{
  "physics": {
    "articulation": {
      "schema_version": "articulation/2",
      "root_link": "faucet_body",
      "base_mode": "fixed",
      "world_joint": "/faucet_kitchen/Joints/world_to_faucet_body",
      "behavior_sleep_threshold": 9.999999974752427e-07,
      "handoff_base_mode": "fixed",
      "base_mode_source": "handoff",
      "collision_filter": {
        "mode": "adjacent",
        "explicit_excluded_link_pairs": [],
        "handoff_excluded_link_pairs": [
          [
            "faucet_body",
            "lever_hub"
          ],
          [
            "faucet_body",
            "spout"
          ],
          [
            "lever",
            "lever_hub"
          ],
          [
            "spout",
            "spray_head"
          ]
        ],
        "excluded_link_pairs": [
          [
            "faucet_body",
            "lever_hub"
          ],
          [
            "faucet_body",
            "spout"
          ],
          [
            "lever",
            "lever_hub"
          ],
          [
            "spout",
            "spray_head"
          ]
        ],
        "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
        "external_contacts": "enabled",
        "other_engine_validation": "not_run"
      },
      "collider_aggregation": "link",
      "joint_count": 4,
      "joint_types": {
        "revolute": 3,
        "prismatic": 1
      },
      "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
      "links": {
        "faucet_body": {
          "prim": "/faucet_kitchen/faucet_body",
          "mass_kg": 0.8622,
          "mass_source": "VLM per-part estimate, 2 of 2 meshes",
          "colliders": 1,
          "collision": [
            {
              "prim": "/faucet_kitchen/faucet_body/Collisions/link_collision",
              "approximation": "convexDecomposition",
              "basis": "combined rigid link; bounded concave cook",
              "source_mesh_count": 2,
              "source_meshes": [
                "/faucet_kitchen/faucet_body/faucet_body__visual_000/Cylinder_016",
                "/faucet_kitchen/faucet_body/faucet_body__visual_001/Cylinder_017"
              ],
              "aggregation": "link",
              "boolean_union": false,
              "cooked_shape_count": null
            }
          ]
        },
        "spout": {
          "prim": "/faucet_kitchen/spout",
          "mass_kg": 0.3598,
          "mass_source": "VLM per-part estimate, 1 of 1 meshes",
          "colliders": 1,
          "collision": [
            {
              "prim": "/faucet_kitchen/spout/Collisions/link_collision",
              "approximation": "convexDecomposition",
              "basis": "auto-convex: convex decomposition instead of sdf",
              "source_mesh_count": 1,
              "source_meshes": [
                "/faucet_kitchen/spout/spout__visual_000/Continuous_bent_tubular_spout_001"
              ],
              "aggregation": "link",
              "boolean_union": false,
              "cooked_shape_count": null
            }
          ]
        },
        "spray_head": {
          "prim": "/faucet_kitchen/spray_head",
          "mass_kg": 0.2061,
          "mass_source": "VLM per-part estimate, 3 of 3 meshes",
          "colliders": 1,
          "collision": [
            {
              "prim": "/faucet_kitchen/spray_head/Collisions/link_collision",
              "approximation": "convexDecomposition",
              "basis": "combined rigid link; bounded concave cook",
              "source_mesh_count": 3,
              "source_meshes": [
                "/faucet_kitchen/spray_head/spray_head__visual_000/Cylinder_018",
                "/faucet_kitchen/spray_head/spray_head__visual_001/Cylinder_019",
                "/faucet_kitchen/spray_head/spray_head__visual_002/Cylinder_020"
              ],
              "aggregation": "link",
              "boolean_union": false,
              "cooked_shape_count": null
            }
          ]
        },
        "lever_hub": {
          "prim": "/faucet_kitchen/lever_hub",
          "mass_kg": 0.105,
          "mass_source": "VLM per-part estimate, 1 of 1 meshes",
          "colliders": 1,
          "collision": [
            {
              "prim": "/faucet_kitchen/lever_hub/Collisions/link_collision",
              "approximation": "convexDecomposition",
              "basis": "auto-convex: convex decomposition instead of sdf",
              "source_mesh_count": 1,
              "source_meshes": [
                "/faucet_kitchen/lever_hub/lever_hub__visual_000/Cylinder_021"
              ],
              "aggregation": "link",
              "boolean_union": false,
              "cooked_shape_count": null
            }
          ]
        },
        "lever": {
          "prim": "/faucet_kitchen/lever",
          "mass_kg": 0.0412,
          "mass_source": "VLM per-part estimate, 1 of 1 meshes",
          "colliders": 1,
          "collision": [
            {
              "prim": "/faucet_kitchen/lever/Collisions/link_collision",
              "approximation": "convexDecomposition",
              "basis": "auto-convex: convex decomposition instead of sdf",
              "source_mesh_count": 1,
              "source_meshes": [
                "/faucet_kitchen/lever/lever__visual_000/Cylinder_022"
              ],
              "aggregation": "link",
              "boolean_union": false,
              "cooked_shape_count": null
            }
          ]
        }
      },
      "joints": {
        "spout_swivel": {
          "path": "/faucet_kitchen/Joints/spout_swivel",
          "type": "revolute",
          "parent": "faucet_body",
          "child": "spout",
          "axis_contract": [
            0.0,
            0.0,
            1.0
          ],
          "axis_token": "X",
          "frame_alignment_wxyz": [
            0.707106781,
            0.0,
            -0.707106781,
            0.0
          ],
          "limits": {
            "lower": -120.321137,
            "upper": 120.321137,
            "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": "The spout is swung by hand and stays where released through inferred O-ring swivel friction."
            },
            "status": "resolved",
            "simulator_status": "not_run",
            "effective_mass_or_inertia_si": 0.10572721256261707,
            "gravity_bound_si": 1.909757397100467,
            "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": 2.8646360956507007,
            "dynamic_friction_si": 2.387196746375584,
            "required_capability": "PhysxJointAxisAPI",
            "supported_links": {
              "spout": {
                "mass_kg": 0.3598,
                "mass_properties": "mesh integrals scaled to resolved mass"
              },
              "spray_head": {
                "mass_kg": 0.2061,
                "mass_properties": "mesh integrals scaled to resolved mass"
              }
            }
          }
        },
        "spray_pullout": {
          "path": "/faucet_kitchen/Joints/spray_pullout",
          "type": "prismatic",
          "parent": "spout",
          "child": "spray_head",
          "axis_contract": [
            -1.0,
            0.0,
            0.0
          ],
          "axis_token": "X",
          "frame_alignment_wxyz": [
            0.0,
            0.0,
            0.0,
            1.0
          ],
          "limits": {
            "lower": 0.0,
            "upper": 0.35,
            "unit": "m"
          },
          "drive": {
            "type": "force",
            "stiffness": 0.7810182571411133,
            "damping": 0.8024160265922546,
            "damping_si": 0.8024159999999999,
            "stiffness_si": 0.7810182399999999,
            "max_force": 1.0,
            "target_position": -0.3200949430465698,
            "target_velocity": 0.0,
            "damping_unit": "N*s/m",
            "damping_si_unit": "N*s/m"
          },
          "behavior": {
            "recipe_version": "joint-behavior/1",
            "intent": {
              "confidence": "medium",
              "mode": "gentle_close",
              "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.",
              "rest_position": 0.0
            },
            "status": "resolved",
            "simulator_status": "not_run",
            "effective_mass_or_inertia_si": 0.2061,
            "gravity_bound_si": 2.021841,
            "gravity_at_rest_si": -0.0,
            "effort_unit": "N",
            "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance",
            "warnings": [
              "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed.",
              "Gentle effort cap cannot guarantee return or gravity support for this load."
            ],
            "stiffness_si": 0.7810182399999999,
            "damping_si": 0.8024159999999999,
            "target_position_si": -0.32009495706527935,
            "max_effort_si": 1.0,
            "static_friction_si": 0.0,
            "dynamic_friction_si": 0.0,
            "nominal_settling_seconds": 3.0,
            "rest_position_si": 0.0,
            "supported_links": {
              "spray_head": {
                "mass_kg": 0.2061,
                "mass_properties": "mesh integrals scaled to resolved mass"
              }
            }
          }
        },
        "lever_temperature": {
          "path": "/faucet_kitchen/Joints/lever_temperature",
          "type": "revolute",
          "parent": "faucet_body",
          "child": "lever_hub",
          "axis_contract": [
            1.0,
            0.0,
            0.0
          ],
          "axis_token": "X",
          "frame_alignment_wxyz": [
            1.0,
            0.0,
            0.0,
            0.0
          ],
          "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": "medium",
              "mode": "hold_position",
              "reason": "Rotate the cap and pin to adjust temperature; inferred cartridge friction maintains the setting after release."
            },
            "status": "resolved",
            "simulator_status": "not_run",
            "effective_mass_or_inertia_si": 0.0002675130190969413,
            "gravity_bound_si": 0.039558028243412466,
            "gravity_at_rest_si": 4.897381855112149e-10,
            "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": 0.0593370423651187,
            "dynamic_friction_si": 0.049447535304265586,
            "required_capability": "PhysxJointAxisAPI",
            "supported_links": {
              "lever_hub": {
                "mass_kg": 0.105,
                "mass_properties": "mesh integrals scaled to resolved mass"
              },
              "lever": {
                "mass_kg": 0.0412,
                "mass_properties": "mesh integrals scaled to resolved mass"
              }
            }
          }
        },
        "lever_flow": {
          "path": "/faucet_kitchen/Joints/lever_flow",
          "type": "revolute",
          "parent": "lever_hub",
          "child": "lever",
          "axis_contract": [
            0.0,
            1.0,
            0.0
          ],
          "axis_token": "X",
          "frame_alignment_wxyz": [
            0.707106781,
            0.0,
            -0.0,
            0.707106781
          ],
          "limits": {
            "lower": 0.0,
            "upper": 28.64789,
            "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": "Tilt the pin outward to set flow; inferred ceramic cartridge friction holds the selected position after release. Exact concealed tilt geometry is uncertain."
            },
            "status": "resolved",
            "simulator_status": "not_run",
            "effective_mass_or_inertia_si": 9.201687693079187e-05,
            "gravity_bound_si": 0.016470009519288755,
            "gravity_at_rest_si": 4.120351969416625e-11,
            "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": 0.024705014278933134,
            "dynamic_friction_si": 0.020587511899110945,
            "required_capability": "PhysxJointAxisAPI",
            "supported_links": {
              "lever": {
                "mass_kg": 0.0412,
                "mass_properties": "mesh integrals scaled to resolved mass"
              }
            }
          }
        }
      },
      "preview_controls": [],
      "reference_pose": {
        "lever_flow": 0.0,
        "lever_temperature": 0.0,
        "spout_swivel": 0.0,
        "spray_pullout": 0.0
      },
      "provenance": {
        "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.",
        "base_mode_source": "author_explicit",
        "contract_revision": "2.0",
        "producer": "articulated-asset-generation",
        "producer_version": "0.1.0"
      }
    },
    "mass_kg": 1.5743,
    "colliders": 5,
    "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"
  }
}