.usd", "physics": "assets/desk_lamp/physics.json", "preview": "assets/desk_lamp/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}
 {"name": "faucet_kitchen", "title": "Kitchen faucet", "description": "Kitchen tap: swivel spout, pull-out spray, flow and temperature levers; fixed to the world", "joint_count": 4, "joint_types": {"revolute": 3, "prismatic": 1}, "joints": ["spout_swivel (revolute, -120.321 to 120.321 deg)", "spray_pullout (prismatic, 0 to 0.35 m)", "lever_temperature (revolute, -45.8366 to 45.8366 deg)", "lever_flow (revolute, 0 to 28.6479 deg)"], "links": 5, "mass_kg": 1.57, "base": "fixed", "usd": "assets/faucet_kitchen/faucet_kitchen.usd", "physics": "assets/faucet_kitchen/physics.json", "preview": "assets/faucet_kitchen/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}
+{"name": "forklift", "title": "Forklift", "description": "Counterbalance forklift: rolling wheels, tilting mast and a lifting fork carriage", "joint_count": 6, "joint_types": {"revolute": 5, "prismatic": 1}, "joints": ["wheel_fl_roll (revolute, -180 to 180 deg)", "wheel_fr_roll (revolute, -180 to 180 deg)", "wheel_rl_roll (revolute, -180 to 180 deg)", "wheel_rr_roll (revolute, -180 to 180 deg)", "mast_tilt (revolute, -3.44 to 5.73 deg)", "fork_lift (prismatic, 0 to 1.15 m)"], "links": 7, "mass_kg": 3870.0, "base": "free", "usd": "assets/forklift/forklift.usd", "physics": "assets/forklift/physics.json", "preview": "assets/forklift/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}
 {"name": "garlic_press", "title": "Garlic press", "description": "Hinged garlic press", "joint_count": 1, "joint_types": {"revolute": 1}, "joints": ["upper_handle_hinge (revolute, -5.73 to 91.6732 deg)"], "links": 2, "mass_kg": 0.55, "base": "free", "usd": "assets/garlic_press/garlic_press.usd", "physics": "assets/garlic_press/physics.json", "preview": "assets/garlic_press/preview.png", "more_like_this": "https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects"}

assets/utility_knife/GET_MORE.md CHANGED Viewed

@@ -13,6 +13,6 @@ Ask us if you need:
 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
-- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".

 - Request them (short form on Hugging Face): https://huggingface.co/datasets/projectsim/sim-ready-articulated-objects
 - Or email: team@projectsim.ai
+- The full free sample: https://huggingface.co/datasets/projectsim/simready-articulated-objects-sample
 License: CC BY 4.0. Credit "projectsim by Kaedim".