Swap the garlic press for the forklift

.gitattributes

@@ -65,3 +65,4 @@ assets/industrial_pipe_valve/industrial_pipe_valve.usd filter=lfs diff=lfs merge
 assets/industrial_shears/industrial_shears.usd filter=lfs diff=lfs merge=lfs -text
 assets/meat_slicer/meat_slicer.usd filter=lfs diff=lfs merge=lfs -text
 assets/utility_knife/utility_knife.usd filter=lfs diff=lfs merge=lfs -text
+assets/forklift/forklift.usd filter=lfs diff=lfs merge=lfs -text

README.md

@@ -44,7 +44,7 @@ and it moves.
 | 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 |
-| Garlic press | `garlic_press` | Hinged garlic press | 1 (1 revolute) | 0.55 kg |
+| Forklift | `forklift` | Counterbalance forklift: rolling wheels, tilting mast and a lifting fork carriage | 6 (5 revolute, 1 prismatic) | 32203.7 kg |
 
 ## Want more?
 

assets/{garlic_press/textures/base_color.png → forklift/forklift.usd}

@@ -1,3 +1,3 @@
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-size 14139894
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+size 23458990

assets/forklift/physics.json

@@ -0,0 +1,975 @@
+{
+  "physics": {
+    "articulation": {
+      "schema_version": "articulation/2",
+      "root_link": "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": [],
+        "excluded_link_pairs": [
+          [
+            "body",
+            "mast"
+          ],
+          [
+            "body",
+            "wheel_fl"
+          ],
+          [
+            "body",
+            "wheel_fr"
+          ],
+          [
+            "body",
+            "wheel_rl"
+          ],
+          [
+            "body",
+            "wheel_rr"
+          ],
+          [
+            "carriage",
+            "mast"
+          ]
+        ],
+        "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
+        "external_contacts": "enabled",
+        "other_engine_validation": "not_run"
+      },
+      "collider_aggregation": "link",
+      "joint_count": 6,
+      "joint_types": {
+        "revolute": 5,
+        "prismatic": 1
+      },
+      "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
+      "links": {
+        "body": {
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+          "mass_kg": 24214.6862,
+          "mass_source": "metal_steel density 7850 kg/m^3 x 3.08467 m^3",
+          "colliders": 1,
+          "collision": [
+            {
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+              "approximation": "convexDecomposition",
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+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_233/Cylinder_278",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_135/Lift_chain_leaf_plate_230",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_080/Cylinder_227",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_168/Lift_chain_leaf_plate_252",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_235/Rounded_crown_end_cover_002",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_118/Cube_177",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_048/Lift_chain_leaf_plate_176",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_063/Lift_chain_leaf_plate_186",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_101/Cylinder_234",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_026/Cylinder_209",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_003/Cube_175",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_068/Cylinder_223",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_172/Lift_chain_leaf_plate_255",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_156/Lift_chain_leaf_plate_244",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_089/Cylinder_230",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_084/Lift_chain_leaf_plate_200",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_239/Cylinder_281",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_122/Cylinder_241",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_227/Cylinder_276",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_047/Cylinder_216",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_222/Lift_chain_leaf_plate_288",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_105/Lift_chain_leaf_plate_214",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_009/Lift_chain_leaf_plate_150",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_013/Lift_chain_leaf_plate_153",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_067/Lift_chain_leaf_plate_189",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_140/Cylinder_247",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_139/Lift_chain_leaf_plate_233",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_046/Lift_chain_leaf_plate_175",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_178/Lift_chain_leaf_plate_259",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_088/Lift_chain_leaf_plate_203",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_243/Cylinder_284",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_126/Lift_chain_leaf_plate_224",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_051/Lift_chain_leaf_plate_178",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_226/Lift_chain_leaf_plate_291",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_109/Lift_chain_leaf_plate_217",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_034/Lift_chain_leaf_plate_167",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_066/Lift_chain_leaf_plate_188",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_017/Cylinder_206",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_196/Lift_chain_leaf_plate_271",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_087/Lift_chain_leaf_plate_202",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_161/Cylinder_254",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_230/Cylinder_277",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_092/Cylinder_231",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_130/Lift_chain_leaf_plate_227",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_107/Cylinder_236",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_151/Lift_chain_leaf_plate_241",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_113/Cylinder_238",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_058/Lift_chain_leaf_plate_183",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_002/Cube_174",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_044/Cylinder_215",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_021/Lift_chain_leaf_plate_158",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_201/Lift_chain_leaf_plate_274",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_210/Lift_chain_leaf_plate_280",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_055/Lift_chain_leaf_plate_181",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_216/Lift_chain_leaf_plate_284",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_106/Lift_chain_leaf_plate_215",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_155/Cylinder_252",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_134/Cylinder_245",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_197/Cylinder_266",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_079/Lift_chain_leaf_plate_197",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_234/Cube_180",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_043/Lift_chain_leaf_plate_173",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_062/Cylinder_221",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_184/Lift_chain_leaf_plate_263",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_025/Lift_chain_leaf_plate_161",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_166/Lift_chain_leaf_plate_251",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_182/Cylinder_261",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_001/Cube_173",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_138/Lift_chain_leaf_plate_232",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_042/Lift_chain_leaf_plate_172",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_177/Lift_chain_leaf_plate_258",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_167/Cylinder_256",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_238/Rounded_crown_end_cover_003",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_205/Lift_chain_leaf_plate_277",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_150/Lift_chain_leaf_plate_240",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_008/Cylinder_203",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_149/Cylinder_250",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_029/Cylinder_210",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_217/Lift_chain_leaf_plate_285",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_104/Cylinder_235",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_215/Cylinder_272",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_083/Cylinder_228",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_187/Lift_chain_leaf_plate_265",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_012/Lift_chain_leaf_plate_152",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_171/Lift_chain_leaf_plate_254",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_242/Cylinder_283",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_125/Cylinder_242",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_154/Lift_chain_leaf_plate_243",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_198/Lift_chain_leaf_plate_272",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_225/Lift_chain_leaf_plate_290",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_108/Lift_chain_leaf_plate_216",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_061/Lift_chain_leaf_plate_185",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_016/Lift_chain_leaf_plate_155",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_143/Cylinder_248",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_040/Lift_chain_leaf_plate_171",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_209/Cylinder_270",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_175/Lift_chain_leaf_plate_257",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_129/Lift_chain_leaf_plate_226",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_102/Lift_chain_leaf_plate_212",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_074/Cylinder_225",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_004/Cylinder_201",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_229/Lift_chain_leaf_plate_293",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_112/Lift_chain_leaf_plate_219",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_037/Lift_chain_leaf_plate_169",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_141/Lift_chain_leaf_plate_234",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_081/Lift_chain_leaf_plate_198",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_020/Cylinder_207",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_192/Lift_chain_leaf_plate_268",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_059/Cylinder_220",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_176/Cylinder_259",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_199/Lift_chain_leaf_plate_273",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_133/Lift_chain_leaf_plate_229",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_162/Lift_chain_leaf_plate_248",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_000/Cube_172",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_038/Cylinder_213",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_116/Cylinder_239",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_041/Cylinder_214",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_145/Lift_chain_leaf_plate_237",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_099/Lift_chain_leaf_plate_210",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_024/Lift_chain_leaf_plate_160",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_214/Lift_chain_leaf_plate_283",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_128/Cylinder_243",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_144/Lift_chain_leaf_plate_236",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_100/Lift_chain_leaf_plate_211",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_159/Lift_chain_leaf_plate_246",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_121/Cylinder_240",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_137/Cylinder_246",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_211/Lift_chain_leaf_plate_281",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_082/Lift_chain_leaf_plate_199",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_237/Cylinder_280",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_120/Cube_179",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_045/Lift_chain_leaf_plate_174",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_065/Cylinder_222",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_170/Cylinder_257",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_103/Lift_chain_leaf_plate_213",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_028/Lift_chain_leaf_plate_163",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_022/Lift_chain_leaf_plate_159",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_006/Lift_chain_leaf_plate_148",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_057/Lift_chain_leaf_plate_182",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_200/Cylinder_267",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_142/Lift_chain_leaf_plate_235",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_164/Cylinder_255",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_078/Lift_chain_leaf_plate_196",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_208/Lift_chain_leaf_plate_279",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_033/Lift_chain_leaf_plate_166",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_086/Cylinder_229",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_241/Cube_181",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_124/Lift_chain_leaf_plate_223",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_049/Lift_chain_leaf_plate_177",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_069/Lift_chain_leaf_plate_190",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_224/Cylinder_275",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_014/Cylinder_205",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_064/Lift_chain_leaf_plate_187",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_015/Lift_chain_leaf_plate_154",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_119/Cube_178",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_191/Cylinder_264",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_075/Lift_chain_leaf_plate_194",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_220/Lift_chain_leaf_plate_287",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_090/Lift_chain_leaf_plate_204",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_202/Lift_chain_leaf_plate_275",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_097/Lift_chain_leaf_plate_209",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_053/Cylinder_218",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_073/Lift_chain_leaf_plate_193",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_228/Lift_chain_leaf_plate_292",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_111/Lift_chain_leaf_plate_218",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_036/Lift_chain_leaf_plate_168",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_147/Lift_chain_leaf_plate_238",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_076/Lift_chain_leaf_plate_195",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_019/Lift_chain_leaf_plate_157",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_213/Lift_chain_leaf_plate_282",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_188/Cylinder_263",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_219/Lift_chain_leaf_plate_286",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_158/Cylinder_253",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_054/Lift_chain_leaf_plate_180",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_094/Lift_chain_leaf_plate_207",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_232/Lift_chain_leaf_plate_295",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_132/Lift_chain_leaf_plate_228",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_077/Cylinder_226",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_117/Cube_176",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_115/Lift_chain_leaf_plate_221",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_060/Lift_chain_leaf_plate_184",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_180/Lift_chain_leaf_plate_260",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_011/Cylinder_204",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_098/Cylinder_233",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_169/Lift_chain_leaf_plate_253",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_023/Cylinder_208",
+                "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_221/Cylinder_274"
+              ],
+              "aggregation": "link",
+              "boolean_union": false,
+              "cooked_shape_count": null
+            }
+          ]
+        },
+        "carriage": {
+          "prim": "/sm_forklift_yellowblackindustrial_k7q2/carriage",
+          "mass_kg": 943.5742,
+          "mass_source": "metal_steel density 7850 kg/m^3 x 0.12020 m^3",
+          "colliders": 1,
+          "collision": [
+            {
+              "prim": "/sm_forklift_yellowblackindustrial_k7q2/carriage/Collisions/link_collision",
+              "approximation": "convexDecomposition",
+              "basis": "combined rigid link; bounded concave cook",
+              "source_mesh_count": 31,
+              "source_meshes": [
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_000/Cube_182",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_003/Cylinder_286",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_030/Cylinder_297",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_024/Cube_195",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_020/Cube_193",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_009/Cylinder_289",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_015/Cube_188",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_014/Cube_187",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_001/Cube_183",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_002/Cylinder_285",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_013/Cube_186",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_029/Cylinder_296",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_025/Cylinder_292",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_008/Carriage_hydraulic_return_hose_001",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_007/Cube_185",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_005/Cylinder_288",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_010/Cylinder_290",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_017/Cube_190",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_016/Cube_189",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_012/Bent_backrest_frame_001",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_021/Forged_tapered_fork_with_radiused_heel_002",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_027/Cylinder_294",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_018/Cube_191",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_004/Cylinder_287",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_026/Cylinder_293",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_019/Cube_192",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_011/Cylinder_291",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_006/Cube_184",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_022/Cube_194",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_023/Forged_tapered_fork_with_radiused_heel_003",
+                "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_028/Cylinder_295"
+              ],
+              "aggregation": "link",
+              "boolean_union": false,
+              "cooked_shape_count": null
+            }
+          ]
+        },
+        "wheel_fl": {
+          "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl",
+          "mass_kg": 1668.2689,
+          "mass_source": "metal_steel density 7850 kg/m^3 x 0.21252 m^3",
+          "colliders": 1,
+          "collision": [
+            {
+              "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/Collisions/link_collision",
+              "approximation": "convexDecomposition",
+              "basis": "combined rigid link; bounded concave cook",
+              "source_mesh_count": 14,
+              "source_meshes": [
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_060/Cylinder_298",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_059/Torus_011",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_068/Cylinder_306",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_056/Tread_shoe_279",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_061/Cylinder_299",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_064/Cylinder_302",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_069/Cylinder_307",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_058/Torus_010",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_057/Spun_rim_dish_004",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_066/Cylinder_304",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_063/Cylinder_301",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_065/Cylinder_303",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_062/Cylinder_300",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_067/Cylinder_305"
+              ],
+              "aggregation": "link",
+              "boolean_union": false,
+              "cooked_shape_count": null
+            }
+          ]
+        },
+        "wheel_fr": {
+          "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr",
+          "mass_kg": 1668.2691,
+          "mass_source": "metal_steel density 7850 kg/m^3 x 0.21252 m^3",
+          "colliders": 1,
+          "collision": [
+            {
+              "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/Collisions/link_collision",
+              "approximation": "convexDecomposition",
+              "basis": "combined rigid link; bounded concave cook",
+              "source_mesh_count": 14,
+              "source_meshes": [
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_057/Spun_rim_dish_005",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_068/Cylinder_316",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_064/Cylinder_312",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_058/Torus_012",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_069/Cylinder_317",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_065/Cylinder_313",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_060/Cylinder_308",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_061/Cylinder_309",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_056/Tread_shoe_335",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_059/Torus_013",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_066/Cylinder_314",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_062/Cylinder_310",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_067/Cylinder_315",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_063/Cylinder_311"
+              ],
+              "aggregation": "link",
+              "boolean_union": false,
+              "cooked_shape_count": null
+            }
+          ]
+        },
+        "wheel_rl": {
+          "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl",
+          "mass_kg": 852.2575,
+          "mass_source": "metal_steel density 7850 kg/m^3 x 0.10857 m^3",
+          "colliders": 1,
+          "collision": [
+            {
+              "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/Collisions/link_collision",
+              "approximation": "convexDecomposition",
+              "basis": "combined rigid link; bounded concave cook",
+              "source_mesh_count": 14,
+              "source_meshes": [
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_060/Cylinder_318",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_062/Cylinder_320",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_066/Cylinder_324",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_067/Cylinder_325",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_061/Cylinder_319",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_063/Cylinder_321",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_059/Torus_015",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_068/Cylinder_326",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_058/Torus_014",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_064/Cylinder_322",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_069/Cylinder_327",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_056/Tread_shoe_391",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_065/Cylinder_323",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_057/Spun_rim_dish_006"
+              ],
+              "aggregation": "link",
+              "boolean_union": false,
+              "cooked_shape_count": null
+            }
+          ]
+        },
+        "wheel_rr": {
+          "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr",
+          "mass_kg": 852.2883,
+          "mass_source": "metal_steel density 7850 kg/m^3 x 0.10857 m^3",
+          "colliders": 1,
+          "collision": [
+            {
+              "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/Collisions/link_collision",
+              "approximation": "convexDecomposition",
+              "basis": "combined rigid link; bounded concave cook",
+              "source_mesh_count": 14,
+              "source_meshes": [
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_061/Cylinder_329",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_069/Cylinder_337",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_065/Cylinder_333",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_062/Cylinder_330",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_057/Spun_rim_dish_007",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_066/Cylinder_334",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_056/Tread_shoe_447",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_058/Torus_016",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_067/Cylinder_335",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_063/Cylinder_331",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_060/Cylinder_328",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_059/Torus_017",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_068/Cylinder_336",
+                "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_064/Cylinder_332"
+              ],
+              "aggregation": "link",
+              "boolean_union": false,
+              "cooked_shape_count": null
+            }
+          ]
+        }
+      },
+      "joints": {
+        "wheel_fl_roll": {
+          "path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/wheel_fl_roll",
+          "type": "revolute",
+          "parent": "body",
+          "child": "wheel_fl",
+          "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"
+          },
+          "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": "Wheel bearings permit passive rolling after release."
+            },
+            "status": "passive",
+            "simulator_status": "not_run"
+          }
+        },
+        "wheel_fr_roll": {
+          "path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/wheel_fr_roll",
+          "type": "revolute",
+          "parent": "body",
+          "child": "wheel_fr",
+          "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"
+          },
+          "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": "Wheel bearings permit passive rolling after release."
+            },
+            "status": "passive",
+            "simulator_status": "not_run"
+          }
+        },
+        "wheel_rl_roll": {
+          "path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/wheel_rl_roll",
+          "type": "revolute",
+          "parent": "body",
+          "child": "wheel_rl",
+          "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"
+          },
+          "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": "Wheel bearings permit passive rolling after release."
+            },
+            "status": "passive",
+            "simulator_status": "not_run"
+          }
+        },
+        "wheel_rr_roll": {
+          "path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/wheel_rr_roll",
+          "type": "revolute",
+          "parent": "body",
+          "child": "wheel_rr",
+          "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"
+          },
+          "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": "Wheel bearings permit passive rolling after release."
+            },
+            "status": "passive",
+            "simulator_status": "not_run"
+          }
+        },
+        "mast_tilt": {
+          "path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/mast_tilt",
+          "type": "revolute",
+          "parent": "body",
+          "child": "mast",
+          "axis_contract": [
+            1.0,
+            0.0,
+            0.0
+          ],
+          "axis_token": "X",
+          "frame_alignment_wxyz": [
+            1.0,
+            0.0,
+            0.0,
+            0.0
+          ],
+          "limits": {
+            "lower": -3.437747,
+            "upper": 5.729578,
+            "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": "high",
+              "mode": "hold_position",
+              "reason": "Hydraulic tilt circuit holds the mast angle when released."
+            },
+            "status": "resolved",
+            "simulator_status": "not_run",
+            "effective_mass_or_inertia_si": 7554.43517411946,
+            "gravity_bound_si": 38546.886717178386,
+            "gravity_at_rest_si": 6152.984640958148,
+            "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": 57820.33007576758,
+            "dynamic_friction_si": 48183.608396472984,
+            "required_capability": "PhysxJointAxisAPI",
+            "supported_links": {
+              "mast": {
+                "mass_kg": 2004.3766,
+                "mass_properties": "mesh integrals scaled to resolved mass"
+              },
+              "carriage": {
+                "mass_kg": 943.5742,
+                "mass_properties": "mesh integrals scaled to resolved mass"
+              }
+            }
+          }
+        },
+        "fork_lift": {
+          "path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/fork_lift",
+          "type": "prismatic",
+          "parent": "mast",
+          "child": "carriage",
+          "axis_contract": [
+            0.0,
+            0.0,
+            1.0
+          ],
+          "axis_token": "X",
+          "frame_alignment_wxyz": [
+            0.707106781,
+            0.0,
+            -0.707106781,
+            0.0
+          ],
+          "limits": {
+            "lower": 0.0,
+            "upper": 1.15,
+            "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": "Lift hydraulic valve holds carriage elevation when released."
+            },
+            "status": "resolved",
+            "simulator_status": "not_run",
+            "effective_mass_or_inertia_si": 943.5742,
+            "gravity_bound_si": 9256.462902000001,
+            "gravity_at_rest_si": -9256.462902000001,
+            "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": 13884.694353000003,
+            "dynamic_friction_si": 11570.578627500001,
+            "required_capability": "PhysxJointAxisAPI",
+            "supported_links": {
+              "carriage": {
+                "mass_kg": 943.5742,
+                "mass_properties": "mesh integrals scaled to resolved mass"
+              }
+            }
+          }
+        }
+      },
+      "preview_controls": [],
+      "reference_pose": {
+        "fork_lift": 0.0,
+        "mast_tilt": 0.0
+      },
+      "provenance": {
+        "base_mode_reason": "Wheeled forklift is a movable vehicle with no world mounting.",
+        "base_mode_source": "author_explicit",
+        "contract_revision": "2.0",
+        "producer": "articulated-asset-generation",
+        "producer_version": "0.1.0"
+      }
+    },
+    "mass_kg": 32203.7208,
+    "colliders": 7,
+    "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/garlic_press/physics.json

@@ -1,156 +0,0 @@
-{
-  "physics": {
-    "articulation": {
-      "schema_version": "articulation/2",
-      "root_link": "lower_handle_body",
-      "base_mode": "free",
-      "world_joint": null,
-      "behavior_sleep_threshold": null,
-      "handoff_base_mode": "free",
-      "base_mode_source": "handoff",
-      "collision_filter": {
-        "mode": "adjacent",
-        "explicit_excluded_link_pairs": [],
-        "handoff_excluded_link_pairs": [
-          [
-            "lower_handle_body",
-            "upper_handle"
-          ]
-        ],
-        "excluded_link_pairs": [
-          [
-            "lower_handle_body",
-            "upper_handle"
-          ]
-        ],
-        "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
-        "external_contacts": "enabled",
-        "other_engine_validation": "not_run"
-      },
-      "collider_aggregation": "link",
-      "joint_count": 1,
-      "joint_types": {
-        "revolute": 1
-      },
-      "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
-      "links": {
-        "lower_handle_body": {
-          "prim": "/garlic_press/lower_handle_body",
-          "mass_kg": 0.2572,
-          "mass_source": "VLM per-part estimate, 7 of 7 meshes",
-          "colliders": 1,
-          "collision": [
-            {
-              "prim": "/garlic_press/lower_handle_body/Collisions/link_collision",
-              "approximation": "convexDecomposition",
-              "basis": "combined rigid link; bounded concave cook",
-              "source_mesh_count": 7,
-              "source_meshes": [
-                "/garlic_press/lower_handle_body/lower_handle_body__visual_000/Deep_rounded_perforated_basket_003",
-                "/garlic_press/lower_handle_body/lower_handle_body__visual_005/Cylinder_065",
-                "/garlic_press/lower_handle_body/lower_handle_body__visual_003/Front_pivot_support_003",
-                "/garlic_press/lower_handle_body/lower_handle_body__visual_004/Cylinder_064",
-                "/garlic_press/lower_handle_body/lower_handle_body__visual_002/Front_pivot_support_002",
-                "/garlic_press/lower_handle_body/lower_handle_body__visual_001/Lower_tapered_solid_grip_001",
-                "/garlic_press/lower_handle_body/lower_handle_body__visual_006/Cylinder_066"
-              ],
-              "aggregation": "link",
-              "boolean_union": false,
-              "cooked_shape_count": null
-            }
-          ]
-        },
-        "upper_handle": {
-          "prim": "/garlic_press/upper_handle",
-          "mass_kg": 0.2879,
-          "mass_source": "VLM per-part estimate, 6 of 6 meshes",
-          "colliders": 1,
-          "collision": [
-            {
-              "prim": "/garlic_press/upper_handle/Collisions/link_collision",
-              "approximation": "convexDecomposition",
-              "basis": "combined rigid link; bounded concave cook",
-              "source_mesh_count": 6,
-              "source_meshes": [
-                "/garlic_press/upper_handle/upper_handle__visual_001/Cylinder_067",
-                "/garlic_press/upper_handle/upper_handle__visual_002/Cylinder_068",
-                "/garlic_press/upper_handle/upper_handle__visual_005/Cylinder_071",
-                "/garlic_press/upper_handle/upper_handle__visual_000/Upper_long_lever_grip_001",
-                "/garlic_press/upper_handle/upper_handle__visual_004/Cylinder_070",
-                "/garlic_press/upper_handle/upper_handle__visual_003/Cylinder_069"
-              ],
-              "aggregation": "link",
-              "boolean_union": false,
-              "cooked_shape_count": null
-            }
-          ]
-        }
-      },
-      "joints": {
-        "upper_handle_hinge": {
-          "path": "/garlic_press/Joints/upper_handle_hinge",
-          "type": "revolute",
-          "parent": "lower_handle_body",
-          "child": "upper_handle",
-          "axis_contract": [
-            0.0,
-            -1.0,
-            0.0
-          ],
-          "axis_token": "X",
-          "frame_alignment_wxyz": [
-            0.707106781,
-            0.0,
-            -0.0,
-            -0.707106781
-          ],
-          "limits": {
-            "lower": -5.729578,
-            "upper": 91.673247,
-            "unit": "deg"
-          },
-          "drive": {
-            "type": "force",
-            "stiffness": 0.0,
-            "damping": 0.0017453292519943296,
-            "damping_unit": "N*m*s/deg",
-            "damping_si": 0.1,
-            "damping_si_unit": "N*m*s/rad",
-            "note": "passive joint: damping only; no actuation authored"
-          },
-          "behavior": {
-            "intent": {
-              "confidence": "medium",
-              "mode": "none",
-              "reason": "User squeezes or lifts the lever; after release it is passive under gravity. No spring is visible or inferred for this hand press."
-            },
-            "status": "passive",
-            "simulator_status": "not_run"
-          }
-        }
-      },
-      "preview_controls": [],
-      "reference_pose": {
-        "upper_handle_hinge": 0.0
-      },
-      "provenance": {
-        "base_mode_reason": "Handheld kitchen garlic press with no mounting hardware; it is a freestanding movable tool, so the base is free.",
-        "base_mode_source": "author_explicit",
-        "contract_revision": "2.0",
-        "producer": "articulated-asset-generation",
-        "producer_version": "0.1.0"
-      }
-    },
-    "mass_kg": 0.5451,
-    "colliders": 2,
-    "status": "articulated_body",
-    "material_class": "metal_aluminum",
-    "engine": "physx",
-    "multipart_physx": false,
-    "static_friction": 0.45,
-    "dynamic_friction": 0.35,
-    "restitution": 0.25,
-    "friction_model": "legacy",
-    "friction_convention": "pair_value_on_steel_dry"
-  }
-}

assets/metadata.jsonl

@@ -4,4 +4,4 @@
 {"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://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=metadata&utm_content=articulated-objects-sample"}
 {"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://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=metadata&utm_content=articulated-objects-sample"}
 {"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://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=metadata&utm_content=articulated-objects-sample"}
-{"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://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=metadata&utm_content=articulated-objects-sample"}
+{"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://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=metadata&utm_content=articulated-objects-sample"}