{
  "physics": {
    "articulation": {
      "schema_version": "articulation/2",
      "root_link": "base",
      "base_mode": "free",
      "world_joint": null,
      "behavior_sleep_threshold": null,
      "handoff_base_mode": "free",
      "base_mode_source": "handoff",
      "collision_filter": {
        "mode": "adjacent",
        "explicit_excluded_link_pairs": [],
        "handoff_excluded_link_pairs": [
          [
            "base",
            "swivel"
          ],
          [
            "lower_arm",
            "swivel"
          ],
          [
            "lower_arm",
            "upper_arm"
          ],
          [
            "shade",
            "shade_yoke"
          ],
          [
            "shade_yoke",
            "upper_arm"
          ]
        ],
        "excluded_link_pairs": [
          [
            "base",
            "swivel"
          ],
          [
            "lower_arm",
            "swivel"
          ],
          [
            "lower_arm",
            "upper_arm"
          ],
          [
            "shade",
            "shade_yoke"
          ],
          [
            "shade_yoke",
            "upper_arm"
          ]
        ],
        "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
        "external_contacts": "enabled",
        "other_engine_validation": "not_run"
      },
      "collider_aggregation": "link",
      "joint_count": 5,
      "joint_types": {
        "revolute": 5
      },
      "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
      "links": {
        "base": {
          "prim": "/desk_lamp/base",
          "mass_kg": 1.1004,
          "mass_source": "VLM per-part estimate, 3 of 3 meshes",
          "colliders": 1,
          "collision": [
            {
              "prim": "/desk_lamp/base/Collisions/link_collision",
              "approximation": "convexDecomposition",
              "basis": "combined rigid link; bounded concave cook",
              "source_mesh_count": 3,
              "source_meshes": [
                "/desk_lamp/base/base__visual_000/Weighted_circular_foot_001",
                "/desk_lamp/base/base__visual_002/Cylinder_043",
                "/desk_lamp/base/base__visual_001/Cylinder_042"
              ],
              "aggregation": "link",
              "boolean_union": false,
              "cooked_shape_count": null
            }
          ]
        },
        "swivel": {
          "prim": "/desk_lamp/swivel",
          "mass_kg": 0.0501,
          "mass_source": "VLM per-part estimate, 4 of 4 meshes",
          "colliders": 1,
          "collision": [
            {
              "prim": "/desk_lamp/swivel/Collisions/link_collision",
              "approximation": "convexDecomposition",
              "basis": "combined rigid link; bounded concave cook",
              "source_mesh_count": 4,
              "source_meshes": [
                "/desk_lamp/swivel/swivel__visual_000/Cylinder_044",
                "/desk_lamp/swivel/swivel__visual_003/Cylinder_045",
                "/desk_lamp/swivel/swivel__visual_001/Cube_020",
                "/desk_lamp/swivel/swivel__visual_002/Cube_021"
              ],
              "aggregation": "link",
              "boolean_union": false,
              "cooked_shape_count": null
            }
          ]
        },
        "lower_arm": {
          "prim": "/desk_lamp/lower_arm",
          "mass_kg": 0.176,
          "mass_source": "VLM per-part estimate, 24 of 24 meshes",
          "colliders": 1,
          "collision": [
            {
              "prim": "/desk_lamp/lower_arm/Collisions/link_collision",
              "approximation": "convexDecomposition",
              "basis": "combined rigid link; bounded concave cook",
              "source_mesh_count": 24,
              "source_meshes": [
                "/desk_lamp/lower_arm/lower_arm__visual_004/Coiled_counterbalance_spring_004",
                "/desk_lamp/lower_arm/lower_arm__visual_008/Cylinder_049",
                "/desk_lamp/lower_arm/lower_arm__visual_016/Cylinder_056",
                "/desk_lamp/lower_arm/lower_arm__visual_001/Cube_023",
                "/desk_lamp/lower_arm/lower_arm__visual_021/Cylinder_060",
                "/desk_lamp/lower_arm/lower_arm__visual_018/Cylinder_058",
                "/desk_lamp/lower_arm/lower_arm__visual_012/Coiled_counterbalance_spring_005",
                "/desk_lamp/lower_arm/lower_arm__visual_015/Cylinder_055",
                "/desk_lamp/lower_arm/lower_arm__visual_019/Cylinder_059",
                "/desk_lamp/lower_arm/lower_arm__visual_010/Cylinder_051",
                "/desk_lamp/lower_arm/lower_arm__visual_013/Cylinder_053",
                "/desk_lamp/lower_arm/lower_arm__visual_022/Cylinder_061",
                "/desk_lamp/lower_arm/lower_arm__visual_014/Cylinder_054",
                "/desk_lamp/lower_arm/lower_arm__visual_005/Cylinder_046",
                "/desk_lamp/lower_arm/lower_arm__visual_000/Cube_022",
                "/desk_lamp/lower_arm/lower_arm__visual_023/Cylinder_062",
                "/desk_lamp/lower_arm/lower_arm__visual_009/Cylinder_050",
                "/desk_lamp/lower_arm/lower_arm__visual_006/Cylinder_047",
                "/desk_lamp/lower_arm/lower_arm__visual_002/Cube_024",
                "/desk_lamp/lower_arm/lower_arm__visual_007/Cylinder_048",
                "/desk_lamp/lower_arm/lower_arm__visual_020/Elbow_slack_power_lead_001",
                "/desk_lamp/lower_arm/lower_arm__visual_011/Cylinder_052",
                "/desk_lamp/lower_arm/lower_arm__visual_003/Cube_025",
                "/desk_lamp/lower_arm/lower_arm__visual_017/Cylinder_057"
              ],
              "aggregation": "link",
              "boolean_union": false,
              "cooked_shape_count": null
            }
          ]
        },
        "upper_arm": {
          "prim": "/desk_lamp/upper_arm",
          "mass_kg": 0.137,
          "mass_source": "VLM per-part estimate, 20 of 20 meshes",
          "colliders": 1,
          "collision": [
            {
              "prim": "/desk_lamp/upper_arm/Collisions/link_collision",
              "approximation": "convexDecomposition",
              "basis": "combined rigid link; bounded concave cook",
              "source_mesh_count": 20,
              "source_meshes": [
                "/desk_lamp/upper_arm/upper_arm__visual_016/Cylinder_073",
                "/desk_lamp/upper_arm/upper_arm__visual_007/Cylinder_065",
                "/desk_lamp/upper_arm/upper_arm__visual_002/Cube_028",
                "/desk_lamp/upper_arm/upper_arm__visual_011/Cylinder_069",
                "/desk_lamp/upper_arm/upper_arm__visual_003/Cube_029",
                "/desk_lamp/upper_arm/upper_arm__visual_019/Cylinder_076",
                "/desk_lamp/upper_arm/upper_arm__visual_015/Cylinder_072",
                "/desk_lamp/upper_arm/upper_arm__visual_012/Coiled_counterbalance_spring_007",
                "/desk_lamp/upper_arm/upper_arm__visual_000/Cube_026",
                "/desk_lamp/upper_arm/upper_arm__visual_018/Cylinder_075",
                "/desk_lamp/upper_arm/upper_arm__visual_004/Coiled_counterbalance_spring_006",
                "/desk_lamp/upper_arm/upper_arm__visual_010/Cylinder_068",
                "/desk_lamp/upper_arm/upper_arm__visual_008/Cylinder_066",
                "/desk_lamp/upper_arm/upper_arm__visual_013/Cylinder_070",
                "/desk_lamp/upper_arm/upper_arm__visual_009/Cylinder_067",
                "/desk_lamp/upper_arm/upper_arm__visual_006/Cylinder_064",
                "/desk_lamp/upper_arm/upper_arm__visual_014/Cylinder_071",
                "/desk_lamp/upper_arm/upper_arm__visual_005/Cylinder_063",
                "/desk_lamp/upper_arm/upper_arm__visual_017/Cylinder_074",
                "/desk_lamp/upper_arm/upper_arm__visual_001/Cube_027"
              ],
              "aggregation": "link",
              "boolean_union": false,
              "cooked_shape_count": null
            }
          ]
        },
        "shade_yoke": {
          "prim": "/desk_lamp/shade_yoke",
          "mass_kg": 0.043,
          "mass_source": "VLM per-part estimate, 4 of 4 meshes",
          "colliders": 1,
          "collision": [
            {
              "prim": "/desk_lamp/shade_yoke/Collisions/link_collision",
              "approximation": "convexDecomposition",
              "basis": "combined rigid link; bounded concave cook",
              "source_mesh_count": 4,
              "source_meshes": [
                "/desk_lamp/shade_yoke/shade_yoke__visual_000/Cylinder_077",
                "/desk_lamp/shade_yoke/shade_yoke__visual_003/Cylinder_079",
                "/desk_lamp/shade_yoke/shade_yoke__visual_002/Stamped_hanger_001",
                "/desk_lamp/shade_yoke/shade_yoke__visual_001/Cylinder_078"
              ],
              "aggregation": "link",
              "boolean_union": false,
              "cooked_shape_count": null
            }
          ]
        },
        "shade": {
          "prim": "/desk_lamp/shade",
          "mass_kg": 0.1791,
          "mass_source": "VLM per-part estimate, 7 of 7 meshes",
          "colliders": 1,
          "collision": [
            {
              "prim": "/desk_lamp/shade/Collisions/link_collision",
              "approximation": "convexDecomposition",
              "basis": "combined rigid link; bounded concave cook",
              "source_mesh_count": 7,
              "source_meshes": [
                "/desk_lamp/shade/shade__visual_002/Cylinder_080",
                "/desk_lamp/shade/shade__visual_005/Sphere_001",
                "/desk_lamp/shade/shade__visual_006/Curved_head_power_lead_003",
                "/desk_lamp/shade/shade__visual_000/Flared_hollow_reflector_001",
                "/desk_lamp/shade/shade__visual_004/Cylinder_082",
                "/desk_lamp/shade/shade__visual_003/Cylinder_081",
                "/desk_lamp/shade/shade__visual_001/Socket_housing_001"
              ],
              "aggregation": "link",
              "boolean_union": false,
              "cooked_shape_count": null
            }
          ]
        }
      },
      "joints": {
        "base_swivel": {
          "path": "/desk_lamp/Joints/base_swivel",
          "type": "revolute",
          "parent": "base",
          "child": "swivel",
          "axis_contract": [
            0.0,
            0.0,
            1.0
          ],
          "axis_token": "X",
          "frame_alignment_wxyz": [
            0.707106781,
            0.0,
            -0.707106781,
            0.0
          ],
          "limits": {
            "lower": -148.969027,
            "upper": 148.969027,
            "unit": "deg"
          },
          "drive": {
            "type": "force",
            "stiffness": 0.0,
            "damping": 0.0,
            "damping_si": 0.0,
            "stiffness_si": 0.0,
            "max_force": 0.0,
            "target_position": 0.0,
            "target_velocity": 0.0,
            "damping_unit": "N*m*s/deg",
            "damping_si_unit": "N*m*s/rad"
          },
          "behavior": {
            "recipe_version": "joint-behavior/1",
            "intent": {
              "confidence": "medium",
              "mode": "hold_position",
              "reason": "Hand turns the turret; inferred friction retains its direction after release."
            },
            "status": "resolved",
            "simulator_status": "not_run",
            "effective_mass_or_inertia_si": 0.25032790113370895,
            "gravity_bound_si": 3.218161704889255,
            "gravity_at_rest_si": 0.0,
            "effort_unit": "N*m",
            "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
            "warnings": [
              "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
            ],
            "stiffness_si": 0.0,
            "damping_si": 0.0,
            "target_position_si": 0.0,
            "max_effort_si": 0.0,
            "static_friction_si": 4.827242557333882,
            "dynamic_friction_si": 4.0227021311115685,
            "required_capability": "PhysxJointAxisAPI",
            "supported_links": {
              "swivel": {
                "mass_kg": 0.0501,
                "mass_properties": "mesh integrals scaled to resolved mass"
              },
              "lower_arm": {
                "mass_kg": 0.176,
                "mass_properties": "mesh integrals scaled to resolved mass"
              },
              "upper_arm": {
                "mass_kg": 0.137,
                "mass_properties": "mesh integrals scaled to resolved mass"
              },
              "shade_yoke": {
                "mass_kg": 0.043,
                "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
              },
              "shade": {
                "mass_kg": 0.1791,
                "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
              }
            }
          }
        },
        "shoulder": {
          "path": "/desk_lamp/Joints/shoulder",
          "type": "revolute",
          "parent": "swivel",
          "child": "lower_arm",
          "axis_contract": [
            0.0,
            1.0,
            0.0
          ],
          "axis_token": "X",
          "frame_alignment_wxyz": [
            0.707106781,
            0.0,
            -0.0,
            0.707106781
          ],
          "limits": {
            "lower": -34.377468,
            "upper": 25.783101,
            "unit": "deg"
          },
          "drive": {
            "type": "force",
            "stiffness": 0.0,
            "damping": 0.0,
            "damping_si": 0.0,
            "stiffness_si": 0.0,
            "max_force": 0.0,
            "target_position": 0.0,
            "target_velocity": 0.0,
            "damping_unit": "N*m*s/deg",
            "damping_si_unit": "N*m*s/rad"
          },
          "behavior": {
            "recipe_version": "joint-behavior/1",
            "intent": {
              "confidence": "high",
              "mode": "hold_position",
              "reason": "Hand positioning yields against visible spring counterbalance and pivot friction; stays where released."
            },
            "status": "resolved",
            "simulator_status": "not_run",
            "effective_mass_or_inertia_si": 0.231148552993673,
            "gravity_bound_si": 3.050297219436395,
            "gravity_at_rest_si": -0.4149131051246455,
            "effort_unit": "N*m",
            "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
            "warnings": [
              "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
            ],
            "stiffness_si": 0.0,
            "damping_si": 0.0,
            "target_position_si": 0.0,
            "max_effort_si": 0.0,
            "static_friction_si": 4.575445829154592,
            "dynamic_friction_si": 3.8128715242954936,
            "required_capability": "PhysxJointAxisAPI",
            "supported_links": {
              "lower_arm": {
                "mass_kg": 0.176,
                "mass_properties": "mesh integrals scaled to resolved mass"
              },
              "upper_arm": {
                "mass_kg": 0.137,
                "mass_properties": "mesh integrals scaled to resolved mass"
              },
              "shade_yoke": {
                "mass_kg": 0.043,
                "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
              },
              "shade": {
                "mass_kg": 0.1791,
                "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
              }
            }
          }
        },
        "elbow": {
          "path": "/desk_lamp/Joints/elbow",
          "type": "revolute",
          "parent": "lower_arm",
          "child": "upper_arm",
          "axis_contract": [
            0.0,
            1.0,
            0.0
          ],
          "axis_token": "X",
          "frame_alignment_wxyz": [
            0.707106781,
            0.0,
            -0.0,
            0.707106781
          ],
          "limits": {
            "lower": -51.566202,
            "upper": 51.566202,
            "unit": "deg"
          },
          "drive": {
            "type": "force",
            "stiffness": 0.0,
            "damping": 0.0,
            "damping_si": 0.0,
            "stiffness_si": 0.0,
            "max_force": 0.0,
            "target_position": 0.0,
            "target_velocity": 0.0,
            "damping_unit": "N*m*s/deg",
            "damping_si_unit": "N*m*s/rad"
          },
          "behavior": {
            "recipe_version": "joint-behavior/1",
            "intent": {
              "confidence": "high",
              "mode": "hold_position",
              "reason": "Hand changes reach; visible springs and friction are approximated by holding the released position."
            },
            "status": "resolved",
            "simulator_status": "not_run",
            "effective_mass_or_inertia_si": 0.056462339283912526,
            "gravity_bound_si": 1.258135308061397,
            "gravity_at_rest_si": -1.053595162470959,
            "effort_unit": "N*m",
            "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
            "warnings": [
              "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
            ],
            "stiffness_si": 0.0,
            "damping_si": 0.0,
            "target_position_si": 0.0,
            "max_effort_si": 0.0,
            "static_friction_si": 1.8872029620920956,
            "dynamic_friction_si": 1.5726691350767463,
            "required_capability": "PhysxJointAxisAPI",
            "supported_links": {
              "upper_arm": {
                "mass_kg": 0.137,
                "mass_properties": "mesh integrals scaled to resolved mass"
              },
              "shade_yoke": {
                "mass_kg": 0.043,
                "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
              },
              "shade": {
                "mass_kg": 0.1791,
                "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
              }
            }
          }
        },
        "shade_tilt": {
          "path": "/desk_lamp/Joints/shade_tilt",
          "type": "revolute",
          "parent": "upper_arm",
          "child": "shade_yoke",
          "axis_contract": [
            0.0,
            1.0,
            0.0
          ],
          "axis_token": "X",
          "frame_alignment_wxyz": [
            0.707106781,
            0.0,
            -0.0,
            0.707106781
          ],
          "limits": {
            "lower": -45.836624,
            "upper": 45.836624,
            "unit": "deg"
          },
          "drive": {
            "type": "force",
            "stiffness": 0.0,
            "damping": 0.0,
            "damping_si": 0.0,
            "stiffness_si": 0.0,
            "max_force": 0.0,
            "target_position": 0.0,
            "target_velocity": 0.0,
            "damping_unit": "N*m*s/deg",
            "damping_si_unit": "N*m*s/rad"
          },
          "behavior": {
            "recipe_version": "joint-behavior/1",
            "intent": {
              "confidence": "high",
              "mode": "hold_position",
              "reason": "Hand aims the shade; friction pivot holds its angle after release."
            },
            "status": "resolved",
            "simulator_status": "not_run",
            "effective_mass_or_inertia_si": 0.004229555819075782,
            "gravity_bound_si": 0.23826998573031227,
            "gravity_at_rest_si": -0.16098669737476856,
            "effort_unit": "N*m",
            "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
            "warnings": [
              "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
            ],
            "stiffness_si": 0.0,
            "damping_si": 0.0,
            "target_position_si": 0.0,
            "max_effort_si": 0.0,
            "static_friction_si": 0.35740497859546844,
            "dynamic_friction_si": 0.29783748216289035,
            "required_capability": "PhysxJointAxisAPI",
            "supported_links": {
              "shade_yoke": {
                "mass_kg": 0.043,
                "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
              },
              "shade": {
                "mass_kg": 0.1791,
                "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
              }
            }
          }
        },
        "shade_swivel": {
          "path": "/desk_lamp/Joints/shade_swivel",
          "type": "revolute",
          "parent": "shade_yoke",
          "child": "shade",
          "axis_contract": [
            1.0,
            0.0,
            0.0
          ],
          "axis_token": "X",
          "frame_alignment_wxyz": [
            1.0,
            0.0,
            0.0,
            0.0
          ],
          "limits": {
            "lower": -57.29578,
            "upper": 68.754935,
            "unit": "deg"
          },
          "drive": {
            "type": "force",
            "stiffness": 0.0,
            "damping": 0.0,
            "damping_si": 0.0,
            "stiffness_si": 0.0,
            "max_force": 0.0,
            "target_position": 0.0,
            "target_velocity": 0.0,
            "damping_unit": "N*m*s/deg",
            "damping_si_unit": "N*m*s/rad"
          },
          "behavior": {
            "recipe_version": "joint-behavior/1",
            "intent": {
              "confidence": "low",
              "mode": "hold_position",
              "reason": "Hand swivels the head; an inferred friction fitting holds the released aim. The second axis is uncertain in the single view."
            },
            "status": "resolved",
            "simulator_status": "not_run",
            "effective_mass_or_inertia_si": 0.0020186803950416527,
            "gravity_bound_si": 0.11922159569674627,
            "gravity_at_rest_si": 0.0,
            "effort_unit": "N*m",
            "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
            "warnings": [
              "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed."
            ],
            "stiffness_si": 0.0,
            "damping_si": 0.0,
            "target_position_si": 0.0,
            "max_effort_si": 0.0,
            "static_friction_si": 0.1788323935451194,
            "dynamic_friction_si": 0.14902699462093283,
            "required_capability": "PhysxJointAxisAPI",
            "supported_links": {
              "shade": {
                "mass_kg": 0.1791,
                "mass_properties": "bounding-box mass-property estimate (unreliable mesh integrals)"
              }
            }
          }
        }
      },
      "preview_controls": [],
      "reference_pose": {
        "base_swivel": 0.0,
        "elbow": 0.0,
        "shade_swivel": 0.0,
        "shade_tilt": 0.0,
        "shoulder": 0.0
      },
      "provenance": {
        "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.",
        "base_mode_source": "author_explicit",
        "contract_revision": "2.0",
        "producer": "articulated-asset-generation",
        "producer_version": "0.1.0"
      }
    },
    "mass_kg": 1.6856,
    "colliders": 6,
    "status": "articulated_body",
    "material_class": "metal_steel",
    "engine": "physx",
    "multipart_physx": false,
    "static_friction": 0.6,
    "dynamic_friction": 0.45,
    "restitution": 0.25,
    "friction_model": "legacy",
    "friction_convention": "pair_value_on_steel_dry"
  }
}