Free sample: 7 sim-ready articulated objects
Browse filesThis view is limited to 50 files because it contains too many changes. See raw diff
- .gitattributes +7 -0
- GET_MORE.md +12 -0
- README.md +103 -0
- assets/desk_lamp/GET_MORE.md +12 -0
- assets/desk_lamp/desk_lamp.usd +3 -0
- assets/desk_lamp/physics.json +646 -0
- assets/desk_lamp/preview.png +3 -0
- assets/desk_lamp/textures/base_color.png +3 -0
- assets/desk_lamp/textures/metallic.png +3 -0
- assets/desk_lamp/textures/normal.png +3 -0
- assets/desk_lamp/textures/roughness.png +3 -0
- assets/faucet_kitchen/GET_MORE.md +12 -0
- assets/faucet_kitchen/faucet_kitchen.usd +3 -0
- assets/faucet_kitchen/physics.json +470 -0
- assets/faucet_kitchen/preview.png +3 -0
- assets/faucet_kitchen/textures/base_color.png +3 -0
- assets/faucet_kitchen/textures/metallic.png +3 -0
- assets/faucet_kitchen/textures/normal.png +3 -0
- assets/faucet_kitchen/textures/roughness.png +3 -0
- assets/garlic_press/GET_MORE.md +12 -0
- assets/garlic_press/garlic_press.usd +3 -0
- assets/garlic_press/physics.json +156 -0
- assets/garlic_press/preview.png +3 -0
- assets/garlic_press/textures/base_color.png +3 -0
- assets/garlic_press/textures/metallic.png +3 -0
- assets/garlic_press/textures/normal.png +3 -0
- assets/garlic_press/textures/roughness.png +3 -0
- assets/industrial_pipe_valve/GET_MORE.md +12 -0
- assets/industrial_pipe_valve/industrial_pipe_valve.usd +3 -0
- assets/industrial_pipe_valve/physics.json +296 -0
- assets/industrial_pipe_valve/preview.png +3 -0
- assets/industrial_pipe_valve/textures/base_color.png +3 -0
- assets/industrial_pipe_valve/textures/metallic.png +3 -0
- assets/industrial_pipe_valve/textures/normal.png +3 -0
- assets/industrial_pipe_valve/textures/roughness.png +3 -0
- assets/industrial_shears/GET_MORE.md +12 -0
- assets/industrial_shears/industrial_shears.usd +3 -0
- assets/industrial_shears/physics.json +285 -0
- assets/industrial_shears/preview.png +3 -0
- assets/industrial_shears/textures/base_color.png +3 -0
- assets/industrial_shears/textures/metallic.png +3 -0
- assets/industrial_shears/textures/normal.png +3 -0
- assets/industrial_shears/textures/roughness.png +3 -0
- assets/meat_slicer/GET_MORE.md +12 -0
- assets/meat_slicer/meat_slicer.usd +3 -0
- assets/meat_slicer/physics.json +775 -0
- assets/meat_slicer/preview.png +3 -0
- assets/meat_slicer/textures/base_color.png +3 -0
- assets/meat_slicer/textures/metallic.png +3 -0
- assets/meat_slicer/textures/normal.png +3 -0
.gitattributes
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# Video files - compressed
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*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.webm filter=lfs diff=lfs merge=lfs -text
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# Video files - compressed
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*.mp4 filter=lfs diff=lfs merge=lfs -text
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*.webm filter=lfs diff=lfs merge=lfs -text
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assets/desk_lamp/desk_lamp.usd filter=lfs diff=lfs merge=lfs -text
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assets/faucet_kitchen/faucet_kitchen.usd filter=lfs diff=lfs merge=lfs -text
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assets/garlic_press/garlic_press.usd filter=lfs diff=lfs merge=lfs -text
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assets/industrial_pipe_valve/industrial_pipe_valve.usd filter=lfs diff=lfs merge=lfs -text
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assets/industrial_shears/industrial_shears.usd filter=lfs diff=lfs merge=lfs -text
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assets/meat_slicer/meat_slicer.usd filter=lfs diff=lfs merge=lfs -text
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assets/utility_knife/utility_knife.usd filter=lfs diff=lfs merge=lfs -text
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GET_MORE.md
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# Want more assets like this?
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This is part of a free sample from **projectsim by Kaedim**: sim-ready,
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articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim).
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We have **100,000+ more assets like these**, and we can build sets of your own objects.
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- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=get_more_file&utm_content=articulated-objects-sample
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- Or email: team@projectsim.ai
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- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
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License: CC BY 4.0. Credit "projectsim by Kaedim".
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README.md
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---
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license: cc-by-4.0
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pretty_name: Sim-Ready Articulated Objects (Free Sample)
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task_categories:
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- robotics
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tags:
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- robotics
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- simulation
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- sim-ready
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- articulated-objects
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- manipulation
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- usd
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- openusd
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- isaac-sim
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- physx
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- 3d
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size_categories:
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- n<1K
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configs:
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- config_name: default
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data_files:
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- split: train
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path: assets/metadata.jsonl
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---
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# Sim-Ready Articulated Objects (Free Sample)
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Free sample of 7 sim-ready, articulated 3D objects for robot learning (OpenUSD, NVIDIA Isaac Sim).
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We have 100,000+ more assets like these. Request them at https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=card_top&utm_content=articulated-objects-sample or email team@projectsim.ai.
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<a href="https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=card_grid&utm_content=articulated-objects-sample"><img src="https://huggingface.co/datasets/projectsim/articulated-objects-sample/resolve/main/preview_grid.jpg" alt="The 7 objects in this sample, plus a tile: 100,000+ more assets like these" width="100%"></a>
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Every object has real joints with limits (hinges and sliders), a mass for every
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moving part, per-part colliders, and 4K PBR textures. Open the `.usd` in Isaac Sim
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and it moves.
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## What's included
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| Object | Folder | What it is | Joints | Mass |
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| ------ | ------ | ---------- | ------ | ---- |
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| Utility knife | `utility_knife` | Snap-off box cutter with a sliding blade | 1 (1 prismatic) | 0.19 kg |
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| Industrial shears | `industrial_shears` | Heavy cutting shears with a jaw pivot and a locking latch | 2 (2 revolute) | 4.28 kg |
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| Meat slicer | `meat_slicer` | Flywheel meat slicer: crank, carriage, pusher, clamp and thickness knob | 7 (5 revolute, 2 prismatic) | 469.73 kg |
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| Pipe valve | `industrial_pipe_valve` | Flanged pipe valve: the handwheel turns and the stem rises | 2 (1 revolute, 1 prismatic) | 89.15 kg |
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| Desk lamp | `desk_lamp` | Balanced-arm desk lamp with a swivel base and tilting shade | 5 (5 revolute) | 1.69 kg |
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| 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 |
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| Garlic press | `garlic_press` | Hinged garlic press | 1 (1 revolute) | 0.55 kg |
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## Want more?
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This sample is a small slice of what we make. We can deliver:
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- **More of these:** thousands to millions of variants of these and other objects
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- **Your own objects:** send photos, get sim-ready assets back
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- **Your simulator:** Isaac Sim, MuJoCo, Genesis, SAPIEN, Unreal / Unity
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**[Request assets →](https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=want_more&utm_content=articulated-objects-sample)** or email `team@projectsim.ai`.
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## Download
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```bash
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hf download projectsim/articulated-objects-sample --repo-type dataset --local-dir articulated-objects-sample
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```
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One object only:
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```bash
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hf download projectsim/articulated-objects-sample --repo-type dataset --include "assets/desk_lamp/*" --local-dir articulated-objects-sample
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```
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Open it with USD's Python API, or File > Open in Isaac Sim:
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```python
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from pxr import Usd
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stage = Usd.Stage.Open("articulated-objects-sample/assets/desk_lamp/desk_lamp.usd")
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```
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`assets/metadata.jsonl` lists every object with its joints, mass and file paths,
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so `datasets.load_dataset("projectsim/articulated-objects-sample")` gives you the catalogue without the 300 MB of files.
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## Files
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```
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assets/<name>/
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├── <name>.usd OpenUSD (binary), textures referenced as ./textures/*.png
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├── physics.json joints, limits, per-link mass and colliders, as authored in the USD
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├── preview.png render of the object
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├── textures/ base_color, normal, roughness, metallic (4K)
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└── GET_MORE.md how to get more assets like this one
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```
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## Physics
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- Units are meters, Z up. Engine: PhysX (Isaac Sim).
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- Each moving part is its own rigid link with its own collider (convex decomposition).
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- Joint limits, friction and the parent/child links are listed per joint in `physics.json`.
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- Masses are estimated per part from the object's materials and are a starting point, not a measurement.
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## License
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CC BY 4.0: free to use, share and adapt, including commercially. Credit "projectsim by Kaedim".
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Questions: open a Discussion on this repo, or email `team@projectsim.ai`.
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assets/desk_lamp/GET_MORE.md
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# Want more assets like this?
|
| 2 |
+
|
| 3 |
+
This is part of a free sample from **projectsim by Kaedim**: sim-ready,
|
| 4 |
+
articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim).
|
| 5 |
+
|
| 6 |
+
We have **100,000+ more assets like these**, and we can build sets of your own objects.
|
| 7 |
+
|
| 8 |
+
- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=asset_folder&utm_content=articulated-objects-sample
|
| 9 |
+
- Or email: team@projectsim.ai
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+
- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
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| 11 |
+
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+
License: CC BY 4.0. Credit "projectsim by Kaedim".
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assets/desk_lamp/desk_lamp.usd
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version https://git-lfs.github.com/spec/v1
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oid sha256:6dd4f338bcd34da1d64ba41a684b95c92d92fc5f74dbd2adaa1b64d95478a025
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size 6209097
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assets/desk_lamp/physics.json
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|
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|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"physics": {
|
| 3 |
+
"articulation": {
|
| 4 |
+
"schema_version": "articulation/2",
|
| 5 |
+
"root_link": "base",
|
| 6 |
+
"base_mode": "free",
|
| 7 |
+
"world_joint": null,
|
| 8 |
+
"behavior_sleep_threshold": null,
|
| 9 |
+
"handoff_base_mode": "free",
|
| 10 |
+
"base_mode_source": "handoff",
|
| 11 |
+
"collision_filter": {
|
| 12 |
+
"mode": "adjacent",
|
| 13 |
+
"explicit_excluded_link_pairs": [],
|
| 14 |
+
"handoff_excluded_link_pairs": [
|
| 15 |
+
[
|
| 16 |
+
"base",
|
| 17 |
+
"swivel"
|
| 18 |
+
],
|
| 19 |
+
[
|
| 20 |
+
"lower_arm",
|
| 21 |
+
"swivel"
|
| 22 |
+
],
|
| 23 |
+
[
|
| 24 |
+
"lower_arm",
|
| 25 |
+
"upper_arm"
|
| 26 |
+
],
|
| 27 |
+
[
|
| 28 |
+
"shade",
|
| 29 |
+
"shade_yoke"
|
| 30 |
+
],
|
| 31 |
+
[
|
| 32 |
+
"shade_yoke",
|
| 33 |
+
"upper_arm"
|
| 34 |
+
]
|
| 35 |
+
],
|
| 36 |
+
"excluded_link_pairs": [
|
| 37 |
+
[
|
| 38 |
+
"base",
|
| 39 |
+
"swivel"
|
| 40 |
+
],
|
| 41 |
+
[
|
| 42 |
+
"lower_arm",
|
| 43 |
+
"swivel"
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
"lower_arm",
|
| 47 |
+
"upper_arm"
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
"shade",
|
| 51 |
+
"shade_yoke"
|
| 52 |
+
],
|
| 53 |
+
[
|
| 54 |
+
"shade_yoke",
|
| 55 |
+
"upper_arm"
|
| 56 |
+
]
|
| 57 |
+
],
|
| 58 |
+
"representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
|
| 59 |
+
"external_contacts": "enabled",
|
| 60 |
+
"other_engine_validation": "not_run"
|
| 61 |
+
},
|
| 62 |
+
"collider_aggregation": "link",
|
| 63 |
+
"joint_count": 5,
|
| 64 |
+
"joint_types": {
|
| 65 |
+
"revolute": 5
|
| 66 |
+
},
|
| 67 |
+
"axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
|
| 68 |
+
"links": {
|
| 69 |
+
"base": {
|
| 70 |
+
"prim": "/desk_lamp/base",
|
| 71 |
+
"mass_kg": 1.1004,
|
| 72 |
+
"mass_source": "VLM per-part estimate, 3 of 3 meshes",
|
| 73 |
+
"colliders": 1,
|
| 74 |
+
"collision": [
|
| 75 |
+
{
|
| 76 |
+
"prim": "/desk_lamp/base/Collisions/link_collision",
|
| 77 |
+
"approximation": "convexDecomposition",
|
| 78 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 79 |
+
"source_mesh_count": 3,
|
| 80 |
+
"source_meshes": [
|
| 81 |
+
"/desk_lamp/base/base__visual_000/Weighted_circular_foot_001",
|
| 82 |
+
"/desk_lamp/base/base__visual_002/Cylinder_043",
|
| 83 |
+
"/desk_lamp/base/base__visual_001/Cylinder_042"
|
| 84 |
+
],
|
| 85 |
+
"aggregation": "link",
|
| 86 |
+
"boolean_union": false,
|
| 87 |
+
"cooked_shape_count": null
|
| 88 |
+
}
|
| 89 |
+
]
|
| 90 |
+
},
|
| 91 |
+
"swivel": {
|
| 92 |
+
"prim": "/desk_lamp/swivel",
|
| 93 |
+
"mass_kg": 0.0501,
|
| 94 |
+
"mass_source": "VLM per-part estimate, 4 of 4 meshes",
|
| 95 |
+
"colliders": 1,
|
| 96 |
+
"collision": [
|
| 97 |
+
{
|
| 98 |
+
"prim": "/desk_lamp/swivel/Collisions/link_collision",
|
| 99 |
+
"approximation": "convexDecomposition",
|
| 100 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 101 |
+
"source_mesh_count": 4,
|
| 102 |
+
"source_meshes": [
|
| 103 |
+
"/desk_lamp/swivel/swivel__visual_000/Cylinder_044",
|
| 104 |
+
"/desk_lamp/swivel/swivel__visual_003/Cylinder_045",
|
| 105 |
+
"/desk_lamp/swivel/swivel__visual_001/Cube_020",
|
| 106 |
+
"/desk_lamp/swivel/swivel__visual_002/Cube_021"
|
| 107 |
+
],
|
| 108 |
+
"aggregation": "link",
|
| 109 |
+
"boolean_union": false,
|
| 110 |
+
"cooked_shape_count": null
|
| 111 |
+
}
|
| 112 |
+
]
|
| 113 |
+
},
|
| 114 |
+
"lower_arm": {
|
| 115 |
+
"prim": "/desk_lamp/lower_arm",
|
| 116 |
+
"mass_kg": 0.176,
|
| 117 |
+
"mass_source": "VLM per-part estimate, 24 of 24 meshes",
|
| 118 |
+
"colliders": 1,
|
| 119 |
+
"collision": [
|
| 120 |
+
{
|
| 121 |
+
"prim": "/desk_lamp/lower_arm/Collisions/link_collision",
|
| 122 |
+
"approximation": "convexDecomposition",
|
| 123 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 124 |
+
"source_mesh_count": 24,
|
| 125 |
+
"source_meshes": [
|
| 126 |
+
"/desk_lamp/lower_arm/lower_arm__visual_004/Coiled_counterbalance_spring_004",
|
| 127 |
+
"/desk_lamp/lower_arm/lower_arm__visual_008/Cylinder_049",
|
| 128 |
+
"/desk_lamp/lower_arm/lower_arm__visual_016/Cylinder_056",
|
| 129 |
+
"/desk_lamp/lower_arm/lower_arm__visual_001/Cube_023",
|
| 130 |
+
"/desk_lamp/lower_arm/lower_arm__visual_021/Cylinder_060",
|
| 131 |
+
"/desk_lamp/lower_arm/lower_arm__visual_018/Cylinder_058",
|
| 132 |
+
"/desk_lamp/lower_arm/lower_arm__visual_012/Coiled_counterbalance_spring_005",
|
| 133 |
+
"/desk_lamp/lower_arm/lower_arm__visual_015/Cylinder_055",
|
| 134 |
+
"/desk_lamp/lower_arm/lower_arm__visual_019/Cylinder_059",
|
| 135 |
+
"/desk_lamp/lower_arm/lower_arm__visual_010/Cylinder_051",
|
| 136 |
+
"/desk_lamp/lower_arm/lower_arm__visual_013/Cylinder_053",
|
| 137 |
+
"/desk_lamp/lower_arm/lower_arm__visual_022/Cylinder_061",
|
| 138 |
+
"/desk_lamp/lower_arm/lower_arm__visual_014/Cylinder_054",
|
| 139 |
+
"/desk_lamp/lower_arm/lower_arm__visual_005/Cylinder_046",
|
| 140 |
+
"/desk_lamp/lower_arm/lower_arm__visual_000/Cube_022",
|
| 141 |
+
"/desk_lamp/lower_arm/lower_arm__visual_023/Cylinder_062",
|
| 142 |
+
"/desk_lamp/lower_arm/lower_arm__visual_009/Cylinder_050",
|
| 143 |
+
"/desk_lamp/lower_arm/lower_arm__visual_006/Cylinder_047",
|
| 144 |
+
"/desk_lamp/lower_arm/lower_arm__visual_002/Cube_024",
|
| 145 |
+
"/desk_lamp/lower_arm/lower_arm__visual_007/Cylinder_048",
|
| 146 |
+
"/desk_lamp/lower_arm/lower_arm__visual_020/Elbow_slack_power_lead_001",
|
| 147 |
+
"/desk_lamp/lower_arm/lower_arm__visual_011/Cylinder_052",
|
| 148 |
+
"/desk_lamp/lower_arm/lower_arm__visual_003/Cube_025",
|
| 149 |
+
"/desk_lamp/lower_arm/lower_arm__visual_017/Cylinder_057"
|
| 150 |
+
],
|
| 151 |
+
"aggregation": "link",
|
| 152 |
+
"boolean_union": false,
|
| 153 |
+
"cooked_shape_count": null
|
| 154 |
+
}
|
| 155 |
+
]
|
| 156 |
+
},
|
| 157 |
+
"upper_arm": {
|
| 158 |
+
"prim": "/desk_lamp/upper_arm",
|
| 159 |
+
"mass_kg": 0.137,
|
| 160 |
+
"mass_source": "VLM per-part estimate, 20 of 20 meshes",
|
| 161 |
+
"colliders": 1,
|
| 162 |
+
"collision": [
|
| 163 |
+
{
|
| 164 |
+
"prim": "/desk_lamp/upper_arm/Collisions/link_collision",
|
| 165 |
+
"approximation": "convexDecomposition",
|
| 166 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 167 |
+
"source_mesh_count": 20,
|
| 168 |
+
"source_meshes": [
|
| 169 |
+
"/desk_lamp/upper_arm/upper_arm__visual_016/Cylinder_073",
|
| 170 |
+
"/desk_lamp/upper_arm/upper_arm__visual_007/Cylinder_065",
|
| 171 |
+
"/desk_lamp/upper_arm/upper_arm__visual_002/Cube_028",
|
| 172 |
+
"/desk_lamp/upper_arm/upper_arm__visual_011/Cylinder_069",
|
| 173 |
+
"/desk_lamp/upper_arm/upper_arm__visual_003/Cube_029",
|
| 174 |
+
"/desk_lamp/upper_arm/upper_arm__visual_019/Cylinder_076",
|
| 175 |
+
"/desk_lamp/upper_arm/upper_arm__visual_015/Cylinder_072",
|
| 176 |
+
"/desk_lamp/upper_arm/upper_arm__visual_012/Coiled_counterbalance_spring_007",
|
| 177 |
+
"/desk_lamp/upper_arm/upper_arm__visual_000/Cube_026",
|
| 178 |
+
"/desk_lamp/upper_arm/upper_arm__visual_018/Cylinder_075",
|
| 179 |
+
"/desk_lamp/upper_arm/upper_arm__visual_004/Coiled_counterbalance_spring_006",
|
| 180 |
+
"/desk_lamp/upper_arm/upper_arm__visual_010/Cylinder_068",
|
| 181 |
+
"/desk_lamp/upper_arm/upper_arm__visual_008/Cylinder_066",
|
| 182 |
+
"/desk_lamp/upper_arm/upper_arm__visual_013/Cylinder_070",
|
| 183 |
+
"/desk_lamp/upper_arm/upper_arm__visual_009/Cylinder_067",
|
| 184 |
+
"/desk_lamp/upper_arm/upper_arm__visual_006/Cylinder_064",
|
| 185 |
+
"/desk_lamp/upper_arm/upper_arm__visual_014/Cylinder_071",
|
| 186 |
+
"/desk_lamp/upper_arm/upper_arm__visual_005/Cylinder_063",
|
| 187 |
+
"/desk_lamp/upper_arm/upper_arm__visual_017/Cylinder_074",
|
| 188 |
+
"/desk_lamp/upper_arm/upper_arm__visual_001/Cube_027"
|
| 189 |
+
],
|
| 190 |
+
"aggregation": "link",
|
| 191 |
+
"boolean_union": false,
|
| 192 |
+
"cooked_shape_count": null
|
| 193 |
+
}
|
| 194 |
+
]
|
| 195 |
+
},
|
| 196 |
+
"shade_yoke": {
|
| 197 |
+
"prim": "/desk_lamp/shade_yoke",
|
| 198 |
+
"mass_kg": 0.043,
|
| 199 |
+
"mass_source": "VLM per-part estimate, 4 of 4 meshes",
|
| 200 |
+
"colliders": 1,
|
| 201 |
+
"collision": [
|
| 202 |
+
{
|
| 203 |
+
"prim": "/desk_lamp/shade_yoke/Collisions/link_collision",
|
| 204 |
+
"approximation": "convexDecomposition",
|
| 205 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 206 |
+
"source_mesh_count": 4,
|
| 207 |
+
"source_meshes": [
|
| 208 |
+
"/desk_lamp/shade_yoke/shade_yoke__visual_000/Cylinder_077",
|
| 209 |
+
"/desk_lamp/shade_yoke/shade_yoke__visual_003/Cylinder_079",
|
| 210 |
+
"/desk_lamp/shade_yoke/shade_yoke__visual_002/Stamped_hanger_001",
|
| 211 |
+
"/desk_lamp/shade_yoke/shade_yoke__visual_001/Cylinder_078"
|
| 212 |
+
],
|
| 213 |
+
"aggregation": "link",
|
| 214 |
+
"boolean_union": false,
|
| 215 |
+
"cooked_shape_count": null
|
| 216 |
+
}
|
| 217 |
+
]
|
| 218 |
+
},
|
| 219 |
+
"shade": {
|
| 220 |
+
"prim": "/desk_lamp/shade",
|
| 221 |
+
"mass_kg": 0.1791,
|
| 222 |
+
"mass_source": "VLM per-part estimate, 7 of 7 meshes",
|
| 223 |
+
"colliders": 1,
|
| 224 |
+
"collision": [
|
| 225 |
+
{
|
| 226 |
+
"prim": "/desk_lamp/shade/Collisions/link_collision",
|
| 227 |
+
"approximation": "convexDecomposition",
|
| 228 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 229 |
+
"source_mesh_count": 7,
|
| 230 |
+
"source_meshes": [
|
| 231 |
+
"/desk_lamp/shade/shade__visual_002/Cylinder_080",
|
| 232 |
+
"/desk_lamp/shade/shade__visual_005/Sphere_001",
|
| 233 |
+
"/desk_lamp/shade/shade__visual_006/Curved_head_power_lead_003",
|
| 234 |
+
"/desk_lamp/shade/shade__visual_000/Flared_hollow_reflector_001",
|
| 235 |
+
"/desk_lamp/shade/shade__visual_004/Cylinder_082",
|
| 236 |
+
"/desk_lamp/shade/shade__visual_003/Cylinder_081",
|
| 237 |
+
"/desk_lamp/shade/shade__visual_001/Socket_housing_001"
|
| 238 |
+
],
|
| 239 |
+
"aggregation": "link",
|
| 240 |
+
"boolean_union": false,
|
| 241 |
+
"cooked_shape_count": null
|
| 242 |
+
}
|
| 243 |
+
]
|
| 244 |
+
}
|
| 245 |
+
},
|
| 246 |
+
"joints": {
|
| 247 |
+
"base_swivel": {
|
| 248 |
+
"path": "/desk_lamp/Joints/base_swivel",
|
| 249 |
+
"type": "revolute",
|
| 250 |
+
"parent": "base",
|
| 251 |
+
"child": "swivel",
|
| 252 |
+
"axis_contract": [
|
| 253 |
+
0.0,
|
| 254 |
+
0.0,
|
| 255 |
+
1.0
|
| 256 |
+
],
|
| 257 |
+
"axis_token": "X",
|
| 258 |
+
"frame_alignment_wxyz": [
|
| 259 |
+
0.707106781,
|
| 260 |
+
0.0,
|
| 261 |
+
-0.707106781,
|
| 262 |
+
0.0
|
| 263 |
+
],
|
| 264 |
+
"limits": {
|
| 265 |
+
"lower": -148.969027,
|
| 266 |
+
"upper": 148.969027,
|
| 267 |
+
"unit": "deg"
|
| 268 |
+
},
|
| 269 |
+
"drive": {
|
| 270 |
+
"type": "force",
|
| 271 |
+
"stiffness": 0.0,
|
| 272 |
+
"damping": 0.0,
|
| 273 |
+
"damping_si": 0.0,
|
| 274 |
+
"stiffness_si": 0.0,
|
| 275 |
+
"max_force": 0.0,
|
| 276 |
+
"target_position": 0.0,
|
| 277 |
+
"target_velocity": 0.0,
|
| 278 |
+
"damping_unit": "N*m*s/deg",
|
| 279 |
+
"damping_si_unit": "N*m*s/rad"
|
| 280 |
+
},
|
| 281 |
+
"behavior": {
|
| 282 |
+
"recipe_version": "joint-behavior/1",
|
| 283 |
+
"intent": {
|
| 284 |
+
"confidence": "medium",
|
| 285 |
+
"mode": "hold_position",
|
| 286 |
+
"reason": "Hand turns the turret; inferred friction retains its direction after release."
|
| 287 |
+
},
|
| 288 |
+
"status": "resolved",
|
| 289 |
+
"simulator_status": "not_run",
|
| 290 |
+
"effective_mass_or_inertia_si": 0.25032790113370895,
|
| 291 |
+
"gravity_bound_si": 3.218161704889255,
|
| 292 |
+
"gravity_at_rest_si": 0.0,
|
| 293 |
+
"effort_unit": "N*m",
|
| 294 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 295 |
+
"warnings": [
|
| 296 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
|
| 297 |
+
],
|
| 298 |
+
"stiffness_si": 0.0,
|
| 299 |
+
"damping_si": 0.0,
|
| 300 |
+
"target_position_si": 0.0,
|
| 301 |
+
"max_effort_si": 0.0,
|
| 302 |
+
"static_friction_si": 4.827242557333882,
|
| 303 |
+
"dynamic_friction_si": 4.0227021311115685,
|
| 304 |
+
"required_capability": "PhysxJointAxisAPI",
|
| 305 |
+
"supported_links": {
|
| 306 |
+
"swivel": {
|
| 307 |
+
"mass_kg": 0.0501,
|
| 308 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 309 |
+
},
|
| 310 |
+
"lower_arm": {
|
| 311 |
+
"mass_kg": 0.176,
|
| 312 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 313 |
+
},
|
| 314 |
+
"upper_arm": {
|
| 315 |
+
"mass_kg": 0.137,
|
| 316 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 317 |
+
},
|
| 318 |
+
"shade_yoke": {
|
| 319 |
+
"mass_kg": 0.043,
|
| 320 |
+
"mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
|
| 321 |
+
},
|
| 322 |
+
"shade": {
|
| 323 |
+
"mass_kg": 0.1791,
|
| 324 |
+
"mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
|
| 325 |
+
}
|
| 326 |
+
}
|
| 327 |
+
}
|
| 328 |
+
},
|
| 329 |
+
"shoulder": {
|
| 330 |
+
"path": "/desk_lamp/Joints/shoulder",
|
| 331 |
+
"type": "revolute",
|
| 332 |
+
"parent": "swivel",
|
| 333 |
+
"child": "lower_arm",
|
| 334 |
+
"axis_contract": [
|
| 335 |
+
0.0,
|
| 336 |
+
1.0,
|
| 337 |
+
0.0
|
| 338 |
+
],
|
| 339 |
+
"axis_token": "X",
|
| 340 |
+
"frame_alignment_wxyz": [
|
| 341 |
+
0.707106781,
|
| 342 |
+
0.0,
|
| 343 |
+
-0.0,
|
| 344 |
+
0.707106781
|
| 345 |
+
],
|
| 346 |
+
"limits": {
|
| 347 |
+
"lower": -34.377468,
|
| 348 |
+
"upper": 25.783101,
|
| 349 |
+
"unit": "deg"
|
| 350 |
+
},
|
| 351 |
+
"drive": {
|
| 352 |
+
"type": "force",
|
| 353 |
+
"stiffness": 0.0,
|
| 354 |
+
"damping": 0.0,
|
| 355 |
+
"damping_si": 0.0,
|
| 356 |
+
"stiffness_si": 0.0,
|
| 357 |
+
"max_force": 0.0,
|
| 358 |
+
"target_position": 0.0,
|
| 359 |
+
"target_velocity": 0.0,
|
| 360 |
+
"damping_unit": "N*m*s/deg",
|
| 361 |
+
"damping_si_unit": "N*m*s/rad"
|
| 362 |
+
},
|
| 363 |
+
"behavior": {
|
| 364 |
+
"recipe_version": "joint-behavior/1",
|
| 365 |
+
"intent": {
|
| 366 |
+
"confidence": "high",
|
| 367 |
+
"mode": "hold_position",
|
| 368 |
+
"reason": "Hand positioning yields against visible spring counterbalance and pivot friction; stays where released."
|
| 369 |
+
},
|
| 370 |
+
"status": "resolved",
|
| 371 |
+
"simulator_status": "not_run",
|
| 372 |
+
"effective_mass_or_inertia_si": 0.231148552993673,
|
| 373 |
+
"gravity_bound_si": 3.050297219436395,
|
| 374 |
+
"gravity_at_rest_si": -0.4149131051246455,
|
| 375 |
+
"effort_unit": "N*m",
|
| 376 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 377 |
+
"warnings": [
|
| 378 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
|
| 379 |
+
],
|
| 380 |
+
"stiffness_si": 0.0,
|
| 381 |
+
"damping_si": 0.0,
|
| 382 |
+
"target_position_si": 0.0,
|
| 383 |
+
"max_effort_si": 0.0,
|
| 384 |
+
"static_friction_si": 4.575445829154592,
|
| 385 |
+
"dynamic_friction_si": 3.8128715242954936,
|
| 386 |
+
"required_capability": "PhysxJointAxisAPI",
|
| 387 |
+
"supported_links": {
|
| 388 |
+
"lower_arm": {
|
| 389 |
+
"mass_kg": 0.176,
|
| 390 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 391 |
+
},
|
| 392 |
+
"upper_arm": {
|
| 393 |
+
"mass_kg": 0.137,
|
| 394 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 395 |
+
},
|
| 396 |
+
"shade_yoke": {
|
| 397 |
+
"mass_kg": 0.043,
|
| 398 |
+
"mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
|
| 399 |
+
},
|
| 400 |
+
"shade": {
|
| 401 |
+
"mass_kg": 0.1791,
|
| 402 |
+
"mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
|
| 403 |
+
}
|
| 404 |
+
}
|
| 405 |
+
}
|
| 406 |
+
},
|
| 407 |
+
"elbow": {
|
| 408 |
+
"path": "/desk_lamp/Joints/elbow",
|
| 409 |
+
"type": "revolute",
|
| 410 |
+
"parent": "lower_arm",
|
| 411 |
+
"child": "upper_arm",
|
| 412 |
+
"axis_contract": [
|
| 413 |
+
0.0,
|
| 414 |
+
1.0,
|
| 415 |
+
0.0
|
| 416 |
+
],
|
| 417 |
+
"axis_token": "X",
|
| 418 |
+
"frame_alignment_wxyz": [
|
| 419 |
+
0.707106781,
|
| 420 |
+
0.0,
|
| 421 |
+
-0.0,
|
| 422 |
+
0.707106781
|
| 423 |
+
],
|
| 424 |
+
"limits": {
|
| 425 |
+
"lower": -51.566202,
|
| 426 |
+
"upper": 51.566202,
|
| 427 |
+
"unit": "deg"
|
| 428 |
+
},
|
| 429 |
+
"drive": {
|
| 430 |
+
"type": "force",
|
| 431 |
+
"stiffness": 0.0,
|
| 432 |
+
"damping": 0.0,
|
| 433 |
+
"damping_si": 0.0,
|
| 434 |
+
"stiffness_si": 0.0,
|
| 435 |
+
"max_force": 0.0,
|
| 436 |
+
"target_position": 0.0,
|
| 437 |
+
"target_velocity": 0.0,
|
| 438 |
+
"damping_unit": "N*m*s/deg",
|
| 439 |
+
"damping_si_unit": "N*m*s/rad"
|
| 440 |
+
},
|
| 441 |
+
"behavior": {
|
| 442 |
+
"recipe_version": "joint-behavior/1",
|
| 443 |
+
"intent": {
|
| 444 |
+
"confidence": "high",
|
| 445 |
+
"mode": "hold_position",
|
| 446 |
+
"reason": "Hand changes reach; visible springs and friction are approximated by holding the released position."
|
| 447 |
+
},
|
| 448 |
+
"status": "resolved",
|
| 449 |
+
"simulator_status": "not_run",
|
| 450 |
+
"effective_mass_or_inertia_si": 0.056462339283912526,
|
| 451 |
+
"gravity_bound_si": 1.258135308061397,
|
| 452 |
+
"gravity_at_rest_si": -1.053595162470959,
|
| 453 |
+
"effort_unit": "N*m",
|
| 454 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 455 |
+
"warnings": [
|
| 456 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
|
| 457 |
+
],
|
| 458 |
+
"stiffness_si": 0.0,
|
| 459 |
+
"damping_si": 0.0,
|
| 460 |
+
"target_position_si": 0.0,
|
| 461 |
+
"max_effort_si": 0.0,
|
| 462 |
+
"static_friction_si": 1.8872029620920956,
|
| 463 |
+
"dynamic_friction_si": 1.5726691350767463,
|
| 464 |
+
"required_capability": "PhysxJointAxisAPI",
|
| 465 |
+
"supported_links": {
|
| 466 |
+
"upper_arm": {
|
| 467 |
+
"mass_kg": 0.137,
|
| 468 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 469 |
+
},
|
| 470 |
+
"shade_yoke": {
|
| 471 |
+
"mass_kg": 0.043,
|
| 472 |
+
"mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
|
| 473 |
+
},
|
| 474 |
+
"shade": {
|
| 475 |
+
"mass_kg": 0.1791,
|
| 476 |
+
"mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
|
| 477 |
+
}
|
| 478 |
+
}
|
| 479 |
+
}
|
| 480 |
+
},
|
| 481 |
+
"shade_tilt": {
|
| 482 |
+
"path": "/desk_lamp/Joints/shade_tilt",
|
| 483 |
+
"type": "revolute",
|
| 484 |
+
"parent": "upper_arm",
|
| 485 |
+
"child": "shade_yoke",
|
| 486 |
+
"axis_contract": [
|
| 487 |
+
0.0,
|
| 488 |
+
1.0,
|
| 489 |
+
0.0
|
| 490 |
+
],
|
| 491 |
+
"axis_token": "X",
|
| 492 |
+
"frame_alignment_wxyz": [
|
| 493 |
+
0.707106781,
|
| 494 |
+
0.0,
|
| 495 |
+
-0.0,
|
| 496 |
+
0.707106781
|
| 497 |
+
],
|
| 498 |
+
"limits": {
|
| 499 |
+
"lower": -45.836624,
|
| 500 |
+
"upper": 45.836624,
|
| 501 |
+
"unit": "deg"
|
| 502 |
+
},
|
| 503 |
+
"drive": {
|
| 504 |
+
"type": "force",
|
| 505 |
+
"stiffness": 0.0,
|
| 506 |
+
"damping": 0.0,
|
| 507 |
+
"damping_si": 0.0,
|
| 508 |
+
"stiffness_si": 0.0,
|
| 509 |
+
"max_force": 0.0,
|
| 510 |
+
"target_position": 0.0,
|
| 511 |
+
"target_velocity": 0.0,
|
| 512 |
+
"damping_unit": "N*m*s/deg",
|
| 513 |
+
"damping_si_unit": "N*m*s/rad"
|
| 514 |
+
},
|
| 515 |
+
"behavior": {
|
| 516 |
+
"recipe_version": "joint-behavior/1",
|
| 517 |
+
"intent": {
|
| 518 |
+
"confidence": "high",
|
| 519 |
+
"mode": "hold_position",
|
| 520 |
+
"reason": "Hand aims the shade; friction pivot holds its angle after release."
|
| 521 |
+
},
|
| 522 |
+
"status": "resolved",
|
| 523 |
+
"simulator_status": "not_run",
|
| 524 |
+
"effective_mass_or_inertia_si": 0.004229555819075782,
|
| 525 |
+
"gravity_bound_si": 0.23826998573031227,
|
| 526 |
+
"gravity_at_rest_si": -0.16098669737476856,
|
| 527 |
+
"effort_unit": "N*m",
|
| 528 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 529 |
+
"warnings": [
|
| 530 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
|
| 531 |
+
],
|
| 532 |
+
"stiffness_si": 0.0,
|
| 533 |
+
"damping_si": 0.0,
|
| 534 |
+
"target_position_si": 0.0,
|
| 535 |
+
"max_effort_si": 0.0,
|
| 536 |
+
"static_friction_si": 0.35740497859546844,
|
| 537 |
+
"dynamic_friction_si": 0.29783748216289035,
|
| 538 |
+
"required_capability": "PhysxJointAxisAPI",
|
| 539 |
+
"supported_links": {
|
| 540 |
+
"shade_yoke": {
|
| 541 |
+
"mass_kg": 0.043,
|
| 542 |
+
"mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
|
| 543 |
+
},
|
| 544 |
+
"shade": {
|
| 545 |
+
"mass_kg": 0.1791,
|
| 546 |
+
"mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
|
| 547 |
+
}
|
| 548 |
+
}
|
| 549 |
+
}
|
| 550 |
+
},
|
| 551 |
+
"shade_swivel": {
|
| 552 |
+
"path": "/desk_lamp/Joints/shade_swivel",
|
| 553 |
+
"type": "revolute",
|
| 554 |
+
"parent": "shade_yoke",
|
| 555 |
+
"child": "shade",
|
| 556 |
+
"axis_contract": [
|
| 557 |
+
1.0,
|
| 558 |
+
0.0,
|
| 559 |
+
0.0
|
| 560 |
+
],
|
| 561 |
+
"axis_token": "X",
|
| 562 |
+
"frame_alignment_wxyz": [
|
| 563 |
+
1.0,
|
| 564 |
+
0.0,
|
| 565 |
+
0.0,
|
| 566 |
+
0.0
|
| 567 |
+
],
|
| 568 |
+
"limits": {
|
| 569 |
+
"lower": -57.29578,
|
| 570 |
+
"upper": 68.754935,
|
| 571 |
+
"unit": "deg"
|
| 572 |
+
},
|
| 573 |
+
"drive": {
|
| 574 |
+
"type": "force",
|
| 575 |
+
"stiffness": 0.0,
|
| 576 |
+
"damping": 0.0,
|
| 577 |
+
"damping_si": 0.0,
|
| 578 |
+
"stiffness_si": 0.0,
|
| 579 |
+
"max_force": 0.0,
|
| 580 |
+
"target_position": 0.0,
|
| 581 |
+
"target_velocity": 0.0,
|
| 582 |
+
"damping_unit": "N*m*s/deg",
|
| 583 |
+
"damping_si_unit": "N*m*s/rad"
|
| 584 |
+
},
|
| 585 |
+
"behavior": {
|
| 586 |
+
"recipe_version": "joint-behavior/1",
|
| 587 |
+
"intent": {
|
| 588 |
+
"confidence": "low",
|
| 589 |
+
"mode": "hold_position",
|
| 590 |
+
"reason": "Hand swivels the head; an inferred friction fitting holds the released aim. The second axis is uncertain in the single view."
|
| 591 |
+
},
|
| 592 |
+
"status": "resolved",
|
| 593 |
+
"simulator_status": "not_run",
|
| 594 |
+
"effective_mass_or_inertia_si": 0.0020186803950416527,
|
| 595 |
+
"gravity_bound_si": 0.11922159569674627,
|
| 596 |
+
"gravity_at_rest_si": 0.0,
|
| 597 |
+
"effort_unit": "N*m",
|
| 598 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 599 |
+
"warnings": [
|
| 600 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
|
| 601 |
+
],
|
| 602 |
+
"stiffness_si": 0.0,
|
| 603 |
+
"damping_si": 0.0,
|
| 604 |
+
"target_position_si": 0.0,
|
| 605 |
+
"max_effort_si": 0.0,
|
| 606 |
+
"static_friction_si": 0.1788323935451194,
|
| 607 |
+
"dynamic_friction_si": 0.14902699462093283,
|
| 608 |
+
"required_capability": "PhysxJointAxisAPI",
|
| 609 |
+
"supported_links": {
|
| 610 |
+
"shade": {
|
| 611 |
+
"mass_kg": 0.1791,
|
| 612 |
+
"mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
|
| 613 |
+
}
|
| 614 |
+
}
|
| 615 |
+
}
|
| 616 |
+
}
|
| 617 |
+
},
|
| 618 |
+
"preview_controls": [],
|
| 619 |
+
"reference_pose": {
|
| 620 |
+
"base_swivel": 0.0,
|
| 621 |
+
"elbow": 0.0,
|
| 622 |
+
"shade_swivel": 0.0,
|
| 623 |
+
"shade_tilt": 0.0,
|
| 624 |
+
"shoulder": 0.0
|
| 625 |
+
},
|
| 626 |
+
"provenance": {
|
| 627 |
+
"base_mode_reason": "Freestanding desk lamp with a weighted round base and no clamp or bolt-down visible; it can be lifted and moved, so the base is free.",
|
| 628 |
+
"base_mode_source": "author_explicit",
|
| 629 |
+
"contract_revision": "2.0",
|
| 630 |
+
"producer": "articulated-asset-generation",
|
| 631 |
+
"producer_version": "0.1.0"
|
| 632 |
+
}
|
| 633 |
+
},
|
| 634 |
+
"mass_kg": 1.6856,
|
| 635 |
+
"colliders": 6,
|
| 636 |
+
"status": "articulated_body",
|
| 637 |
+
"material_class": "metal_steel",
|
| 638 |
+
"engine": "physx",
|
| 639 |
+
"multipart_physx": false,
|
| 640 |
+
"static_friction": 0.6,
|
| 641 |
+
"dynamic_friction": 0.45,
|
| 642 |
+
"restitution": 0.25,
|
| 643 |
+
"friction_model": "legacy",
|
| 644 |
+
"friction_convention": "pair_value_on_steel_dry"
|
| 645 |
+
}
|
| 646 |
+
}
|
assets/desk_lamp/preview.png
ADDED
|
Git LFS Details
|
assets/desk_lamp/textures/base_color.png
ADDED
|
Git LFS Details
|
assets/desk_lamp/textures/metallic.png
ADDED
|
Git LFS Details
|
assets/desk_lamp/textures/normal.png
ADDED
|
Git LFS Details
|
assets/desk_lamp/textures/roughness.png
ADDED
|
Git LFS Details
|
assets/faucet_kitchen/GET_MORE.md
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
|
|
|
|
| 1 |
+
# Want more assets like this?
|
| 2 |
+
|
| 3 |
+
This is part of a free sample from **projectsim by Kaedim**: sim-ready,
|
| 4 |
+
articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim).
|
| 5 |
+
|
| 6 |
+
We have **100,000+ more assets like these**, and we can build sets of your own objects.
|
| 7 |
+
|
| 8 |
+
- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=asset_folder&utm_content=articulated-objects-sample
|
| 9 |
+
- Or email: team@projectsim.ai
|
| 10 |
+
- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
|
| 11 |
+
|
| 12 |
+
License: CC BY 4.0. Credit "projectsim by Kaedim".
|
assets/faucet_kitchen/faucet_kitchen.usd
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:7dcd467eec228cb2c34dee9ea9dae730bb9b69ae106e7f80832f57dc27325bdc
|
| 3 |
+
size 1776631
|
assets/faucet_kitchen/physics.json
ADDED
|
@@ -0,0 +1,470 @@
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"physics": {
|
| 3 |
+
"articulation": {
|
| 4 |
+
"schema_version": "articulation/2",
|
| 5 |
+
"root_link": "faucet_body",
|
| 6 |
+
"base_mode": "fixed",
|
| 7 |
+
"world_joint": "/faucet_kitchen/Joints/world_to_faucet_body",
|
| 8 |
+
"behavior_sleep_threshold": 9.999999974752427e-07,
|
| 9 |
+
"handoff_base_mode": "fixed",
|
| 10 |
+
"base_mode_source": "handoff",
|
| 11 |
+
"collision_filter": {
|
| 12 |
+
"mode": "adjacent",
|
| 13 |
+
"explicit_excluded_link_pairs": [],
|
| 14 |
+
"handoff_excluded_link_pairs": [
|
| 15 |
+
[
|
| 16 |
+
"faucet_body",
|
| 17 |
+
"lever_hub"
|
| 18 |
+
],
|
| 19 |
+
[
|
| 20 |
+
"faucet_body",
|
| 21 |
+
"spout"
|
| 22 |
+
],
|
| 23 |
+
[
|
| 24 |
+
"lever",
|
| 25 |
+
"lever_hub"
|
| 26 |
+
],
|
| 27 |
+
[
|
| 28 |
+
"spout",
|
| 29 |
+
"spray_head"
|
| 30 |
+
]
|
| 31 |
+
],
|
| 32 |
+
"excluded_link_pairs": [
|
| 33 |
+
[
|
| 34 |
+
"faucet_body",
|
| 35 |
+
"lever_hub"
|
| 36 |
+
],
|
| 37 |
+
[
|
| 38 |
+
"faucet_body",
|
| 39 |
+
"spout"
|
| 40 |
+
],
|
| 41 |
+
[
|
| 42 |
+
"lever",
|
| 43 |
+
"lever_hub"
|
| 44 |
+
],
|
| 45 |
+
[
|
| 46 |
+
"spout",
|
| 47 |
+
"spray_head"
|
| 48 |
+
]
|
| 49 |
+
],
|
| 50 |
+
"representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
|
| 51 |
+
"external_contacts": "enabled",
|
| 52 |
+
"other_engine_validation": "not_run"
|
| 53 |
+
},
|
| 54 |
+
"collider_aggregation": "link",
|
| 55 |
+
"joint_count": 4,
|
| 56 |
+
"joint_types": {
|
| 57 |
+
"revolute": 3,
|
| 58 |
+
"prismatic": 1
|
| 59 |
+
},
|
| 60 |
+
"axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
|
| 61 |
+
"links": {
|
| 62 |
+
"faucet_body": {
|
| 63 |
+
"prim": "/faucet_kitchen/faucet_body",
|
| 64 |
+
"mass_kg": 0.8622,
|
| 65 |
+
"mass_source": "VLM per-part estimate, 2 of 2 meshes",
|
| 66 |
+
"colliders": 1,
|
| 67 |
+
"collision": [
|
| 68 |
+
{
|
| 69 |
+
"prim": "/faucet_kitchen/faucet_body/Collisions/link_collision",
|
| 70 |
+
"approximation": "convexDecomposition",
|
| 71 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 72 |
+
"source_mesh_count": 2,
|
| 73 |
+
"source_meshes": [
|
| 74 |
+
"/faucet_kitchen/faucet_body/faucet_body__visual_000/Cylinder_016",
|
| 75 |
+
"/faucet_kitchen/faucet_body/faucet_body__visual_001/Cylinder_017"
|
| 76 |
+
],
|
| 77 |
+
"aggregation": "link",
|
| 78 |
+
"boolean_union": false,
|
| 79 |
+
"cooked_shape_count": null
|
| 80 |
+
}
|
| 81 |
+
]
|
| 82 |
+
},
|
| 83 |
+
"spout": {
|
| 84 |
+
"prim": "/faucet_kitchen/spout",
|
| 85 |
+
"mass_kg": 0.3598,
|
| 86 |
+
"mass_source": "VLM per-part estimate, 1 of 1 meshes",
|
| 87 |
+
"colliders": 1,
|
| 88 |
+
"collision": [
|
| 89 |
+
{
|
| 90 |
+
"prim": "/faucet_kitchen/spout/Collisions/link_collision",
|
| 91 |
+
"approximation": "convexDecomposition",
|
| 92 |
+
"basis": "auto-convex: convex decomposition instead of sdf",
|
| 93 |
+
"source_mesh_count": 1,
|
| 94 |
+
"source_meshes": [
|
| 95 |
+
"/faucet_kitchen/spout/spout__visual_000/Continuous_bent_tubular_spout_001"
|
| 96 |
+
],
|
| 97 |
+
"aggregation": "link",
|
| 98 |
+
"boolean_union": false,
|
| 99 |
+
"cooked_shape_count": null
|
| 100 |
+
}
|
| 101 |
+
]
|
| 102 |
+
},
|
| 103 |
+
"spray_head": {
|
| 104 |
+
"prim": "/faucet_kitchen/spray_head",
|
| 105 |
+
"mass_kg": 0.2061,
|
| 106 |
+
"mass_source": "VLM per-part estimate, 3 of 3 meshes",
|
| 107 |
+
"colliders": 1,
|
| 108 |
+
"collision": [
|
| 109 |
+
{
|
| 110 |
+
"prim": "/faucet_kitchen/spray_head/Collisions/link_collision",
|
| 111 |
+
"approximation": "convexDecomposition",
|
| 112 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 113 |
+
"source_mesh_count": 3,
|
| 114 |
+
"source_meshes": [
|
| 115 |
+
"/faucet_kitchen/spray_head/spray_head__visual_000/Cylinder_018",
|
| 116 |
+
"/faucet_kitchen/spray_head/spray_head__visual_001/Cylinder_019",
|
| 117 |
+
"/faucet_kitchen/spray_head/spray_head__visual_002/Cylinder_020"
|
| 118 |
+
],
|
| 119 |
+
"aggregation": "link",
|
| 120 |
+
"boolean_union": false,
|
| 121 |
+
"cooked_shape_count": null
|
| 122 |
+
}
|
| 123 |
+
]
|
| 124 |
+
},
|
| 125 |
+
"lever_hub": {
|
| 126 |
+
"prim": "/faucet_kitchen/lever_hub",
|
| 127 |
+
"mass_kg": 0.105,
|
| 128 |
+
"mass_source": "VLM per-part estimate, 1 of 1 meshes",
|
| 129 |
+
"colliders": 1,
|
| 130 |
+
"collision": [
|
| 131 |
+
{
|
| 132 |
+
"prim": "/faucet_kitchen/lever_hub/Collisions/link_collision",
|
| 133 |
+
"approximation": "convexDecomposition",
|
| 134 |
+
"basis": "auto-convex: convex decomposition instead of sdf",
|
| 135 |
+
"source_mesh_count": 1,
|
| 136 |
+
"source_meshes": [
|
| 137 |
+
"/faucet_kitchen/lever_hub/lever_hub__visual_000/Cylinder_021"
|
| 138 |
+
],
|
| 139 |
+
"aggregation": "link",
|
| 140 |
+
"boolean_union": false,
|
| 141 |
+
"cooked_shape_count": null
|
| 142 |
+
}
|
| 143 |
+
]
|
| 144 |
+
},
|
| 145 |
+
"lever": {
|
| 146 |
+
"prim": "/faucet_kitchen/lever",
|
| 147 |
+
"mass_kg": 0.0412,
|
| 148 |
+
"mass_source": "VLM per-part estimate, 1 of 1 meshes",
|
| 149 |
+
"colliders": 1,
|
| 150 |
+
"collision": [
|
| 151 |
+
{
|
| 152 |
+
"prim": "/faucet_kitchen/lever/Collisions/link_collision",
|
| 153 |
+
"approximation": "convexDecomposition",
|
| 154 |
+
"basis": "auto-convex: convex decomposition instead of sdf",
|
| 155 |
+
"source_mesh_count": 1,
|
| 156 |
+
"source_meshes": [
|
| 157 |
+
"/faucet_kitchen/lever/lever__visual_000/Cylinder_022"
|
| 158 |
+
],
|
| 159 |
+
"aggregation": "link",
|
| 160 |
+
"boolean_union": false,
|
| 161 |
+
"cooked_shape_count": null
|
| 162 |
+
}
|
| 163 |
+
]
|
| 164 |
+
}
|
| 165 |
+
},
|
| 166 |
+
"joints": {
|
| 167 |
+
"spout_swivel": {
|
| 168 |
+
"path": "/faucet_kitchen/Joints/spout_swivel",
|
| 169 |
+
"type": "revolute",
|
| 170 |
+
"parent": "faucet_body",
|
| 171 |
+
"child": "spout",
|
| 172 |
+
"axis_contract": [
|
| 173 |
+
0.0,
|
| 174 |
+
0.0,
|
| 175 |
+
1.0
|
| 176 |
+
],
|
| 177 |
+
"axis_token": "X",
|
| 178 |
+
"frame_alignment_wxyz": [
|
| 179 |
+
0.707106781,
|
| 180 |
+
0.0,
|
| 181 |
+
-0.707106781,
|
| 182 |
+
0.0
|
| 183 |
+
],
|
| 184 |
+
"limits": {
|
| 185 |
+
"lower": -120.321137,
|
| 186 |
+
"upper": 120.321137,
|
| 187 |
+
"unit": "deg"
|
| 188 |
+
},
|
| 189 |
+
"drive": {
|
| 190 |
+
"type": "force",
|
| 191 |
+
"stiffness": 0.0,
|
| 192 |
+
"damping": 0.0,
|
| 193 |
+
"damping_si": 0.0,
|
| 194 |
+
"stiffness_si": 0.0,
|
| 195 |
+
"max_force": 0.0,
|
| 196 |
+
"target_position": 0.0,
|
| 197 |
+
"target_velocity": 0.0,
|
| 198 |
+
"damping_unit": "N*m*s/deg",
|
| 199 |
+
"damping_si_unit": "N*m*s/rad"
|
| 200 |
+
},
|
| 201 |
+
"behavior": {
|
| 202 |
+
"recipe_version": "joint-behavior/1",
|
| 203 |
+
"intent": {
|
| 204 |
+
"confidence": "medium",
|
| 205 |
+
"mode": "hold_position",
|
| 206 |
+
"reason": "The spout is swung by hand and stays where released through inferred O-ring swivel friction."
|
| 207 |
+
},
|
| 208 |
+
"status": "resolved",
|
| 209 |
+
"simulator_status": "not_run",
|
| 210 |
+
"effective_mass_or_inertia_si": 0.10572721256261707,
|
| 211 |
+
"gravity_bound_si": 1.909757397100467,
|
| 212 |
+
"gravity_at_rest_si": 0.0,
|
| 213 |
+
"effort_unit": "N*m",
|
| 214 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 215 |
+
"warnings": [
|
| 216 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
|
| 217 |
+
],
|
| 218 |
+
"stiffness_si": 0.0,
|
| 219 |
+
"damping_si": 0.0,
|
| 220 |
+
"target_position_si": 0.0,
|
| 221 |
+
"max_effort_si": 0.0,
|
| 222 |
+
"static_friction_si": 2.8646360956507007,
|
| 223 |
+
"dynamic_friction_si": 2.387196746375584,
|
| 224 |
+
"required_capability": "PhysxJointAxisAPI",
|
| 225 |
+
"supported_links": {
|
| 226 |
+
"spout": {
|
| 227 |
+
"mass_kg": 0.3598,
|
| 228 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 229 |
+
},
|
| 230 |
+
"spray_head": {
|
| 231 |
+
"mass_kg": 0.2061,
|
| 232 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 233 |
+
}
|
| 234 |
+
}
|
| 235 |
+
}
|
| 236 |
+
},
|
| 237 |
+
"spray_pullout": {
|
| 238 |
+
"path": "/faucet_kitchen/Joints/spray_pullout",
|
| 239 |
+
"type": "prismatic",
|
| 240 |
+
"parent": "spout",
|
| 241 |
+
"child": "spray_head",
|
| 242 |
+
"axis_contract": [
|
| 243 |
+
-1.0,
|
| 244 |
+
0.0,
|
| 245 |
+
0.0
|
| 246 |
+
],
|
| 247 |
+
"axis_token": "X",
|
| 248 |
+
"frame_alignment_wxyz": [
|
| 249 |
+
0.0,
|
| 250 |
+
0.0,
|
| 251 |
+
0.0,
|
| 252 |
+
1.0
|
| 253 |
+
],
|
| 254 |
+
"limits": {
|
| 255 |
+
"lower": 0.0,
|
| 256 |
+
"upper": 0.35,
|
| 257 |
+
"unit": "m"
|
| 258 |
+
},
|
| 259 |
+
"drive": {
|
| 260 |
+
"type": "force",
|
| 261 |
+
"stiffness": 0.7810182571411133,
|
| 262 |
+
"damping": 0.8024160265922546,
|
| 263 |
+
"damping_si": 0.8024159999999999,
|
| 264 |
+
"stiffness_si": 0.7810182399999999,
|
| 265 |
+
"max_force": 1.0,
|
| 266 |
+
"target_position": -0.3200949430465698,
|
| 267 |
+
"target_velocity": 0.0,
|
| 268 |
+
"damping_unit": "N*s/m",
|
| 269 |
+
"damping_si_unit": "N*s/m"
|
| 270 |
+
},
|
| 271 |
+
"behavior": {
|
| 272 |
+
"recipe_version": "joint-behavior/1",
|
| 273 |
+
"intent": {
|
| 274 |
+
"confidence": "medium",
|
| 275 |
+
"mode": "gentle_close",
|
| 276 |
+
"reason": "Pull the head to extend it; an inferred hose counterweight and docking magnet gently return it after release. The straight slide approximates hose extension.",
|
| 277 |
+
"rest_position": 0.0
|
| 278 |
+
},
|
| 279 |
+
"status": "resolved",
|
| 280 |
+
"simulator_status": "not_run",
|
| 281 |
+
"effective_mass_or_inertia_si": 0.2061,
|
| 282 |
+
"gravity_bound_si": 2.021841,
|
| 283 |
+
"gravity_at_rest_si": -0.0,
|
| 284 |
+
"effort_unit": "N",
|
| 285 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 286 |
+
"warnings": [
|
| 287 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed.",
|
| 288 |
+
"Gentle effort cap cannot guarantee return or gravity support for this load."
|
| 289 |
+
],
|
| 290 |
+
"stiffness_si": 0.7810182399999999,
|
| 291 |
+
"damping_si": 0.8024159999999999,
|
| 292 |
+
"target_position_si": -0.32009495706527935,
|
| 293 |
+
"max_effort_si": 1.0,
|
| 294 |
+
"static_friction_si": 0.0,
|
| 295 |
+
"dynamic_friction_si": 0.0,
|
| 296 |
+
"nominal_settling_seconds": 3.0,
|
| 297 |
+
"rest_position_si": 0.0,
|
| 298 |
+
"supported_links": {
|
| 299 |
+
"spray_head": {
|
| 300 |
+
"mass_kg": 0.2061,
|
| 301 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 302 |
+
}
|
| 303 |
+
}
|
| 304 |
+
}
|
| 305 |
+
},
|
| 306 |
+
"lever_temperature": {
|
| 307 |
+
"path": "/faucet_kitchen/Joints/lever_temperature",
|
| 308 |
+
"type": "revolute",
|
| 309 |
+
"parent": "faucet_body",
|
| 310 |
+
"child": "lever_hub",
|
| 311 |
+
"axis_contract": [
|
| 312 |
+
1.0,
|
| 313 |
+
0.0,
|
| 314 |
+
0.0
|
| 315 |
+
],
|
| 316 |
+
"axis_token": "X",
|
| 317 |
+
"frame_alignment_wxyz": [
|
| 318 |
+
1.0,
|
| 319 |
+
0.0,
|
| 320 |
+
0.0,
|
| 321 |
+
0.0
|
| 322 |
+
],
|
| 323 |
+
"limits": {
|
| 324 |
+
"lower": -45.836624,
|
| 325 |
+
"upper": 45.836624,
|
| 326 |
+
"unit": "deg"
|
| 327 |
+
},
|
| 328 |
+
"drive": {
|
| 329 |
+
"type": "force",
|
| 330 |
+
"stiffness": 0.0,
|
| 331 |
+
"damping": 0.0,
|
| 332 |
+
"damping_si": 0.0,
|
| 333 |
+
"stiffness_si": 0.0,
|
| 334 |
+
"max_force": 0.0,
|
| 335 |
+
"target_position": 0.0,
|
| 336 |
+
"target_velocity": 0.0,
|
| 337 |
+
"damping_unit": "N*m*s/deg",
|
| 338 |
+
"damping_si_unit": "N*m*s/rad"
|
| 339 |
+
},
|
| 340 |
+
"behavior": {
|
| 341 |
+
"recipe_version": "joint-behavior/1",
|
| 342 |
+
"intent": {
|
| 343 |
+
"confidence": "medium",
|
| 344 |
+
"mode": "hold_position",
|
| 345 |
+
"reason": "Rotate the cap and pin to adjust temperature; inferred cartridge friction maintains the setting after release."
|
| 346 |
+
},
|
| 347 |
+
"status": "resolved",
|
| 348 |
+
"simulator_status": "not_run",
|
| 349 |
+
"effective_mass_or_inertia_si": 0.0002675130190969413,
|
| 350 |
+
"gravity_bound_si": 0.039558028243412466,
|
| 351 |
+
"gravity_at_rest_si": 4.897381855112149e-10,
|
| 352 |
+
"effort_unit": "N*m",
|
| 353 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 354 |
+
"warnings": [
|
| 355 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
|
| 356 |
+
],
|
| 357 |
+
"stiffness_si": 0.0,
|
| 358 |
+
"damping_si": 0.0,
|
| 359 |
+
"target_position_si": 0.0,
|
| 360 |
+
"max_effort_si": 0.0,
|
| 361 |
+
"static_friction_si": 0.0593370423651187,
|
| 362 |
+
"dynamic_friction_si": 0.049447535304265586,
|
| 363 |
+
"required_capability": "PhysxJointAxisAPI",
|
| 364 |
+
"supported_links": {
|
| 365 |
+
"lever_hub": {
|
| 366 |
+
"mass_kg": 0.105,
|
| 367 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 368 |
+
},
|
| 369 |
+
"lever": {
|
| 370 |
+
"mass_kg": 0.0412,
|
| 371 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 372 |
+
}
|
| 373 |
+
}
|
| 374 |
+
}
|
| 375 |
+
},
|
| 376 |
+
"lever_flow": {
|
| 377 |
+
"path": "/faucet_kitchen/Joints/lever_flow",
|
| 378 |
+
"type": "revolute",
|
| 379 |
+
"parent": "lever_hub",
|
| 380 |
+
"child": "lever",
|
| 381 |
+
"axis_contract": [
|
| 382 |
+
0.0,
|
| 383 |
+
1.0,
|
| 384 |
+
0.0
|
| 385 |
+
],
|
| 386 |
+
"axis_token": "X",
|
| 387 |
+
"frame_alignment_wxyz": [
|
| 388 |
+
0.707106781,
|
| 389 |
+
0.0,
|
| 390 |
+
-0.0,
|
| 391 |
+
0.707106781
|
| 392 |
+
],
|
| 393 |
+
"limits": {
|
| 394 |
+
"lower": 0.0,
|
| 395 |
+
"upper": 28.64789,
|
| 396 |
+
"unit": "deg"
|
| 397 |
+
},
|
| 398 |
+
"drive": {
|
| 399 |
+
"type": "force",
|
| 400 |
+
"stiffness": 0.0,
|
| 401 |
+
"damping": 0.0,
|
| 402 |
+
"damping_si": 0.0,
|
| 403 |
+
"stiffness_si": 0.0,
|
| 404 |
+
"max_force": 0.0,
|
| 405 |
+
"target_position": 0.0,
|
| 406 |
+
"target_velocity": 0.0,
|
| 407 |
+
"damping_unit": "N*m*s/deg",
|
| 408 |
+
"damping_si_unit": "N*m*s/rad"
|
| 409 |
+
},
|
| 410 |
+
"behavior": {
|
| 411 |
+
"recipe_version": "joint-behavior/1",
|
| 412 |
+
"intent": {
|
| 413 |
+
"confidence": "low",
|
| 414 |
+
"mode": "hold_position",
|
| 415 |
+
"reason": "Tilt the pin outward to set flow; inferred ceramic cartridge friction holds the selected position after release. Exact concealed tilt geometry is uncertain."
|
| 416 |
+
},
|
| 417 |
+
"status": "resolved",
|
| 418 |
+
"simulator_status": "not_run",
|
| 419 |
+
"effective_mass_or_inertia_si": 9.201687693079187e-05,
|
| 420 |
+
"gravity_bound_si": 0.016470009519288755,
|
| 421 |
+
"gravity_at_rest_si": 4.120351969416625e-11,
|
| 422 |
+
"effort_unit": "N*m",
|
| 423 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 424 |
+
"warnings": [
|
| 425 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
|
| 426 |
+
],
|
| 427 |
+
"stiffness_si": 0.0,
|
| 428 |
+
"damping_si": 0.0,
|
| 429 |
+
"target_position_si": 0.0,
|
| 430 |
+
"max_effort_si": 0.0,
|
| 431 |
+
"static_friction_si": 0.024705014278933134,
|
| 432 |
+
"dynamic_friction_si": 0.020587511899110945,
|
| 433 |
+
"required_capability": "PhysxJointAxisAPI",
|
| 434 |
+
"supported_links": {
|
| 435 |
+
"lever": {
|
| 436 |
+
"mass_kg": 0.0412,
|
| 437 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 438 |
+
}
|
| 439 |
+
}
|
| 440 |
+
}
|
| 441 |
+
}
|
| 442 |
+
},
|
| 443 |
+
"preview_controls": [],
|
| 444 |
+
"reference_pose": {
|
| 445 |
+
"lever_flow": 0.0,
|
| 446 |
+
"lever_temperature": 0.0,
|
| 447 |
+
"spout_swivel": 0.0,
|
| 448 |
+
"spray_pullout": 0.0
|
| 449 |
+
},
|
| 450 |
+
"provenance": {
|
| 451 |
+
"base_mode_reason": "This is a deck-mounted kitchen mixer. The flanged base ring sits on a sink or countertop, and a faucet is normally bolted through the deck, so the body is anchored to the world.",
|
| 452 |
+
"base_mode_source": "author_explicit",
|
| 453 |
+
"contract_revision": "2.0",
|
| 454 |
+
"producer": "articulated-asset-generation",
|
| 455 |
+
"producer_version": "0.1.0"
|
| 456 |
+
}
|
| 457 |
+
},
|
| 458 |
+
"mass_kg": 1.5743,
|
| 459 |
+
"colliders": 5,
|
| 460 |
+
"status": "articulated_body",
|
| 461 |
+
"material_class": "metal_steel",
|
| 462 |
+
"engine": "physx",
|
| 463 |
+
"multipart_physx": false,
|
| 464 |
+
"static_friction": 0.6,
|
| 465 |
+
"dynamic_friction": 0.45,
|
| 466 |
+
"restitution": 0.25,
|
| 467 |
+
"friction_model": "legacy",
|
| 468 |
+
"friction_convention": "pair_value_on_steel_dry"
|
| 469 |
+
}
|
| 470 |
+
}
|
assets/faucet_kitchen/preview.png
ADDED
|
Git LFS Details
|
assets/faucet_kitchen/textures/base_color.png
ADDED
|
Git LFS Details
|
assets/faucet_kitchen/textures/metallic.png
ADDED
|
Git LFS Details
|
assets/faucet_kitchen/textures/normal.png
ADDED
|
Git LFS Details
|
assets/faucet_kitchen/textures/roughness.png
ADDED
|
Git LFS Details
|
assets/garlic_press/GET_MORE.md
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Want more assets like this?
|
| 2 |
+
|
| 3 |
+
This is part of a free sample from **projectsim by Kaedim**: sim-ready,
|
| 4 |
+
articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim).
|
| 5 |
+
|
| 6 |
+
We have **100,000+ more assets like these**, and we can build sets of your own objects.
|
| 7 |
+
|
| 8 |
+
- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=asset_folder&utm_content=articulated-objects-sample
|
| 9 |
+
- Or email: team@projectsim.ai
|
| 10 |
+
- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
|
| 11 |
+
|
| 12 |
+
License: CC BY 4.0. Credit "projectsim by Kaedim".
|
assets/garlic_press/garlic_press.usd
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:d21551d436ea724e953dcdeeb85bfd0be1218dd084e5e25ba17338ffd4bb1a4a
|
| 3 |
+
size 4244047
|
assets/garlic_press/physics.json
ADDED
|
@@ -0,0 +1,156 @@
|
|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
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|
|
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|
|
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|
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|
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|
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|
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|
|
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|
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|
|
|
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|
|
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|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
|
|
|
|
|
|
|
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|
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|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"physics": {
|
| 3 |
+
"articulation": {
|
| 4 |
+
"schema_version": "articulation/2",
|
| 5 |
+
"root_link": "lower_handle_body",
|
| 6 |
+
"base_mode": "free",
|
| 7 |
+
"world_joint": null,
|
| 8 |
+
"behavior_sleep_threshold": null,
|
| 9 |
+
"handoff_base_mode": "free",
|
| 10 |
+
"base_mode_source": "handoff",
|
| 11 |
+
"collision_filter": {
|
| 12 |
+
"mode": "adjacent",
|
| 13 |
+
"explicit_excluded_link_pairs": [],
|
| 14 |
+
"handoff_excluded_link_pairs": [
|
| 15 |
+
[
|
| 16 |
+
"lower_handle_body",
|
| 17 |
+
"upper_handle"
|
| 18 |
+
]
|
| 19 |
+
],
|
| 20 |
+
"excluded_link_pairs": [
|
| 21 |
+
[
|
| 22 |
+
"lower_handle_body",
|
| 23 |
+
"upper_handle"
|
| 24 |
+
]
|
| 25 |
+
],
|
| 26 |
+
"representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
|
| 27 |
+
"external_contacts": "enabled",
|
| 28 |
+
"other_engine_validation": "not_run"
|
| 29 |
+
},
|
| 30 |
+
"collider_aggregation": "link",
|
| 31 |
+
"joint_count": 1,
|
| 32 |
+
"joint_types": {
|
| 33 |
+
"revolute": 1
|
| 34 |
+
},
|
| 35 |
+
"axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
|
| 36 |
+
"links": {
|
| 37 |
+
"lower_handle_body": {
|
| 38 |
+
"prim": "/garlic_press/lower_handle_body",
|
| 39 |
+
"mass_kg": 0.2572,
|
| 40 |
+
"mass_source": "VLM per-part estimate, 7 of 7 meshes",
|
| 41 |
+
"colliders": 1,
|
| 42 |
+
"collision": [
|
| 43 |
+
{
|
| 44 |
+
"prim": "/garlic_press/lower_handle_body/Collisions/link_collision",
|
| 45 |
+
"approximation": "convexDecomposition",
|
| 46 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 47 |
+
"source_mesh_count": 7,
|
| 48 |
+
"source_meshes": [
|
| 49 |
+
"/garlic_press/lower_handle_body/lower_handle_body__visual_000/Deep_rounded_perforated_basket_003",
|
| 50 |
+
"/garlic_press/lower_handle_body/lower_handle_body__visual_005/Cylinder_065",
|
| 51 |
+
"/garlic_press/lower_handle_body/lower_handle_body__visual_003/Front_pivot_support_003",
|
| 52 |
+
"/garlic_press/lower_handle_body/lower_handle_body__visual_004/Cylinder_064",
|
| 53 |
+
"/garlic_press/lower_handle_body/lower_handle_body__visual_002/Front_pivot_support_002",
|
| 54 |
+
"/garlic_press/lower_handle_body/lower_handle_body__visual_001/Lower_tapered_solid_grip_001",
|
| 55 |
+
"/garlic_press/lower_handle_body/lower_handle_body__visual_006/Cylinder_066"
|
| 56 |
+
],
|
| 57 |
+
"aggregation": "link",
|
| 58 |
+
"boolean_union": false,
|
| 59 |
+
"cooked_shape_count": null
|
| 60 |
+
}
|
| 61 |
+
]
|
| 62 |
+
},
|
| 63 |
+
"upper_handle": {
|
| 64 |
+
"prim": "/garlic_press/upper_handle",
|
| 65 |
+
"mass_kg": 0.2879,
|
| 66 |
+
"mass_source": "VLM per-part estimate, 6 of 6 meshes",
|
| 67 |
+
"colliders": 1,
|
| 68 |
+
"collision": [
|
| 69 |
+
{
|
| 70 |
+
"prim": "/garlic_press/upper_handle/Collisions/link_collision",
|
| 71 |
+
"approximation": "convexDecomposition",
|
| 72 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 73 |
+
"source_mesh_count": 6,
|
| 74 |
+
"source_meshes": [
|
| 75 |
+
"/garlic_press/upper_handle/upper_handle__visual_001/Cylinder_067",
|
| 76 |
+
"/garlic_press/upper_handle/upper_handle__visual_002/Cylinder_068",
|
| 77 |
+
"/garlic_press/upper_handle/upper_handle__visual_005/Cylinder_071",
|
| 78 |
+
"/garlic_press/upper_handle/upper_handle__visual_000/Upper_long_lever_grip_001",
|
| 79 |
+
"/garlic_press/upper_handle/upper_handle__visual_004/Cylinder_070",
|
| 80 |
+
"/garlic_press/upper_handle/upper_handle__visual_003/Cylinder_069"
|
| 81 |
+
],
|
| 82 |
+
"aggregation": "link",
|
| 83 |
+
"boolean_union": false,
|
| 84 |
+
"cooked_shape_count": null
|
| 85 |
+
}
|
| 86 |
+
]
|
| 87 |
+
}
|
| 88 |
+
},
|
| 89 |
+
"joints": {
|
| 90 |
+
"upper_handle_hinge": {
|
| 91 |
+
"path": "/garlic_press/Joints/upper_handle_hinge",
|
| 92 |
+
"type": "revolute",
|
| 93 |
+
"parent": "lower_handle_body",
|
| 94 |
+
"child": "upper_handle",
|
| 95 |
+
"axis_contract": [
|
| 96 |
+
0.0,
|
| 97 |
+
-1.0,
|
| 98 |
+
0.0
|
| 99 |
+
],
|
| 100 |
+
"axis_token": "X",
|
| 101 |
+
"frame_alignment_wxyz": [
|
| 102 |
+
0.707106781,
|
| 103 |
+
0.0,
|
| 104 |
+
-0.0,
|
| 105 |
+
-0.707106781
|
| 106 |
+
],
|
| 107 |
+
"limits": {
|
| 108 |
+
"lower": -5.729578,
|
| 109 |
+
"upper": 91.673247,
|
| 110 |
+
"unit": "deg"
|
| 111 |
+
},
|
| 112 |
+
"drive": {
|
| 113 |
+
"type": "force",
|
| 114 |
+
"stiffness": 0.0,
|
| 115 |
+
"damping": 0.0017453292519943296,
|
| 116 |
+
"damping_unit": "N*m*s/deg",
|
| 117 |
+
"damping_si": 0.1,
|
| 118 |
+
"damping_si_unit": "N*m*s/rad",
|
| 119 |
+
"note": "passive joint: damping only; no actuation authored"
|
| 120 |
+
},
|
| 121 |
+
"behavior": {
|
| 122 |
+
"intent": {
|
| 123 |
+
"confidence": "medium",
|
| 124 |
+
"mode": "none",
|
| 125 |
+
"reason": "User squeezes or lifts the lever; after release it is passive under gravity. No spring is visible or inferred for this hand press."
|
| 126 |
+
},
|
| 127 |
+
"status": "passive",
|
| 128 |
+
"simulator_status": "not_run"
|
| 129 |
+
}
|
| 130 |
+
}
|
| 131 |
+
},
|
| 132 |
+
"preview_controls": [],
|
| 133 |
+
"reference_pose": {
|
| 134 |
+
"upper_handle_hinge": 0.0
|
| 135 |
+
},
|
| 136 |
+
"provenance": {
|
| 137 |
+
"base_mode_reason": "Handheld kitchen garlic press with no mounting hardware; it is a freestanding movable tool, so the base is free.",
|
| 138 |
+
"base_mode_source": "author_explicit",
|
| 139 |
+
"contract_revision": "2.0",
|
| 140 |
+
"producer": "articulated-asset-generation",
|
| 141 |
+
"producer_version": "0.1.0"
|
| 142 |
+
}
|
| 143 |
+
},
|
| 144 |
+
"mass_kg": 0.5451,
|
| 145 |
+
"colliders": 2,
|
| 146 |
+
"status": "articulated_body",
|
| 147 |
+
"material_class": "metal_aluminum",
|
| 148 |
+
"engine": "physx",
|
| 149 |
+
"multipart_physx": false,
|
| 150 |
+
"static_friction": 0.45,
|
| 151 |
+
"dynamic_friction": 0.35,
|
| 152 |
+
"restitution": 0.25,
|
| 153 |
+
"friction_model": "legacy",
|
| 154 |
+
"friction_convention": "pair_value_on_steel_dry"
|
| 155 |
+
}
|
| 156 |
+
}
|
assets/garlic_press/preview.png
ADDED
|
Git LFS Details
|
assets/garlic_press/textures/base_color.png
ADDED
|
Git LFS Details
|
assets/garlic_press/textures/metallic.png
ADDED
|
Git LFS Details
|
assets/garlic_press/textures/normal.png
ADDED
|
Git LFS Details
|
assets/garlic_press/textures/roughness.png
ADDED
|
Git LFS Details
|
assets/industrial_pipe_valve/GET_MORE.md
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
# Want more assets like this?
|
| 2 |
+
|
| 3 |
+
This is part of a free sample from **projectsim by Kaedim**: sim-ready,
|
| 4 |
+
articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim).
|
| 5 |
+
|
| 6 |
+
We have **100,000+ more assets like these**, and we can build sets of your own objects.
|
| 7 |
+
|
| 8 |
+
- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=asset_folder&utm_content=articulated-objects-sample
|
| 9 |
+
- Or email: team@projectsim.ai
|
| 10 |
+
- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
|
| 11 |
+
|
| 12 |
+
License: CC BY 4.0. Credit "projectsim by Kaedim".
|
assets/industrial_pipe_valve/industrial_pipe_valve.usd
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:ca6f53233d74e8752513c668488e80f9b5871370d9446a9bff2800e2cef23ce5
|
| 3 |
+
size 8383247
|
assets/industrial_pipe_valve/physics.json
ADDED
|
@@ -0,0 +1,296 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
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|
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|
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|
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|
|
|
|
|
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|
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|
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|
|
|
|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"physics": {
|
| 3 |
+
"articulation": {
|
| 4 |
+
"schema_version": "articulation/2",
|
| 5 |
+
"root_link": "valve_body",
|
| 6 |
+
"base_mode": "free",
|
| 7 |
+
"world_joint": null,
|
| 8 |
+
"behavior_sleep_threshold": null,
|
| 9 |
+
"handoff_base_mode": "free",
|
| 10 |
+
"base_mode_source": "handoff",
|
| 11 |
+
"collision_filter": {
|
| 12 |
+
"mode": "adjacent",
|
| 13 |
+
"explicit_excluded_link_pairs": [],
|
| 14 |
+
"handoff_excluded_link_pairs": [
|
| 15 |
+
[
|
| 16 |
+
"handwheel",
|
| 17 |
+
"valve_body"
|
| 18 |
+
],
|
| 19 |
+
[
|
| 20 |
+
"stem",
|
| 21 |
+
"valve_body"
|
| 22 |
+
]
|
| 23 |
+
],
|
| 24 |
+
"excluded_link_pairs": [
|
| 25 |
+
[
|
| 26 |
+
"handwheel",
|
| 27 |
+
"valve_body"
|
| 28 |
+
],
|
| 29 |
+
[
|
| 30 |
+
"stem",
|
| 31 |
+
"valve_body"
|
| 32 |
+
]
|
| 33 |
+
],
|
| 34 |
+
"representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
|
| 35 |
+
"external_contacts": "enabled",
|
| 36 |
+
"other_engine_validation": "not_run"
|
| 37 |
+
},
|
| 38 |
+
"collider_aggregation": "link",
|
| 39 |
+
"joint_count": 2,
|
| 40 |
+
"joint_types": {
|
| 41 |
+
"revolute": 1,
|
| 42 |
+
"prismatic": 1
|
| 43 |
+
},
|
| 44 |
+
"axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
|
| 45 |
+
"links": {
|
| 46 |
+
"valve_body": {
|
| 47 |
+
"prim": "/industrial_pipe_valve/valve_body",
|
| 48 |
+
"mass_kg": 77.9868,
|
| 49 |
+
"mass_source": "VLM per-part estimate, 30 of 30 meshes",
|
| 50 |
+
"colliders": 1,
|
| 51 |
+
"collision": [
|
| 52 |
+
{
|
| 53 |
+
"prim": "/industrial_pipe_valve/valve_body/Collisions/link_collision",
|
| 54 |
+
"approximation": "convexDecomposition",
|
| 55 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 56 |
+
"source_mesh_count": 30,
|
| 57 |
+
"source_meshes": [
|
| 58 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_001/Cylinder_074",
|
| 59 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_026/Yoke_mesh_001",
|
| 60 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_018/Cylinder_090",
|
| 61 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_010/Cylinder_083",
|
| 62 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_021/Cylinder_093",
|
| 63 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_003/Cylinder_076",
|
| 64 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_020/Cylinder_092",
|
| 65 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_029/Cylinder_100",
|
| 66 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_016/Cylinder_088",
|
| 67 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_015/Cylinder_087",
|
| 68 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_009/Cylinder_082",
|
| 69 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_022/Cylinder_094",
|
| 70 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_025/Cylinder_097",
|
| 71 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_012/Cylinder_085",
|
| 72 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_005/Cylinder_078",
|
| 73 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_014/Cylinder_086",
|
| 74 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_013/Cone_001",
|
| 75 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_023/Cylinder_095",
|
| 76 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_004/Cylinder_077",
|
| 77 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_019/Cylinder_091",
|
| 78 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_027/Cylinder_098",
|
| 79 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_006/Cylinder_079",
|
| 80 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_002/Cylinder_075",
|
| 81 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_011/Cylinder_084",
|
| 82 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_024/Cylinder_096",
|
| 83 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_000/Sphere_001",
|
| 84 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_007/Cylinder_080",
|
| 85 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_008/Cylinder_081",
|
| 86 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_028/Cylinder_099",
|
| 87 |
+
"/industrial_pipe_valve/valve_body/valve_body__visual_017/Cylinder_089"
|
| 88 |
+
],
|
| 89 |
+
"aggregation": "link",
|
| 90 |
+
"boolean_union": false,
|
| 91 |
+
"cooked_shape_count": null
|
| 92 |
+
}
|
| 93 |
+
]
|
| 94 |
+
},
|
| 95 |
+
"handwheel": {
|
| 96 |
+
"prim": "/industrial_pipe_valve/handwheel",
|
| 97 |
+
"mass_kg": 8.9074,
|
| 98 |
+
"mass_source": "VLM per-part estimate, 1 of 1 meshes",
|
| 99 |
+
"colliders": 1,
|
| 100 |
+
"collision": [
|
| 101 |
+
{
|
| 102 |
+
"prim": "/industrial_pipe_valve/handwheel/Collisions/link_collision",
|
| 103 |
+
"approximation": "convexDecomposition",
|
| 104 |
+
"basis": "auto-convex: convex decomposition instead of sdf",
|
| 105 |
+
"source_mesh_count": 1,
|
| 106 |
+
"source_meshes": [
|
| 107 |
+
"/industrial_pipe_valve/handwheel/handwheel__visual_000/Torus_005"
|
| 108 |
+
],
|
| 109 |
+
"aggregation": "link",
|
| 110 |
+
"boolean_union": false,
|
| 111 |
+
"cooked_shape_count": null
|
| 112 |
+
}
|
| 113 |
+
]
|
| 114 |
+
},
|
| 115 |
+
"stem": {
|
| 116 |
+
"prim": "/industrial_pipe_valve/stem",
|
| 117 |
+
"mass_kg": 2.2589,
|
| 118 |
+
"mass_source": "VLM per-part estimate, 2 of 2 meshes",
|
| 119 |
+
"colliders": 1,
|
| 120 |
+
"collision": [
|
| 121 |
+
{
|
| 122 |
+
"prim": "/industrial_pipe_valve/stem/Collisions/link_collision",
|
| 123 |
+
"approximation": "convexDecomposition",
|
| 124 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 125 |
+
"source_mesh_count": 2,
|
| 126 |
+
"source_meshes": [
|
| 127 |
+
"/industrial_pipe_valve/stem/stem__visual_000/Cylinder_101",
|
| 128 |
+
"/industrial_pipe_valve/stem/stem__visual_001/Helical_thread_001"
|
| 129 |
+
],
|
| 130 |
+
"aggregation": "link",
|
| 131 |
+
"boolean_union": false,
|
| 132 |
+
"cooked_shape_count": null
|
| 133 |
+
}
|
| 134 |
+
]
|
| 135 |
+
}
|
| 136 |
+
},
|
| 137 |
+
"joints": {
|
| 138 |
+
"handwheel_spin": {
|
| 139 |
+
"path": "/industrial_pipe_valve/Joints/handwheel_spin",
|
| 140 |
+
"type": "revolute",
|
| 141 |
+
"parent": "valve_body",
|
| 142 |
+
"child": "handwheel",
|
| 143 |
+
"axis_contract": [
|
| 144 |
+
0.0,
|
| 145 |
+
0.0,
|
| 146 |
+
1.0
|
| 147 |
+
],
|
| 148 |
+
"axis_token": "X",
|
| 149 |
+
"frame_alignment_wxyz": [
|
| 150 |
+
0.707106781,
|
| 151 |
+
0.0,
|
| 152 |
+
-0.707106781,
|
| 153 |
+
0.0
|
| 154 |
+
],
|
| 155 |
+
"limits": {
|
| 156 |
+
"lower": 0.0,
|
| 157 |
+
"upper": 1799.087477,
|
| 158 |
+
"unit": "deg"
|
| 159 |
+
},
|
| 160 |
+
"drive": {
|
| 161 |
+
"type": "force",
|
| 162 |
+
"stiffness": 0.0,
|
| 163 |
+
"damping": 0.0,
|
| 164 |
+
"damping_si": 0.0,
|
| 165 |
+
"stiffness_si": 0.0,
|
| 166 |
+
"max_force": 0.0,
|
| 167 |
+
"target_position": 0.0,
|
| 168 |
+
"target_velocity": 0.0,
|
| 169 |
+
"damping_unit": "N*m*s/deg",
|
| 170 |
+
"damping_si_unit": "N*m*s/rad"
|
| 171 |
+
},
|
| 172 |
+
"behavior": {
|
| 173 |
+
"recipe_version": "joint-behavior/1",
|
| 174 |
+
"intent": {
|
| 175 |
+
"confidence": "high",
|
| 176 |
+
"mode": "hold_position",
|
| 177 |
+
"reason": "Turn the rim to adjust the valve; self-locking screw and packing friction are inferred to hold the chosen rotation after release."
|
| 178 |
+
},
|
| 179 |
+
"status": "resolved",
|
| 180 |
+
"simulator_status": "not_run",
|
| 181 |
+
"effective_mass_or_inertia_si": 0.18860216003565333,
|
| 182 |
+
"gravity_bound_si": 0.040345499817357834,
|
| 183 |
+
"gravity_at_rest_si": 0.0,
|
| 184 |
+
"effort_unit": "N*m",
|
| 185 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 186 |
+
"warnings": [
|
| 187 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
|
| 188 |
+
],
|
| 189 |
+
"stiffness_si": 0.0,
|
| 190 |
+
"damping_si": 0.0,
|
| 191 |
+
"target_position_si": 0.0,
|
| 192 |
+
"max_effort_si": 0.0,
|
| 193 |
+
"static_friction_si": 0.060518249726036755,
|
| 194 |
+
"dynamic_friction_si": 0.05043187477169729,
|
| 195 |
+
"required_capability": "PhysxJointAxisAPI",
|
| 196 |
+
"supported_links": {
|
| 197 |
+
"handwheel": {
|
| 198 |
+
"mass_kg": 8.9074,
|
| 199 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 200 |
+
}
|
| 201 |
+
}
|
| 202 |
+
}
|
| 203 |
+
},
|
| 204 |
+
"stem_lift": {
|
| 205 |
+
"path": "/industrial_pipe_valve/Joints/stem_lift",
|
| 206 |
+
"type": "prismatic",
|
| 207 |
+
"parent": "valve_body",
|
| 208 |
+
"child": "stem",
|
| 209 |
+
"axis_contract": [
|
| 210 |
+
0.0,
|
| 211 |
+
0.0,
|
| 212 |
+
1.0
|
| 213 |
+
],
|
| 214 |
+
"axis_token": "X",
|
| 215 |
+
"frame_alignment_wxyz": [
|
| 216 |
+
0.707106781,
|
| 217 |
+
0.0,
|
| 218 |
+
-0.707106781,
|
| 219 |
+
0.0
|
| 220 |
+
],
|
| 221 |
+
"limits": {
|
| 222 |
+
"lower": 0.0,
|
| 223 |
+
"upper": 0.04,
|
| 224 |
+
"unit": "m"
|
| 225 |
+
},
|
| 226 |
+
"drive": {
|
| 227 |
+
"type": "force",
|
| 228 |
+
"stiffness": 0.0,
|
| 229 |
+
"damping": 0.0,
|
| 230 |
+
"damping_si": 0.0,
|
| 231 |
+
"stiffness_si": 0.0,
|
| 232 |
+
"max_force": 0.0,
|
| 233 |
+
"target_position": 0.0,
|
| 234 |
+
"target_velocity": 0.0,
|
| 235 |
+
"damping_unit": "N*s/m",
|
| 236 |
+
"damping_si_unit": "N*s/m"
|
| 237 |
+
},
|
| 238 |
+
"behavior": {
|
| 239 |
+
"recipe_version": "joint-behavior/1",
|
| 240 |
+
"intent": {
|
| 241 |
+
"confidence": "medium",
|
| 242 |
+
"mode": "hold_position",
|
| 243 |
+
"reason": "Axial adjustment remains at the released height through inferred self-locking screw and packing friction."
|
| 244 |
+
},
|
| 245 |
+
"status": "resolved",
|
| 246 |
+
"simulator_status": "not_run",
|
| 247 |
+
"effective_mass_or_inertia_si": 2.2589,
|
| 248 |
+
"gravity_bound_si": 22.159809000000003,
|
| 249 |
+
"gravity_at_rest_si": -22.159809000000003,
|
| 250 |
+
"effort_unit": "N",
|
| 251 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 252 |
+
"warnings": [
|
| 253 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
|
| 254 |
+
],
|
| 255 |
+
"stiffness_si": 0.0,
|
| 256 |
+
"damping_si": 0.0,
|
| 257 |
+
"target_position_si": 0.0,
|
| 258 |
+
"max_effort_si": 0.0,
|
| 259 |
+
"static_friction_si": 33.23971350000001,
|
| 260 |
+
"dynamic_friction_si": 27.69976125,
|
| 261 |
+
"required_capability": "PhysxJointAxisAPI",
|
| 262 |
+
"supported_links": {
|
| 263 |
+
"stem": {
|
| 264 |
+
"mass_kg": 2.2589,
|
| 265 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 266 |
+
}
|
| 267 |
+
}
|
| 268 |
+
}
|
| 269 |
+
}
|
| 270 |
+
},
|
| 271 |
+
"preview_controls": [],
|
| 272 |
+
"reference_pose": {
|
| 273 |
+
"handwheel_spin": 0.0,
|
| 274 |
+
"stem_lift": 0.0
|
| 275 |
+
},
|
| 276 |
+
"provenance": {
|
| 277 |
+
"base_mode_reason": "Loose flanged valve with empty bolt holes and no pipe or mounting visible; treated as a freestanding object. In service it would be bolted into a pipeline, but no such mount is visible.",
|
| 278 |
+
"base_mode_source": "author_explicit",
|
| 279 |
+
"contract_revision": "2.0",
|
| 280 |
+
"producer": "articulated-asset-generation",
|
| 281 |
+
"producer_version": "0.1.0"
|
| 282 |
+
}
|
| 283 |
+
},
|
| 284 |
+
"mass_kg": 89.1531,
|
| 285 |
+
"colliders": 3,
|
| 286 |
+
"status": "articulated_body",
|
| 287 |
+
"material_class": "metal_steel",
|
| 288 |
+
"engine": "physx",
|
| 289 |
+
"multipart_physx": false,
|
| 290 |
+
"static_friction": 0.6,
|
| 291 |
+
"dynamic_friction": 0.45,
|
| 292 |
+
"restitution": 0.25,
|
| 293 |
+
"friction_model": "legacy",
|
| 294 |
+
"friction_convention": "pair_value_on_steel_dry"
|
| 295 |
+
}
|
| 296 |
+
}
|
assets/industrial_pipe_valve/preview.png
ADDED
|
Git LFS Details
|
assets/industrial_pipe_valve/textures/base_color.png
ADDED
|
Git LFS Details
|
assets/industrial_pipe_valve/textures/metallic.png
ADDED
|
Git LFS Details
|
assets/industrial_pipe_valve/textures/normal.png
ADDED
|
Git LFS Details
|
assets/industrial_pipe_valve/textures/roughness.png
ADDED
|
Git LFS Details
|
assets/industrial_shears/GET_MORE.md
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
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|
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|
| 1 |
+
# Want more assets like this?
|
| 2 |
+
|
| 3 |
+
This is part of a free sample from **projectsim by Kaedim**: sim-ready,
|
| 4 |
+
articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim).
|
| 5 |
+
|
| 6 |
+
We have **100,000+ more assets like these**, and we can build sets of your own objects.
|
| 7 |
+
|
| 8 |
+
- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=asset_folder&utm_content=articulated-objects-sample
|
| 9 |
+
- Or email: team@projectsim.ai
|
| 10 |
+
- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
|
| 11 |
+
|
| 12 |
+
License: CC BY 4.0. Credit "projectsim by Kaedim".
|
assets/industrial_shears/industrial_shears.usd
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:cb75be99be241883221c544d1ca7932e751e5c7c9dc7cc086e0b6338d61e3d76
|
| 3 |
+
size 5423468
|
assets/industrial_shears/physics.json
ADDED
|
@@ -0,0 +1,285 @@
|
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|
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|
|
|
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|
|
|
|
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|
|
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|
|
|
|
|
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|
|
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|
|
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|
|
|
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|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
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|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
{
|
| 2 |
+
"physics": {
|
| 3 |
+
"articulation": {
|
| 4 |
+
"schema_version": "articulation/2",
|
| 5 |
+
"root_link": "upper_arm",
|
| 6 |
+
"base_mode": "free",
|
| 7 |
+
"world_joint": null,
|
| 8 |
+
"behavior_sleep_threshold": 9.999999974752427e-07,
|
| 9 |
+
"handoff_base_mode": "free",
|
| 10 |
+
"base_mode_source": "handoff",
|
| 11 |
+
"collision_filter": {
|
| 12 |
+
"mode": "adjacent",
|
| 13 |
+
"explicit_excluded_link_pairs": [],
|
| 14 |
+
"handoff_excluded_link_pairs": [
|
| 15 |
+
[
|
| 16 |
+
"latch_hook",
|
| 17 |
+
"lower_arm"
|
| 18 |
+
],
|
| 19 |
+
[
|
| 20 |
+
"lower_arm",
|
| 21 |
+
"upper_arm"
|
| 22 |
+
]
|
| 23 |
+
],
|
| 24 |
+
"excluded_link_pairs": [
|
| 25 |
+
[
|
| 26 |
+
"latch_hook",
|
| 27 |
+
"lower_arm"
|
| 28 |
+
],
|
| 29 |
+
[
|
| 30 |
+
"lower_arm",
|
| 31 |
+
"upper_arm"
|
| 32 |
+
]
|
| 33 |
+
],
|
| 34 |
+
"representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
|
| 35 |
+
"external_contacts": "enabled",
|
| 36 |
+
"other_engine_validation": "not_run"
|
| 37 |
+
},
|
| 38 |
+
"collider_aggregation": "link",
|
| 39 |
+
"joint_count": 2,
|
| 40 |
+
"joint_types": {
|
| 41 |
+
"revolute": 2
|
| 42 |
+
},
|
| 43 |
+
"axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
|
| 44 |
+
"links": {
|
| 45 |
+
"upper_arm": {
|
| 46 |
+
"prim": "/industrial_shears/upper_arm",
|
| 47 |
+
"mass_kg": 2.8543,
|
| 48 |
+
"mass_source": "VLM per-part estimate, 9 of 9 meshes",
|
| 49 |
+
"colliders": 1,
|
| 50 |
+
"collision": [
|
| 51 |
+
{
|
| 52 |
+
"prim": "/industrial_shears/upper_arm/Collisions/link_collision",
|
| 53 |
+
"approximation": "convexDecomposition",
|
| 54 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 55 |
+
"source_mesh_count": 9,
|
| 56 |
+
"source_meshes": [
|
| 57 |
+
"/industrial_shears/upper_arm/upper_arm__visual_004/Cylinder_010",
|
| 58 |
+
"/industrial_shears/upper_arm/upper_arm__visual_007/Upper_grip_001",
|
| 59 |
+
"/industrial_shears/upper_arm/upper_arm__visual_001/Lower_jaw_with_upper_handle_tang_001",
|
| 60 |
+
"/industrial_shears/upper_arm/upper_arm__visual_003/Cylinder_009",
|
| 61 |
+
"/industrial_shears/upper_arm/upper_arm__visual_006/Cylinder_012",
|
| 62 |
+
"/industrial_shears/upper_arm/upper_arm__visual_000/Upper_tang_sleeve_001",
|
| 63 |
+
"/industrial_shears/upper_arm/upper_arm__visual_002/Cylinder_008",
|
| 64 |
+
"/industrial_shears/upper_arm/upper_arm__visual_005/Cylinder_011",
|
| 65 |
+
"/industrial_shears/upper_arm/upper_arm__visual_008/Upper_grip_diamond_knurl_001"
|
| 66 |
+
],
|
| 67 |
+
"aggregation": "link",
|
| 68 |
+
"boolean_union": false,
|
| 69 |
+
"cooked_shape_count": null
|
| 70 |
+
}
|
| 71 |
+
]
|
| 72 |
+
},
|
| 73 |
+
"lower_arm": {
|
| 74 |
+
"prim": "/industrial_shears/lower_arm",
|
| 75 |
+
"mass_kg": 1.3737,
|
| 76 |
+
"mass_source": "VLM per-part estimate, 5 of 5 meshes",
|
| 77 |
+
"colliders": 1,
|
| 78 |
+
"collision": [
|
| 79 |
+
{
|
| 80 |
+
"prim": "/industrial_shears/lower_arm/Collisions/link_collision",
|
| 81 |
+
"approximation": "convexDecomposition",
|
| 82 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 83 |
+
"source_mesh_count": 5,
|
| 84 |
+
"source_meshes": [
|
| 85 |
+
"/industrial_shears/lower_arm/lower_arm__visual_001/Ground_blade_bevel_001",
|
| 86 |
+
"/industrial_shears/lower_arm/lower_arm__visual_004/Cylinder_013",
|
| 87 |
+
"/industrial_shears/lower_arm/lower_arm__visual_002/Lower_grip_001",
|
| 88 |
+
"/industrial_shears/lower_arm/lower_arm__visual_000/Upper_blade_with_lower_handle_tang_001",
|
| 89 |
+
"/industrial_shears/lower_arm/lower_arm__visual_003/Lower_grip_diamond_knurl_001"
|
| 90 |
+
],
|
| 91 |
+
"aggregation": "link",
|
| 92 |
+
"boolean_union": false,
|
| 93 |
+
"cooked_shape_count": null
|
| 94 |
+
}
|
| 95 |
+
]
|
| 96 |
+
},
|
| 97 |
+
"latch_hook": {
|
| 98 |
+
"prim": "/industrial_shears/latch_hook",
|
| 99 |
+
"mass_kg": 0.0481,
|
| 100 |
+
"mass_source": "VLM per-part estimate, 3 of 3 meshes",
|
| 101 |
+
"colliders": 1,
|
| 102 |
+
"collision": [
|
| 103 |
+
{
|
| 104 |
+
"prim": "/industrial_shears/latch_hook/Collisions/link_collision",
|
| 105 |
+
"approximation": "convexDecomposition",
|
| 106 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 107 |
+
"source_mesh_count": 3,
|
| 108 |
+
"source_meshes": [
|
| 109 |
+
"/industrial_shears/latch_hook/latch_hook__visual_000/Cylinder_014",
|
| 110 |
+
"/industrial_shears/latch_hook/latch_hook__visual_002/Cylinder_015",
|
| 111 |
+
"/industrial_shears/latch_hook/latch_hook__visual_001/Curved_storage_latch_001"
|
| 112 |
+
],
|
| 113 |
+
"aggregation": "link",
|
| 114 |
+
"boolean_union": false,
|
| 115 |
+
"cooked_shape_count": null
|
| 116 |
+
}
|
| 117 |
+
]
|
| 118 |
+
}
|
| 119 |
+
},
|
| 120 |
+
"joints": {
|
| 121 |
+
"jaw_pivot": {
|
| 122 |
+
"path": "/industrial_shears/Joints/jaw_pivot",
|
| 123 |
+
"type": "revolute",
|
| 124 |
+
"parent": "upper_arm",
|
| 125 |
+
"child": "lower_arm",
|
| 126 |
+
"axis_contract": [
|
| 127 |
+
0.0,
|
| 128 |
+
-1.0,
|
| 129 |
+
0.0
|
| 130 |
+
],
|
| 131 |
+
"axis_token": "X",
|
| 132 |
+
"frame_alignment_wxyz": [
|
| 133 |
+
0.707106781,
|
| 134 |
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0.0,
|
| 135 |
+
-0.0,
|
| 136 |
+
-0.707106781
|
| 137 |
+
],
|
| 138 |
+
"limits": {
|
| 139 |
+
"lower": -2.864789,
|
| 140 |
+
"upper": 20.053523,
|
| 141 |
+
"unit": "deg"
|
| 142 |
+
},
|
| 143 |
+
"drive": {
|
| 144 |
+
"type": "force",
|
| 145 |
+
"stiffness": 0.03119048662483692,
|
| 146 |
+
"damping": 0.008626492694020271,
|
| 147 |
+
"damping_si": 0.49426159678437276,
|
| 148 |
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"stiffness_si": 1.787083224283236,
|
| 149 |
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"max_force": 2.958813117527109,
|
| 150 |
+
"target_position": 34.92682647705078,
|
| 151 |
+
"target_velocity": 0.0,
|
| 152 |
+
"damping_unit": "N*m*s/deg",
|
| 153 |
+
"damping_si_unit": "N*m*s/rad"
|
| 154 |
+
},
|
| 155 |
+
"behavior": {
|
| 156 |
+
"recipe_version": "joint-behavior/1",
|
| 157 |
+
"intent": {
|
| 158 |
+
"confidence": "medium",
|
| 159 |
+
"mode": "spring_return",
|
| 160 |
+
"reason": "Squeezing closes the jaws; releasing returns to the photographed open pose. A concealed return spring is inferred from this tool type and storage latch, not directly observed.",
|
| 161 |
+
"rest_position": 0.0
|
| 162 |
+
},
|
| 163 |
+
"status": "resolved",
|
| 164 |
+
"simulator_status": "not_run",
|
| 165 |
+
"effective_mass_or_inertia_si": 0.03417503487474956,
|
| 166 |
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"gravity_bound_si": 1.191388816188824,
|
| 167 |
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"gravity_at_rest_si": -1.0893847377255204,
|
| 168 |
+
"effort_unit": "N*m",
|
| 169 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 170 |
+
"warnings": [
|
| 171 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
|
| 172 |
+
],
|
| 173 |
+
"stiffness_si": 1.787083224283236,
|
| 174 |
+
"damping_si": 0.49426159678437276,
|
| 175 |
+
"target_position_si": 0.6095881394457447,
|
| 176 |
+
"max_effort_si": 2.958813117527109,
|
| 177 |
+
"static_friction_si": 0.0,
|
| 178 |
+
"dynamic_friction_si": 0.0,
|
| 179 |
+
"nominal_settling_seconds": 1.0,
|
| 180 |
+
"rest_position_si": 0.0,
|
| 181 |
+
"supported_links": {
|
| 182 |
+
"lower_arm": {
|
| 183 |
+
"mass_kg": 1.3737,
|
| 184 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 185 |
+
},
|
| 186 |
+
"latch_hook": {
|
| 187 |
+
"mass_kg": 0.0481,
|
| 188 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 189 |
+
}
|
| 190 |
+
}
|
| 191 |
+
}
|
| 192 |
+
},
|
| 193 |
+
"latch_pivot": {
|
| 194 |
+
"path": "/industrial_shears/Joints/latch_pivot",
|
| 195 |
+
"type": "revolute",
|
| 196 |
+
"parent": "lower_arm",
|
| 197 |
+
"child": "latch_hook",
|
| 198 |
+
"axis_contract": [
|
| 199 |
+
0.0,
|
| 200 |
+
1.0,
|
| 201 |
+
0.0
|
| 202 |
+
],
|
| 203 |
+
"axis_token": "X",
|
| 204 |
+
"frame_alignment_wxyz": [
|
| 205 |
+
0.707106781,
|
| 206 |
+
0.0,
|
| 207 |
+
-0.0,
|
| 208 |
+
0.707106781
|
| 209 |
+
],
|
| 210 |
+
"limits": {
|
| 211 |
+
"lower": -17.188734,
|
| 212 |
+
"upper": 68.754935,
|
| 213 |
+
"unit": "deg"
|
| 214 |
+
},
|
| 215 |
+
"drive": {
|
| 216 |
+
"type": "force",
|
| 217 |
+
"stiffness": 0.0,
|
| 218 |
+
"damping": 0.0,
|
| 219 |
+
"damping_si": 0.0,
|
| 220 |
+
"stiffness_si": 0.0,
|
| 221 |
+
"max_force": 0.0,
|
| 222 |
+
"target_position": 0.0,
|
| 223 |
+
"target_velocity": 0.0,
|
| 224 |
+
"damping_unit": "N*m*s/deg",
|
| 225 |
+
"damping_si_unit": "N*m*s/rad"
|
| 226 |
+
},
|
| 227 |
+
"behavior": {
|
| 228 |
+
"recipe_version": "joint-behavior/1",
|
| 229 |
+
"intent": {
|
| 230 |
+
"confidence": "low",
|
| 231 |
+
"mode": "hold_position",
|
| 232 |
+
"reason": "The user flips the storage hook; assumed rivet friction keeps it where released. Engagement is not modeled as a constraint."
|
| 233 |
+
},
|
| 234 |
+
"status": "resolved",
|
| 235 |
+
"simulator_status": "not_run",
|
| 236 |
+
"effective_mass_or_inertia_si": 8.229282973590835e-05,
|
| 237 |
+
"gravity_bound_si": 0.015227504965178586,
|
| 238 |
+
"gravity_at_rest_si": -0.0011557810370623604,
|
| 239 |
+
"effort_unit": "N*m",
|
| 240 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 241 |
+
"warnings": [
|
| 242 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
|
| 243 |
+
],
|
| 244 |
+
"stiffness_si": 0.0,
|
| 245 |
+
"damping_si": 0.0,
|
| 246 |
+
"target_position_si": 0.0,
|
| 247 |
+
"max_effort_si": 0.0,
|
| 248 |
+
"static_friction_si": 0.02284125744776788,
|
| 249 |
+
"dynamic_friction_si": 0.01903438120647323,
|
| 250 |
+
"required_capability": "PhysxJointAxisAPI",
|
| 251 |
+
"supported_links": {
|
| 252 |
+
"latch_hook": {
|
| 253 |
+
"mass_kg": 0.0481,
|
| 254 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 255 |
+
}
|
| 256 |
+
}
|
| 257 |
+
}
|
| 258 |
+
}
|
| 259 |
+
},
|
| 260 |
+
"preview_controls": [],
|
| 261 |
+
"reference_pose": {
|
| 262 |
+
"jaw_pivot": 0.0,
|
| 263 |
+
"latch_pivot": 0.0
|
| 264 |
+
},
|
| 265 |
+
"provenance": {
|
| 266 |
+
"base_mode_reason": "This is a handheld cutting tool with no mounting to the world. It is a freestanding object that gets picked up and carried, so it uses a free base.",
|
| 267 |
+
"base_mode_source": "author_explicit",
|
| 268 |
+
"contract_revision": "2.0",
|
| 269 |
+
"producer": "articulated-asset-generation",
|
| 270 |
+
"producer_version": "0.1.0"
|
| 271 |
+
}
|
| 272 |
+
},
|
| 273 |
+
"mass_kg": 4.2761,
|
| 274 |
+
"colliders": 3,
|
| 275 |
+
"status": "articulated_body",
|
| 276 |
+
"material_class": "metal_steel",
|
| 277 |
+
"engine": "physx",
|
| 278 |
+
"multipart_physx": false,
|
| 279 |
+
"static_friction": 0.6,
|
| 280 |
+
"dynamic_friction": 0.45,
|
| 281 |
+
"restitution": 0.25,
|
| 282 |
+
"friction_model": "legacy",
|
| 283 |
+
"friction_convention": "pair_value_on_steel_dry"
|
| 284 |
+
}
|
| 285 |
+
}
|
assets/industrial_shears/preview.png
ADDED
|
Git LFS Details
|
assets/industrial_shears/textures/base_color.png
ADDED
|
Git LFS Details
|
assets/industrial_shears/textures/metallic.png
ADDED
|
Git LFS Details
|
assets/industrial_shears/textures/normal.png
ADDED
|
Git LFS Details
|
assets/industrial_shears/textures/roughness.png
ADDED
|
Git LFS Details
|
assets/meat_slicer/GET_MORE.md
ADDED
|
@@ -0,0 +1,12 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
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|
|
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|
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|
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|
|
|
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|
|
|
|
|
|
| 1 |
+
# Want more assets like this?
|
| 2 |
+
|
| 3 |
+
This is part of a free sample from **projectsim by Kaedim**: sim-ready,
|
| 4 |
+
articulated 3D assets for robot learning (OpenUSD, NVIDIA Isaac Sim).
|
| 5 |
+
|
| 6 |
+
We have **100,000+ more assets like these**, and we can build sets of your own objects.
|
| 7 |
+
|
| 8 |
+
- Request them: https://www.projectsim.ai/access?dataset=other&utm_source=hf_dataset&utm_medium=asset_folder&utm_content=articulated-objects-sample
|
| 9 |
+
- Or email: team@projectsim.ai
|
| 10 |
+
- The full free sample: https://huggingface.co/datasets/projectsim/articulated-objects-sample
|
| 11 |
+
|
| 12 |
+
License: CC BY 4.0. Credit "projectsim by Kaedim".
|
assets/meat_slicer/meat_slicer.usd
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:37acb0545469b29ac644bc958294029ec2dbe7c136756f69e890d448608b762d
|
| 3 |
+
size 10552230
|
assets/meat_slicer/physics.json
ADDED
|
@@ -0,0 +1,775 @@
|
|
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|
|
| 1 |
+
{
|
| 2 |
+
"physics": {
|
| 3 |
+
"articulation": {
|
| 4 |
+
"schema_version": "articulation/2",
|
| 5 |
+
"root_link": "base",
|
| 6 |
+
"base_mode": "free",
|
| 7 |
+
"world_joint": null,
|
| 8 |
+
"behavior_sleep_threshold": null,
|
| 9 |
+
"handoff_base_mode": "free",
|
| 10 |
+
"base_mode_source": "handoff",
|
| 11 |
+
"collision_filter": {
|
| 12 |
+
"mode": "adjacent",
|
| 13 |
+
"explicit_excluded_link_pairs": [],
|
| 14 |
+
"handoff_excluded_link_pairs": [
|
| 15 |
+
[
|
| 16 |
+
"base",
|
| 17 |
+
"blade"
|
| 18 |
+
],
|
| 19 |
+
[
|
| 20 |
+
"base",
|
| 21 |
+
"carriage"
|
| 22 |
+
],
|
| 23 |
+
[
|
| 24 |
+
"base",
|
| 25 |
+
"flywheel"
|
| 26 |
+
],
|
| 27 |
+
[
|
| 28 |
+
"base",
|
| 29 |
+
"thickness_knob"
|
| 30 |
+
],
|
| 31 |
+
[
|
| 32 |
+
"carriage",
|
| 33 |
+
"pusher"
|
| 34 |
+
],
|
| 35 |
+
[
|
| 36 |
+
"clamp_arm",
|
| 37 |
+
"pusher"
|
| 38 |
+
],
|
| 39 |
+
[
|
| 40 |
+
"crank_grip",
|
| 41 |
+
"flywheel"
|
| 42 |
+
]
|
| 43 |
+
],
|
| 44 |
+
"excluded_link_pairs": [
|
| 45 |
+
[
|
| 46 |
+
"base",
|
| 47 |
+
"blade"
|
| 48 |
+
],
|
| 49 |
+
[
|
| 50 |
+
"base",
|
| 51 |
+
"carriage"
|
| 52 |
+
],
|
| 53 |
+
[
|
| 54 |
+
"base",
|
| 55 |
+
"flywheel"
|
| 56 |
+
],
|
| 57 |
+
[
|
| 58 |
+
"base",
|
| 59 |
+
"thickness_knob"
|
| 60 |
+
],
|
| 61 |
+
[
|
| 62 |
+
"carriage",
|
| 63 |
+
"pusher"
|
| 64 |
+
],
|
| 65 |
+
[
|
| 66 |
+
"clamp_arm",
|
| 67 |
+
"pusher"
|
| 68 |
+
],
|
| 69 |
+
[
|
| 70 |
+
"crank_grip",
|
| 71 |
+
"flywheel"
|
| 72 |
+
]
|
| 73 |
+
],
|
| 74 |
+
"representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
|
| 75 |
+
"external_contacts": "enabled",
|
| 76 |
+
"other_engine_validation": "not_run"
|
| 77 |
+
},
|
| 78 |
+
"collider_aggregation": "link",
|
| 79 |
+
"joint_count": 7,
|
| 80 |
+
"joint_types": {
|
| 81 |
+
"revolute": 5,
|
| 82 |
+
"prismatic": 2
|
| 83 |
+
},
|
| 84 |
+
"axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
|
| 85 |
+
"links": {
|
| 86 |
+
"base": {
|
| 87 |
+
"prim": "/meat_slicer/base",
|
| 88 |
+
"mass_kg": 351.83,
|
| 89 |
+
"mass_source": "VLM per-part estimate, 42 of 42 meshes",
|
| 90 |
+
"colliders": 1,
|
| 91 |
+
"collision": [
|
| 92 |
+
{
|
| 93 |
+
"prim": "/meat_slicer/base/Collisions/link_collision",
|
| 94 |
+
"approximation": "convexDecomposition",
|
| 95 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 96 |
+
"source_mesh_count": 42,
|
| 97 |
+
"source_meshes": [
|
| 98 |
+
"/meat_slicer/base/base__visual_006/Cylinder_118",
|
| 99 |
+
"/meat_slicer/base/base__visual_022/Cylinder_129",
|
| 100 |
+
"/meat_slicer/base/base__visual_040/Cylinder_142",
|
| 101 |
+
"/meat_slicer/base/base__visual_028/Cylinder_134",
|
| 102 |
+
"/meat_slicer/base/base__visual_010/Cylinder_121",
|
| 103 |
+
"/meat_slicer/base/base__visual_009/Cylinder_120",
|
| 104 |
+
"/meat_slicer/base/base__visual_005/Cylinder_117",
|
| 105 |
+
"/meat_slicer/base/base__visual_008/Rubber_foot_006",
|
| 106 |
+
"/meat_slicer/base/base__visual_030/Cube_031",
|
| 107 |
+
"/meat_slicer/base/base__visual_013/Cylinder_123",
|
| 108 |
+
"/meat_slicer/base/base__visual_017/Cylinder_126",
|
| 109 |
+
"/meat_slicer/base/base__visual_011/Cylinder_122",
|
| 110 |
+
"/meat_slicer/base/base__visual_032/Cylinder_136",
|
| 111 |
+
"/meat_slicer/base/base__visual_000/Rubber_foot_004",
|
| 112 |
+
"/meat_slicer/base/base__visual_021/Cylinder_128",
|
| 113 |
+
"/meat_slicer/base/base__visual_015/Cylinder_125",
|
| 114 |
+
"/meat_slicer/base/base__visual_029/Cylinder_135",
|
| 115 |
+
"/meat_slicer/base/base__visual_025/Cylinder_132",
|
| 116 |
+
"/meat_slicer/base/base__visual_001/Cylinder_114",
|
| 117 |
+
"/meat_slicer/base/base__visual_033/Cylinder_137",
|
| 118 |
+
"/meat_slicer/base/base__visual_031/Guard_retaining_tab_001",
|
| 119 |
+
"/meat_slicer/base/base__visual_004/Rubber_foot_005",
|
| 120 |
+
"/meat_slicer/base/base__visual_035/Cube_032",
|
| 121 |
+
"/meat_slicer/base/base__visual_026/Cylinder_133",
|
| 122 |
+
"/meat_slicer/base/base__visual_018/Protective_outer_blade_rim_001",
|
| 123 |
+
"/meat_slicer/base/base__visual_034/Cylinder_138",
|
| 124 |
+
"/meat_slicer/base/base__visual_014/Cylinder_124",
|
| 125 |
+
"/meat_slicer/base/base__visual_027/Cube_030",
|
| 126 |
+
"/meat_slicer/base/base__visual_036/Cylinder_139",
|
| 127 |
+
"/meat_slicer/base/base__visual_007/Cylinder_119",
|
| 128 |
+
"/meat_slicer/base/base__visual_019/Crescent_blade_face_shield_001",
|
| 129 |
+
"/meat_slicer/base/base__visual_041/Arched_cast_frame_002",
|
| 130 |
+
"/meat_slicer/base/base__visual_023/Cylinder_130",
|
| 131 |
+
"/meat_slicer/base/base__visual_012/Rubber_foot_007",
|
| 132 |
+
"/meat_slicer/base/base__visual_024/Cylinder_131",
|
| 133 |
+
"/meat_slicer/base/base__visual_038/Cylinder_140",
|
| 134 |
+
"/meat_slicer/base/base__visual_016/Tapered_blade_tower_001",
|
| 135 |
+
"/meat_slicer/base/base__visual_037/Cube_033",
|
| 136 |
+
"/meat_slicer/base/base__visual_002/Cylinder_115",
|
| 137 |
+
"/meat_slicer/base/base__visual_020/Cylinder_127",
|
| 138 |
+
"/meat_slicer/base/base__visual_039/Cylinder_141",
|
| 139 |
+
"/meat_slicer/base/base__visual_003/Cylinder_116"
|
| 140 |
+
],
|
| 141 |
+
"aggregation": "link",
|
| 142 |
+
"boolean_union": false,
|
| 143 |
+
"cooked_shape_count": null
|
| 144 |
+
}
|
| 145 |
+
]
|
| 146 |
+
},
|
| 147 |
+
"flywheel": {
|
| 148 |
+
"prim": "/meat_slicer/flywheel",
|
| 149 |
+
"mass_kg": 49.761,
|
| 150 |
+
"mass_source": "VLM per-part estimate, 5 of 5 meshes",
|
| 151 |
+
"colliders": 1,
|
| 152 |
+
"collision": [
|
| 153 |
+
{
|
| 154 |
+
"prim": "/meat_slicer/flywheel/Collisions/link_collision",
|
| 155 |
+
"approximation": "convexDecomposition",
|
| 156 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 157 |
+
"source_mesh_count": 5,
|
| 158 |
+
"source_meshes": [
|
| 159 |
+
"/meat_slicer/flywheel/flywheel__visual_002/Cylinder_144",
|
| 160 |
+
"/meat_slicer/flywheel/flywheel__visual_004/Flywheel_cast_rim_001",
|
| 161 |
+
"/meat_slicer/flywheel/flywheel__visual_000/Polished_outer_rim_band_001",
|
| 162 |
+
"/meat_slicer/flywheel/flywheel__visual_001/Cylinder_143",
|
| 163 |
+
"/meat_slicer/flywheel/flywheel__visual_003/Cylinder_145"
|
| 164 |
+
],
|
| 165 |
+
"aggregation": "link",
|
| 166 |
+
"boolean_union": false,
|
| 167 |
+
"cooked_shape_count": null
|
| 168 |
+
}
|
| 169 |
+
]
|
| 170 |
+
},
|
| 171 |
+
"crank_grip": {
|
| 172 |
+
"prim": "/meat_slicer/crank_grip",
|
| 173 |
+
"mass_kg": 1.824,
|
| 174 |
+
"mass_source": "VLM per-part estimate, 1 of 1 meshes",
|
| 175 |
+
"colliders": 1,
|
| 176 |
+
"collision": [
|
| 177 |
+
{
|
| 178 |
+
"prim": "/meat_slicer/crank_grip/Collisions/link_collision",
|
| 179 |
+
"approximation": "convexDecomposition",
|
| 180 |
+
"basis": "auto-convex: convex decomposition instead of sdf",
|
| 181 |
+
"source_mesh_count": 1,
|
| 182 |
+
"source_meshes": [
|
| 183 |
+
"/meat_slicer/crank_grip/crank_grip__visual_000/Grip_001"
|
| 184 |
+
],
|
| 185 |
+
"aggregation": "link",
|
| 186 |
+
"boolean_union": false,
|
| 187 |
+
"cooked_shape_count": null
|
| 188 |
+
}
|
| 189 |
+
]
|
| 190 |
+
},
|
| 191 |
+
"blade": {
|
| 192 |
+
"prim": "/meat_slicer/blade",
|
| 193 |
+
"mass_kg": 12.311,
|
| 194 |
+
"mass_source": "VLM per-part estimate, 3 of 3 meshes",
|
| 195 |
+
"colliders": 1,
|
| 196 |
+
"collision": [
|
| 197 |
+
{
|
| 198 |
+
"prim": "/meat_slicer/blade/Collisions/link_collision",
|
| 199 |
+
"approximation": "convexDecomposition",
|
| 200 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 201 |
+
"source_mesh_count": 3,
|
| 202 |
+
"source_meshes": [
|
| 203 |
+
"/meat_slicer/blade/blade__visual_000/Cylinder_146",
|
| 204 |
+
"/meat_slicer/blade/blade__visual_001/Cylinder_147",
|
| 205 |
+
"/meat_slicer/blade/blade__visual_002/Cylinder_148"
|
| 206 |
+
],
|
| 207 |
+
"aggregation": "link",
|
| 208 |
+
"boolean_union": false,
|
| 209 |
+
"cooked_shape_count": null
|
| 210 |
+
}
|
| 211 |
+
]
|
| 212 |
+
},
|
| 213 |
+
"carriage": {
|
| 214 |
+
"prim": "/meat_slicer/carriage",
|
| 215 |
+
"mass_kg": 34.365,
|
| 216 |
+
"mass_source": "VLM per-part estimate, 7 of 7 meshes",
|
| 217 |
+
"colliders": 1,
|
| 218 |
+
"collision": [
|
| 219 |
+
{
|
| 220 |
+
"prim": "/meat_slicer/carriage/Collisions/link_collision",
|
| 221 |
+
"approximation": "convexDecomposition",
|
| 222 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 223 |
+
"source_mesh_count": 7,
|
| 224 |
+
"source_meshes": [
|
| 225 |
+
"/meat_slicer/carriage/carriage__visual_000/Cube_034",
|
| 226 |
+
"/meat_slicer/carriage/carriage__visual_005/Cube_038",
|
| 227 |
+
"/meat_slicer/carriage/carriage__visual_002/Cube_036",
|
| 228 |
+
"/meat_slicer/carriage/carriage__visual_001/Cube_035",
|
| 229 |
+
"/meat_slicer/carriage/carriage__visual_004/Cylinder_149",
|
| 230 |
+
"/meat_slicer/carriage/carriage__visual_006/Cylinder_150",
|
| 231 |
+
"/meat_slicer/carriage/carriage__visual_003/Cube_037"
|
| 232 |
+
],
|
| 233 |
+
"aggregation": "link",
|
| 234 |
+
"boolean_union": false,
|
| 235 |
+
"cooked_shape_count": null
|
| 236 |
+
}
|
| 237 |
+
]
|
| 238 |
+
},
|
| 239 |
+
"pusher": {
|
| 240 |
+
"prim": "/meat_slicer/pusher",
|
| 241 |
+
"mass_kg": 15.124,
|
| 242 |
+
"mass_source": "VLM per-part estimate, 58 of 58 meshes",
|
| 243 |
+
"colliders": 1,
|
| 244 |
+
"collision": [
|
| 245 |
+
{
|
| 246 |
+
"prim": "/meat_slicer/pusher/Collisions/link_collision",
|
| 247 |
+
"approximation": "convexDecomposition",
|
| 248 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 249 |
+
"source_mesh_count": 58,
|
| 250 |
+
"source_meshes": [
|
| 251 |
+
"/meat_slicer/pusher/pusher__visual_004/Cube_043",
|
| 252 |
+
"/meat_slicer/pusher/pusher__visual_006/Cube_045",
|
| 253 |
+
"/meat_slicer/pusher/pusher__visual_045/Cylinder_177",
|
| 254 |
+
"/meat_slicer/pusher/pusher__visual_014/Cube_053",
|
| 255 |
+
"/meat_slicer/pusher/pusher__visual_035/Cylinder_167",
|
| 256 |
+
"/meat_slicer/pusher/pusher__visual_044/Cylinder_176",
|
| 257 |
+
"/meat_slicer/pusher/pusher__visual_028/Cylinder_160",
|
| 258 |
+
"/meat_slicer/pusher/pusher__visual_053/Cylinder_185",
|
| 259 |
+
"/meat_slicer/pusher/pusher__visual_047/Cylinder_179",
|
| 260 |
+
"/meat_slicer/pusher/pusher__visual_043/Cylinder_175",
|
| 261 |
+
"/meat_slicer/pusher/pusher__visual_005/Cube_044",
|
| 262 |
+
"/meat_slicer/pusher/pusher__visual_003/Cube_042",
|
| 263 |
+
"/meat_slicer/pusher/pusher__visual_042/Cylinder_174",
|
| 264 |
+
"/meat_slicer/pusher/pusher__visual_015/Cube_054",
|
| 265 |
+
"/meat_slicer/pusher/pusher__visual_041/Cylinder_173",
|
| 266 |
+
"/meat_slicer/pusher/pusher__visual_056/Cylinder_188",
|
| 267 |
+
"/meat_slicer/pusher/pusher__visual_010/Cube_049",
|
| 268 |
+
"/meat_slicer/pusher/pusher__visual_019/Cylinder_151",
|
| 269 |
+
"/meat_slicer/pusher/pusher__visual_001/Cube_040",
|
| 270 |
+
"/meat_slicer/pusher/pusher__visual_040/Cylinder_172",
|
| 271 |
+
"/meat_slicer/pusher/pusher__visual_027/Cylinder_159",
|
| 272 |
+
"/meat_slicer/pusher/pusher__visual_017/Cube_056",
|
| 273 |
+
"/meat_slicer/pusher/pusher__visual_021/Cylinder_153",
|
| 274 |
+
"/meat_slicer/pusher/pusher__visual_039/Cylinder_171",
|
| 275 |
+
"/meat_slicer/pusher/pusher__visual_052/Cylinder_184",
|
| 276 |
+
"/meat_slicer/pusher/pusher__visual_026/Cylinder_158",
|
| 277 |
+
"/meat_slicer/pusher/pusher__visual_016/Cube_055",
|
| 278 |
+
"/meat_slicer/pusher/pusher__visual_000/Cube_039",
|
| 279 |
+
"/meat_slicer/pusher/pusher__visual_038/Cylinder_170",
|
| 280 |
+
"/meat_slicer/pusher/pusher__visual_046/Cylinder_178",
|
| 281 |
+
"/meat_slicer/pusher/pusher__visual_025/Cylinder_157",
|
| 282 |
+
"/meat_slicer/pusher/pusher__visual_011/Cube_050",
|
| 283 |
+
"/meat_slicer/pusher/pusher__visual_037/Cylinder_169",
|
| 284 |
+
"/meat_slicer/pusher/pusher__visual_036/Cylinder_168",
|
| 285 |
+
"/meat_slicer/pusher/pusher__visual_048/Cylinder_180",
|
| 286 |
+
"/meat_slicer/pusher/pusher__visual_022/Cylinder_154",
|
| 287 |
+
"/meat_slicer/pusher/pusher__visual_055/Cylinder_187",
|
| 288 |
+
"/meat_slicer/pusher/pusher__visual_051/Cylinder_183",
|
| 289 |
+
"/meat_slicer/pusher/pusher__visual_002/Cube_041",
|
| 290 |
+
"/meat_slicer/pusher/pusher__visual_050/Cylinder_182",
|
| 291 |
+
"/meat_slicer/pusher/pusher__visual_034/Cylinder_166",
|
| 292 |
+
"/meat_slicer/pusher/pusher__visual_012/Cube_051",
|
| 293 |
+
"/meat_slicer/pusher/pusher__visual_049/Cylinder_181",
|
| 294 |
+
"/meat_slicer/pusher/pusher__visual_008/Cube_047",
|
| 295 |
+
"/meat_slicer/pusher/pusher__visual_033/Cylinder_165",
|
| 296 |
+
"/meat_slicer/pusher/pusher__visual_023/Cylinder_155",
|
| 297 |
+
"/meat_slicer/pusher/pusher__visual_020/Cylinder_152",
|
| 298 |
+
"/meat_slicer/pusher/pusher__visual_032/Cylinder_164",
|
| 299 |
+
"/meat_slicer/pusher/pusher__visual_018/Hinge_pedestal_001",
|
| 300 |
+
"/meat_slicer/pusher/pusher__visual_009/Cube_048",
|
| 301 |
+
"/meat_slicer/pusher/pusher__visual_031/Cylinder_163",
|
| 302 |
+
"/meat_slicer/pusher/pusher__visual_054/Cylinder_186",
|
| 303 |
+
"/meat_slicer/pusher/pusher__visual_013/Cube_052",
|
| 304 |
+
"/meat_slicer/pusher/pusher__visual_057/Cylinder_189",
|
| 305 |
+
"/meat_slicer/pusher/pusher__visual_030/Cylinder_162",
|
| 306 |
+
"/meat_slicer/pusher/pusher__visual_024/Cylinder_156",
|
| 307 |
+
"/meat_slicer/pusher/pusher__visual_029/Cylinder_161",
|
| 308 |
+
"/meat_slicer/pusher/pusher__visual_007/Cube_046"
|
| 309 |
+
],
|
| 310 |
+
"aggregation": "link",
|
| 311 |
+
"boolean_union": false,
|
| 312 |
+
"cooked_shape_count": null
|
| 313 |
+
}
|
| 314 |
+
]
|
| 315 |
+
},
|
| 316 |
+
"clamp_arm": {
|
| 317 |
+
"prim": "/meat_slicer/clamp_arm",
|
| 318 |
+
"mass_kg": 4.141,
|
| 319 |
+
"mass_source": "VLM per-part estimate, 7 of 7 meshes",
|
| 320 |
+
"colliders": 1,
|
| 321 |
+
"collision": [
|
| 322 |
+
{
|
| 323 |
+
"prim": "/meat_slicer/clamp_arm/Collisions/link_collision",
|
| 324 |
+
"approximation": "convexDecomposition",
|
| 325 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 326 |
+
"source_mesh_count": 7,
|
| 327 |
+
"source_meshes": [
|
| 328 |
+
"/meat_slicer/clamp_arm/clamp_arm__visual_002/Clamp_descending_bracket_001",
|
| 329 |
+
"/meat_slicer/clamp_arm/clamp_arm__visual_001/Cube_058",
|
| 330 |
+
"/meat_slicer/clamp_arm/clamp_arm__visual_006/Cylinder_192",
|
| 331 |
+
"/meat_slicer/clamp_arm/clamp_arm__visual_003/Cylinder_190",
|
| 332 |
+
"/meat_slicer/clamp_arm/clamp_arm__visual_005/Fluted_grip_001",
|
| 333 |
+
"/meat_slicer/clamp_arm/clamp_arm__visual_000/Cube_057",
|
| 334 |
+
"/meat_slicer/clamp_arm/clamp_arm__visual_004/Cylinder_191"
|
| 335 |
+
],
|
| 336 |
+
"aggregation": "link",
|
| 337 |
+
"boolean_union": false,
|
| 338 |
+
"cooked_shape_count": null
|
| 339 |
+
}
|
| 340 |
+
]
|
| 341 |
+
},
|
| 342 |
+
"thickness_knob": {
|
| 343 |
+
"prim": "/meat_slicer/thickness_knob",
|
| 344 |
+
"mass_kg": 0.378,
|
| 345 |
+
"mass_source": "VLM per-part estimate, 34 of 34 meshes",
|
| 346 |
+
"colliders": 1,
|
| 347 |
+
"collision": [
|
| 348 |
+
{
|
| 349 |
+
"prim": "/meat_slicer/thickness_knob/Collisions/link_collision",
|
| 350 |
+
"approximation": "convexDecomposition",
|
| 351 |
+
"basis": "combined rigid link; bounded concave cook",
|
| 352 |
+
"source_mesh_count": 34,
|
| 353 |
+
"source_meshes": [
|
| 354 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_012/Cylinder_205",
|
| 355 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_007/Cylinder_200",
|
| 356 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_022/Cylinder_215",
|
| 357 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_010/Cylinder_203",
|
| 358 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_002/Cylinder_195",
|
| 359 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_009/Cylinder_202",
|
| 360 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_013/Cylinder_206",
|
| 361 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_023/Cylinder_216",
|
| 362 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_008/Cylinder_201",
|
| 363 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_024/Cylinder_217",
|
| 364 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_032/Cylinder_225",
|
| 365 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_003/Cylinder_196",
|
| 366 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_006/Cylinder_199",
|
| 367 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_020/Cylinder_213",
|
| 368 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_014/Cylinder_207",
|
| 369 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_005/Cylinder_198",
|
| 370 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_019/Cylinder_212",
|
| 371 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_025/Cylinder_218",
|
| 372 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_018/Cylinder_211",
|
| 373 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_004/Cylinder_197",
|
| 374 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_031/Cylinder_224",
|
| 375 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_026/Cylinder_219",
|
| 376 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_015/Cylinder_208",
|
| 377 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_021/Cylinder_214",
|
| 378 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_000/Cylinder_193",
|
| 379 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_016/Cylinder_209",
|
| 380 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_033/Cylinder_226",
|
| 381 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_030/Cylinder_223",
|
| 382 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_011/Cylinder_204",
|
| 383 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_029/Cylinder_222",
|
| 384 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_001/Cylinder_194",
|
| 385 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_028/Cylinder_221",
|
| 386 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_017/Cylinder_210",
|
| 387 |
+
"/meat_slicer/thickness_knob/thickness_knob__visual_027/Cylinder_220"
|
| 388 |
+
],
|
| 389 |
+
"aggregation": "link",
|
| 390 |
+
"boolean_union": false,
|
| 391 |
+
"cooked_shape_count": null
|
| 392 |
+
}
|
| 393 |
+
]
|
| 394 |
+
}
|
| 395 |
+
},
|
| 396 |
+
"joints": {
|
| 397 |
+
"flywheel_spin": {
|
| 398 |
+
"path": "/meat_slicer/Joints/flywheel_spin",
|
| 399 |
+
"type": "revolute",
|
| 400 |
+
"parent": "base",
|
| 401 |
+
"child": "flywheel",
|
| 402 |
+
"axis_contract": [
|
| 403 |
+
1.0,
|
| 404 |
+
0.0,
|
| 405 |
+
0.0
|
| 406 |
+
],
|
| 407 |
+
"axis_token": "X",
|
| 408 |
+
"frame_alignment_wxyz": [
|
| 409 |
+
1.0,
|
| 410 |
+
0.0,
|
| 411 |
+
0.0,
|
| 412 |
+
0.0
|
| 413 |
+
],
|
| 414 |
+
"limits": {
|
| 415 |
+
"lower": -180.0,
|
| 416 |
+
"upper": 180.0,
|
| 417 |
+
"unit": "deg",
|
| 418 |
+
"continuous": true,
|
| 419 |
+
"authored": false
|
| 420 |
+
},
|
| 421 |
+
"drive": {
|
| 422 |
+
"type": "force",
|
| 423 |
+
"stiffness": 0.0,
|
| 424 |
+
"damping": 0.0017453292519943296,
|
| 425 |
+
"damping_unit": "N*m*s/deg",
|
| 426 |
+
"damping_si": 0.1,
|
| 427 |
+
"damping_si_unit": "N*m*s/rad",
|
| 428 |
+
"note": "passive joint: damping only; no actuation authored"
|
| 429 |
+
},
|
| 430 |
+
"behavior": {
|
| 431 |
+
"intent": {
|
| 432 |
+
"confidence": "high",
|
| 433 |
+
"mode": "none",
|
| 434 |
+
"reason": "Hand cranked wheel coasts and slows by bearing friction after release."
|
| 435 |
+
},
|
| 436 |
+
"status": "passive",
|
| 437 |
+
"simulator_status": "not_run"
|
| 438 |
+
}
|
| 439 |
+
},
|
| 440 |
+
"crank_grip_spin": {
|
| 441 |
+
"path": "/meat_slicer/Joints/crank_grip_spin",
|
| 442 |
+
"type": "revolute",
|
| 443 |
+
"parent": "flywheel",
|
| 444 |
+
"child": "crank_grip",
|
| 445 |
+
"axis_contract": [
|
| 446 |
+
1.0,
|
| 447 |
+
0.0,
|
| 448 |
+
0.0
|
| 449 |
+
],
|
| 450 |
+
"axis_token": "X",
|
| 451 |
+
"frame_alignment_wxyz": [
|
| 452 |
+
1.0,
|
| 453 |
+
0.0,
|
| 454 |
+
0.0,
|
| 455 |
+
0.0
|
| 456 |
+
],
|
| 457 |
+
"limits": {
|
| 458 |
+
"lower": -180.0,
|
| 459 |
+
"upper": 180.0,
|
| 460 |
+
"unit": "deg",
|
| 461 |
+
"continuous": true,
|
| 462 |
+
"authored": false
|
| 463 |
+
},
|
| 464 |
+
"drive": {
|
| 465 |
+
"type": "force",
|
| 466 |
+
"stiffness": 0.0,
|
| 467 |
+
"damping": 0.0017453292519943296,
|
| 468 |
+
"damping_unit": "N*m*s/deg",
|
| 469 |
+
"damping_si": 0.1,
|
| 470 |
+
"damping_si_unit": "N*m*s/rad",
|
| 471 |
+
"note": "passive joint: damping only; no actuation authored"
|
| 472 |
+
},
|
| 473 |
+
"behavior": {
|
| 474 |
+
"intent": {
|
| 475 |
+
"confidence": "medium",
|
| 476 |
+
"mode": "none",
|
| 477 |
+
"reason": "Sleeve rotates freely on crank pin during manipulation and remains loose after release."
|
| 478 |
+
},
|
| 479 |
+
"status": "passive",
|
| 480 |
+
"simulator_status": "not_run"
|
| 481 |
+
}
|
| 482 |
+
},
|
| 483 |
+
"blade_spin": {
|
| 484 |
+
"path": "/meat_slicer/Joints/blade_spin",
|
| 485 |
+
"type": "revolute",
|
| 486 |
+
"parent": "base",
|
| 487 |
+
"child": "blade",
|
| 488 |
+
"axis_contract": [
|
| 489 |
+
0.0,
|
| 490 |
+
1.0,
|
| 491 |
+
0.0
|
| 492 |
+
],
|
| 493 |
+
"axis_token": "X",
|
| 494 |
+
"frame_alignment_wxyz": [
|
| 495 |
+
0.707106781,
|
| 496 |
+
0.0,
|
| 497 |
+
-0.0,
|
| 498 |
+
0.707106781
|
| 499 |
+
],
|
| 500 |
+
"limits": {
|
| 501 |
+
"lower": -180.0,
|
| 502 |
+
"upper": 180.0,
|
| 503 |
+
"unit": "deg",
|
| 504 |
+
"continuous": true,
|
| 505 |
+
"authored": false
|
| 506 |
+
},
|
| 507 |
+
"drive": {
|
| 508 |
+
"type": "force",
|
| 509 |
+
"stiffness": 0.0,
|
| 510 |
+
"damping": 0.0017453292519943296,
|
| 511 |
+
"damping_unit": "N*m*s/deg",
|
| 512 |
+
"damping_si": 0.1,
|
| 513 |
+
"damping_si_unit": "N*m*s/rad",
|
| 514 |
+
"note": "passive joint: damping only; no actuation authored"
|
| 515 |
+
},
|
| 516 |
+
"behavior": {
|
| 517 |
+
"intent": {
|
| 518 |
+
"confidence": "medium",
|
| 519 |
+
"mode": "none",
|
| 520 |
+
"reason": "Driven blade coasts after release; concealed drive coupling is not represented."
|
| 521 |
+
},
|
| 522 |
+
"status": "passive",
|
| 523 |
+
"simulator_status": "not_run"
|
| 524 |
+
}
|
| 525 |
+
},
|
| 526 |
+
"carriage_slide": {
|
| 527 |
+
"path": "/meat_slicer/Joints/carriage_slide",
|
| 528 |
+
"type": "prismatic",
|
| 529 |
+
"parent": "base",
|
| 530 |
+
"child": "carriage",
|
| 531 |
+
"axis_contract": [
|
| 532 |
+
1.0,
|
| 533 |
+
0.0,
|
| 534 |
+
0.0
|
| 535 |
+
],
|
| 536 |
+
"axis_token": "X",
|
| 537 |
+
"frame_alignment_wxyz": [
|
| 538 |
+
1.0,
|
| 539 |
+
0.0,
|
| 540 |
+
0.0,
|
| 541 |
+
0.0
|
| 542 |
+
],
|
| 543 |
+
"limits": {
|
| 544 |
+
"lower": -0.1,
|
| 545 |
+
"upper": 0.0,
|
| 546 |
+
"unit": "m"
|
| 547 |
+
},
|
| 548 |
+
"drive": {
|
| 549 |
+
"type": "force",
|
| 550 |
+
"stiffness": 0.0,
|
| 551 |
+
"damping": 10.0,
|
| 552 |
+
"damping_unit": "N*s/m",
|
| 553 |
+
"damping_si": 10.0,
|
| 554 |
+
"damping_si_unit": "N*s/m",
|
| 555 |
+
"note": "passive joint: damping only; no actuation authored"
|
| 556 |
+
},
|
| 557 |
+
"behavior": {
|
| 558 |
+
"intent": {
|
| 559 |
+
"confidence": "medium",
|
| 560 |
+
"mode": "none",
|
| 561 |
+
"reason": "Carriage slides along level guide and rests with ordinary friction; hidden cam is omitted."
|
| 562 |
+
},
|
| 563 |
+
"status": "passive",
|
| 564 |
+
"simulator_status": "not_run"
|
| 565 |
+
}
|
| 566 |
+
},
|
| 567 |
+
"pusher_feed": {
|
| 568 |
+
"path": "/meat_slicer/Joints/pusher_feed",
|
| 569 |
+
"type": "prismatic",
|
| 570 |
+
"parent": "carriage",
|
| 571 |
+
"child": "pusher",
|
| 572 |
+
"axis_contract": [
|
| 573 |
+
0.0,
|
| 574 |
+
1.0,
|
| 575 |
+
0.0
|
| 576 |
+
],
|
| 577 |
+
"axis_token": "X",
|
| 578 |
+
"frame_alignment_wxyz": [
|
| 579 |
+
0.707106781,
|
| 580 |
+
0.0,
|
| 581 |
+
-0.0,
|
| 582 |
+
0.707106781
|
| 583 |
+
],
|
| 584 |
+
"limits": {
|
| 585 |
+
"lower": 0.0,
|
| 586 |
+
"upper": 0.04,
|
| 587 |
+
"unit": "m"
|
| 588 |
+
},
|
| 589 |
+
"drive": {
|
| 590 |
+
"type": "force",
|
| 591 |
+
"stiffness": 0.0,
|
| 592 |
+
"damping": 0.0,
|
| 593 |
+
"damping_si": 0.0,
|
| 594 |
+
"stiffness_si": 0.0,
|
| 595 |
+
"max_force": 0.0,
|
| 596 |
+
"target_position": 0.0,
|
| 597 |
+
"target_velocity": 0.0,
|
| 598 |
+
"damping_unit": "N*s/m",
|
| 599 |
+
"damping_si_unit": "N*s/m"
|
| 600 |
+
},
|
| 601 |
+
"behavior": {
|
| 602 |
+
"recipe_version": "joint-behavior/1",
|
| 603 |
+
"intent": {
|
| 604 |
+
"confidence": "medium",
|
| 605 |
+
"mode": "hold_position",
|
| 606 |
+
"reason": "Feed is pushed toward blade and stays at its setting through an inferred screw or ratchet."
|
| 607 |
+
},
|
| 608 |
+
"status": "resolved",
|
| 609 |
+
"simulator_status": "not_run",
|
| 610 |
+
"effective_mass_or_inertia_si": 19.265,
|
| 611 |
+
"gravity_bound_si": 188.98965,
|
| 612 |
+
"gravity_at_rest_si": -0.0,
|
| 613 |
+
"effort_unit": "N",
|
| 614 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 615 |
+
"warnings": [
|
| 616 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
|
| 617 |
+
],
|
| 618 |
+
"stiffness_si": 0.0,
|
| 619 |
+
"damping_si": 0.0,
|
| 620 |
+
"target_position_si": 0.0,
|
| 621 |
+
"max_effort_si": 0.0,
|
| 622 |
+
"static_friction_si": 283.48447500000003,
|
| 623 |
+
"dynamic_friction_si": 236.2370625,
|
| 624 |
+
"required_capability": "PhysxJointAxisAPI",
|
| 625 |
+
"supported_links": {
|
| 626 |
+
"pusher": {
|
| 627 |
+
"mass_kg": 15.124,
|
| 628 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 629 |
+
},
|
| 630 |
+
"clamp_arm": {
|
| 631 |
+
"mass_kg": 4.141,
|
| 632 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 633 |
+
}
|
| 634 |
+
}
|
| 635 |
+
}
|
| 636 |
+
},
|
| 637 |
+
"clamp_arm_hinge": {
|
| 638 |
+
"path": "/meat_slicer/Joints/clamp_arm_hinge",
|
| 639 |
+
"type": "revolute",
|
| 640 |
+
"parent": "pusher",
|
| 641 |
+
"child": "clamp_arm",
|
| 642 |
+
"axis_contract": [
|
| 643 |
+
-1.0,
|
| 644 |
+
0.0,
|
| 645 |
+
0.0
|
| 646 |
+
],
|
| 647 |
+
"axis_token": "X",
|
| 648 |
+
"frame_alignment_wxyz": [
|
| 649 |
+
0.0,
|
| 650 |
+
0.0,
|
| 651 |
+
0.0,
|
| 652 |
+
1.0
|
| 653 |
+
],
|
| 654 |
+
"limits": {
|
| 655 |
+
"lower": 0.0,
|
| 656 |
+
"upper": 68.754935,
|
| 657 |
+
"unit": "deg"
|
| 658 |
+
},
|
| 659 |
+
"drive": {
|
| 660 |
+
"type": "force",
|
| 661 |
+
"stiffness": 0.0,
|
| 662 |
+
"damping": 0.0017453292519943296,
|
| 663 |
+
"damping_unit": "N*m*s/deg",
|
| 664 |
+
"damping_si": 0.1,
|
| 665 |
+
"damping_si_unit": "N*m*s/rad",
|
| 666 |
+
"note": "passive joint: damping only; no actuation authored"
|
| 667 |
+
},
|
| 668 |
+
"behavior": {
|
| 669 |
+
"intent": {
|
| 670 |
+
"confidence": "low",
|
| 671 |
+
"mode": "none",
|
| 672 |
+
"reason": "Handle lifts clamp; gravity lowers it after release. No spring is observed."
|
| 673 |
+
},
|
| 674 |
+
"status": "passive",
|
| 675 |
+
"simulator_status": "not_run"
|
| 676 |
+
}
|
| 677 |
+
},
|
| 678 |
+
"thickness_knob_turn": {
|
| 679 |
+
"path": "/meat_slicer/Joints/thickness_knob_turn",
|
| 680 |
+
"type": "revolute",
|
| 681 |
+
"parent": "base",
|
| 682 |
+
"child": "thickness_knob",
|
| 683 |
+
"axis_contract": [
|
| 684 |
+
0.0,
|
| 685 |
+
0.0,
|
| 686 |
+
1.0
|
| 687 |
+
],
|
| 688 |
+
"axis_token": "X",
|
| 689 |
+
"frame_alignment_wxyz": [
|
| 690 |
+
0.707106781,
|
| 691 |
+
0.0,
|
| 692 |
+
-0.707106781,
|
| 693 |
+
0.0
|
| 694 |
+
],
|
| 695 |
+
"limits": {
|
| 696 |
+
"lower": -171.887339,
|
| 697 |
+
"upper": 171.887339,
|
| 698 |
+
"unit": "deg"
|
| 699 |
+
},
|
| 700 |
+
"drive": {
|
| 701 |
+
"type": "force",
|
| 702 |
+
"stiffness": 0.0,
|
| 703 |
+
"damping": 0.0,
|
| 704 |
+
"damping_si": 0.0,
|
| 705 |
+
"stiffness_si": 0.0,
|
| 706 |
+
"max_force": 0.0,
|
| 707 |
+
"target_position": 0.0,
|
| 708 |
+
"target_velocity": 0.0,
|
| 709 |
+
"damping_unit": "N*m*s/deg",
|
| 710 |
+
"damping_si_unit": "N*m*s/rad"
|
| 711 |
+
},
|
| 712 |
+
"behavior": {
|
| 713 |
+
"recipe_version": "joint-behavior/1",
|
| 714 |
+
"intent": {
|
| 715 |
+
"confidence": "low",
|
| 716 |
+
"mode": "hold_position",
|
| 717 |
+
"reason": "Threaded knob turns by hand and friction retains setting; exact adjustment purpose is uncertain."
|
| 718 |
+
},
|
| 719 |
+
"status": "resolved",
|
| 720 |
+
"simulator_status": "not_run",
|
| 721 |
+
"effective_mass_or_inertia_si": 0.0004205519864306788,
|
| 722 |
+
"gravity_bound_si": 0.1040114878425617,
|
| 723 |
+
"gravity_at_rest_si": 0.0,
|
| 724 |
+
"effort_unit": "N*m",
|
| 725 |
+
"assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
|
| 726 |
+
"warnings": [
|
| 727 |
+
"Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
|
| 728 |
+
],
|
| 729 |
+
"stiffness_si": 0.0,
|
| 730 |
+
"damping_si": 0.0,
|
| 731 |
+
"target_position_si": 0.0,
|
| 732 |
+
"max_effort_si": 0.0,
|
| 733 |
+
"static_friction_si": 0.15601723176384255,
|
| 734 |
+
"dynamic_friction_si": 0.13001435980320214,
|
| 735 |
+
"required_capability": "PhysxJointAxisAPI",
|
| 736 |
+
"supported_links": {
|
| 737 |
+
"thickness_knob": {
|
| 738 |
+
"mass_kg": 0.378,
|
| 739 |
+
"mass_properties": "mesh integrals scaled to resolved mass"
|
| 740 |
+
}
|
| 741 |
+
}
|
| 742 |
+
}
|
| 743 |
+
}
|
| 744 |
+
},
|
| 745 |
+
"preview_controls": [],
|
| 746 |
+
"reference_pose": {
|
| 747 |
+
"blade_spin": 0.0,
|
| 748 |
+
"carriage_slide": 0.0,
|
| 749 |
+
"clamp_arm_hinge": 0.0,
|
| 750 |
+
"crank_grip_spin": 0.0,
|
| 751 |
+
"flywheel_spin": 0.0,
|
| 752 |
+
"pusher_feed": 0.0,
|
| 753 |
+
"thickness_knob_turn": 0.0
|
| 754 |
+
},
|
| 755 |
+
"provenance": {
|
| 756 |
+
"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.",
|
| 757 |
+
"base_mode_source": "author_explicit",
|
| 758 |
+
"contract_revision": "2.0",
|
| 759 |
+
"producer": "articulated-asset-generation",
|
| 760 |
+
"producer_version": "0.1.0"
|
| 761 |
+
}
|
| 762 |
+
},
|
| 763 |
+
"mass_kg": 469.734,
|
| 764 |
+
"colliders": 8,
|
| 765 |
+
"status": "articulated_body",
|
| 766 |
+
"material_class": "metal_steel",
|
| 767 |
+
"engine": "physx",
|
| 768 |
+
"multipart_physx": false,
|
| 769 |
+
"static_friction": 0.6,
|
| 770 |
+
"dynamic_friction": 0.45,
|
| 771 |
+
"restitution": 0.25,
|
| 772 |
+
"friction_model": "legacy",
|
| 773 |
+
"friction_convention": "pair_value_on_steel_dry"
|
| 774 |
+
}
|
| 775 |
+
}
|
assets/meat_slicer/preview.png
ADDED
|
Git LFS Details
|
assets/meat_slicer/textures/base_color.png
ADDED
|
Git LFS Details
|
assets/meat_slicer/textures/metallic.png
ADDED
|
Git LFS Details
|
assets/meat_slicer/textures/normal.png
ADDED
|
Git LFS Details
|