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"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_142/Lift_chain_leaf_plate_235", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_164/Cylinder_255", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_078/Lift_chain_leaf_plate_196", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_208/Lift_chain_leaf_plate_279", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_033/Lift_chain_leaf_plate_166", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_086/Cylinder_229", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_241/Cube_181", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_124/Lift_chain_leaf_plate_223", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_049/Lift_chain_leaf_plate_177", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_069/Lift_chain_leaf_plate_190", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_224/Cylinder_275", 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"/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_054/Lift_chain_leaf_plate_180", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_094/Lift_chain_leaf_plate_207", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_232/Lift_chain_leaf_plate_295", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_132/Lift_chain_leaf_plate_228", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_077/Cylinder_226", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_117/Cube_176", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_115/Lift_chain_leaf_plate_221", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_060/Lift_chain_leaf_plate_184", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_180/Lift_chain_leaf_plate_260", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_011/Cylinder_204", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_098/Cylinder_233", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_169/Lift_chain_leaf_plate_253", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_023/Cylinder_208", "/sm_forklift_yellowblackindustrial_k7q2/mast/mast__visual_221/Cylinder_274" ], "aggregation": "link", "boolean_union": false, "cooked_shape_count": null } ] }, "carriage": { "prim": "/sm_forklift_yellowblackindustrial_k7q2/carriage", "mass_kg": 120.0, "mass_source": "set by hand to a realistic value (was 943.6 kg)", "colliders": 1, "collision": [ { "prim": "/sm_forklift_yellowblackindustrial_k7q2/carriage/Collisions/link_collision", "approximation": "convexDecomposition", "basis": "combined rigid link; bounded concave cook", "source_mesh_count": 31, "source_meshes": [ "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_000/Cube_182", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_003/Cylinder_286", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_030/Cylinder_297", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_024/Cube_195", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_020/Cube_193", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_009/Cylinder_289", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_015/Cube_188", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_014/Cube_187", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_001/Cube_183", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_002/Cylinder_285", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_013/Cube_186", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_029/Cylinder_296", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_025/Cylinder_292", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_008/Carriage_hydraulic_return_hose_001", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_007/Cube_185", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_005/Cylinder_288", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_010/Cylinder_290", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_017/Cube_190", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_016/Cube_189", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_012/Bent_backrest_frame_001", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_021/Forged_tapered_fork_with_radiused_heel_002", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_027/Cylinder_294", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_018/Cube_191", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_004/Cylinder_287", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_026/Cylinder_293", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_019/Cube_192", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_011/Cylinder_291", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_006/Cube_184", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_022/Cube_194", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_023/Forged_tapered_fork_with_radiused_heel_003", "/sm_forklift_yellowblackindustrial_k7q2/carriage/carriage__visual_028/Cylinder_295" ], "aggregation": "link", "boolean_union": false, "cooked_shape_count": null } ] }, "wheel_fl": { "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl", "mass_kg": 45.0, "mass_source": "set by hand to a realistic value (was 1668.3 kg)", "colliders": 1, "collision": [ { "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/Collisions/link_collision", "approximation": "convexDecomposition", "basis": "combined rigid link; bounded concave cook", "source_mesh_count": 14, "source_meshes": [ "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_060/Cylinder_298", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_059/Torus_011", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_068/Cylinder_306", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_056/Tread_shoe_279", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_061/Cylinder_299", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_064/Cylinder_302", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_069/Cylinder_307", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_058/Torus_010", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_057/Spun_rim_dish_004", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_066/Cylinder_304", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_063/Cylinder_301", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_065/Cylinder_303", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_062/Cylinder_300", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fl/wheel_fl__visual_067/Cylinder_305" ], "aggregation": "link", "boolean_union": false, "cooked_shape_count": null } ] }, "wheel_fr": { "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr", "mass_kg": 45.0, "mass_source": "set by hand to a realistic value (was 1668.3 kg)", "colliders": 1, "collision": [ { "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/Collisions/link_collision", "approximation": "convexDecomposition", "basis": "combined rigid link; bounded concave cook", "source_mesh_count": 14, "source_meshes": [ "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_057/Spun_rim_dish_005", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_068/Cylinder_316", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_064/Cylinder_312", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_058/Torus_012", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_069/Cylinder_317", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_065/Cylinder_313", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_060/Cylinder_308", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_061/Cylinder_309", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_056/Tread_shoe_335", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_059/Torus_013", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_066/Cylinder_314", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_062/Cylinder_310", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_067/Cylinder_315", "/sm_forklift_yellowblackindustrial_k7q2/wheel_fr/wheel_fr__visual_063/Cylinder_311" ], "aggregation": "link", "boolean_union": false, "cooked_shape_count": null } ] }, "wheel_rl": { "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl", "mass_kg": 30.0, "mass_source": "set by hand to a realistic value (was 852.3 kg)", "colliders": 1, "collision": [ { "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/Collisions/link_collision", "approximation": "convexDecomposition", "basis": "combined rigid link; bounded concave cook", "source_mesh_count": 14, "source_meshes": [ "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_060/Cylinder_318", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_062/Cylinder_320", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_066/Cylinder_324", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_067/Cylinder_325", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_061/Cylinder_319", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_063/Cylinder_321", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_059/Torus_015", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_068/Cylinder_326", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_058/Torus_014", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_064/Cylinder_322", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_069/Cylinder_327", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_056/Tread_shoe_391", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_065/Cylinder_323", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rl/wheel_rl__visual_057/Spun_rim_dish_006" ], "aggregation": "link", "boolean_union": false, "cooked_shape_count": null } ] }, "wheel_rr": { "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr", "mass_kg": 30.0, "mass_source": "set by hand to a realistic value (was 852.3 kg)", "colliders": 1, "collision": [ { "prim": "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/Collisions/link_collision", "approximation": "convexDecomposition", "basis": "combined rigid link; bounded concave cook", "source_mesh_count": 14, "source_meshes": [ "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_061/Cylinder_329", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_069/Cylinder_337", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_065/Cylinder_333", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_062/Cylinder_330", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_057/Spun_rim_dish_007", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_066/Cylinder_334", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_056/Tread_shoe_447", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_058/Torus_016", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_067/Cylinder_335", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_063/Cylinder_331", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_060/Cylinder_328", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_059/Torus_017", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_068/Cylinder_336", "/sm_forklift_yellowblackindustrial_k7q2/wheel_rr/wheel_rr__visual_064/Cylinder_332" ], "aggregation": "link", "boolean_union": false, "cooked_shape_count": null } ] } }, "joints": { "wheel_fl_roll": { "path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/wheel_fl_roll", "type": "revolute", "parent": "body", "child": "wheel_fl", "axis_contract": [ 1.0, 0.0, 0.0 ], "axis_token": "X", "frame_alignment_wxyz": [ 1.0, 0.0, 0.0, 0.0 ], "limits": { "lower": -180.0, "upper": 180.0, "unit": "deg" }, "drive": { "type": "force", "stiffness": 0.0, "damping": 0.0017453292519943296, "damping_unit": "N*m*s/deg", "damping_si": 0.1, "damping_si_unit": "N*m*s/rad", "note": "passive joint: damping only; no actuation authored" }, "behavior": { "intent": { "confidence": "high", "mode": "none", "reason": "Wheel bearings permit passive rolling after release." }, "status": "passive", "simulator_status": "not_run" } }, "wheel_fr_roll": { "path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/wheel_fr_roll", "type": "revolute", "parent": "body", "child": "wheel_fr", "axis_contract": [ 1.0, 0.0, 0.0 ], "axis_token": "X", "frame_alignment_wxyz": [ 1.0, 0.0, 0.0, 0.0 ], "limits": { "lower": -180.0, "upper": 180.0, "unit": "deg" }, "drive": { "type": "force", "stiffness": 0.0, "damping": 0.0017453292519943296, "damping_unit": "N*m*s/deg", "damping_si": 0.1, "damping_si_unit": "N*m*s/rad", "note": "passive joint: damping only; no actuation authored" }, "behavior": { "intent": { "confidence": "high", "mode": "none", "reason": "Wheel bearings permit passive rolling after release." }, "status": "passive", "simulator_status": "not_run" } }, "wheel_rl_roll": { "path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/wheel_rl_roll", "type": "revolute", "parent": "body", "child": "wheel_rl", "axis_contract": [ 1.0, 0.0, 0.0 ], "axis_token": "X", "frame_alignment_wxyz": [ 1.0, 0.0, 0.0, 0.0 ], "limits": { "lower": -180.0, "upper": 180.0, "unit": "deg" }, "drive": { "type": "force", "stiffness": 0.0, "damping": 0.0017453292519943296, "damping_unit": "N*m*s/deg", "damping_si": 0.1, "damping_si_unit": "N*m*s/rad", "note": "passive joint: damping only; no actuation authored" }, "behavior": { "intent": { "confidence": "high", "mode": "none", "reason": "Wheel bearings permit passive rolling after release." }, "status": "passive", "simulator_status": "not_run" } }, "wheel_rr_roll": { "path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/wheel_rr_roll", "type": "revolute", "parent": "body", "child": "wheel_rr", "axis_contract": [ 1.0, 0.0, 0.0 ], "axis_token": "X", "frame_alignment_wxyz": [ 1.0, 0.0, 0.0, 0.0 ], "limits": { "lower": -180.0, "upper": 180.0, "unit": "deg" }, "drive": { "type": "force", "stiffness": 0.0, "damping": 0.0017453292519943296, "damping_unit": "N*m*s/deg", "damping_si": 0.1, "damping_si_unit": "N*m*s/rad", "note": "passive joint: damping only; no actuation authored" }, "behavior": { "intent": { "confidence": "high", "mode": "none", "reason": "Wheel bearings permit passive rolling after release." }, "status": "passive", "simulator_status": "not_run" } }, "mast_tilt": { "path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/mast_tilt", "type": "revolute", "parent": "body", "child": "mast", "axis_contract": [ 1.0, 0.0, 0.0 ], "axis_token": "X", "frame_alignment_wxyz": [ 1.0, 0.0, 0.0, 0.0 ], "limits": { "lower": -3.437747, "upper": 5.729578, "unit": "deg" }, "drive": { "type": "force", "stiffness": 0.0, "damping": 0.0, "damping_si": 0.0, "stiffness_si": 0.0, "max_force": 0.0, "target_position": 0.0, "target_velocity": 0.0, "damping_unit": "N*m*s/deg", "damping_si_unit": "N*m*s/rad" }, "behavior": { "recipe_version": "joint-behavior/1", "intent": { "confidence": "high", "mode": "hold_position", "reason": "Hydraulic tilt circuit holds the mast angle when released." }, "status": "resolved", "simulator_status": "not_run", "effective_mass_or_inertia_si": 7554.43517411946, "gravity_bound_si": 38546.886717178386, "gravity_at_rest_si": 6152.984640958148, "effort_unit": "N*m", "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", "warnings": [ "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." ], "stiffness_si": 0.0, "damping_si": 0.0, "target_position_si": 0.0, "max_effort_si": 0.0, "static_friction_si": 57820.33007576758, "dynamic_friction_si": 48183.608396472984, "required_capability": "PhysxJointAxisAPI", "supported_links": { "mast": { "mass_kg": 2004.3766, "mass_properties": "mesh integrals scaled to resolved mass" }, "carriage": { "mass_kg": 943.5742, "mass_properties": "mesh integrals scaled to resolved mass" } } } }, "fork_lift": { "path": "/sm_forklift_yellowblackindustrial_k7q2/Joints/fork_lift", "type": "prismatic", "parent": "mast", "child": "carriage", "axis_contract": [ 0.0, 0.0, 1.0 ], "axis_token": "X", "frame_alignment_wxyz": [ 0.707106781, 0.0, -0.707106781, 0.0 ], "limits": { "lower": 0.0, "upper": 1.15, "unit": "m" }, "drive": { "type": "force", "stiffness": 0.0, "damping": 0.0, "damping_si": 0.0, "stiffness_si": 0.0, "max_force": 0.0, "target_position": 0.0, "target_velocity": 0.0, "damping_unit": "N*s/m", "damping_si_unit": "N*s/m" }, "behavior": { "recipe_version": "joint-behavior/1", "intent": { "confidence": "high", "mode": "hold_position", "reason": "Lift hydraulic valve holds carriage elevation when released." }, "status": "resolved", "simulator_status": "not_run", "effective_mass_or_inertia_si": 943.5742, "gravity_bound_si": 9256.462902000001, "gravity_at_rest_si": -9256.462902000001, "effort_unit": "N", "assumptions": "Earth gravity; own descendant masses; no external payload; nominal downstream q=0 for interior spring balance", "warnings": [ "Interaction must exceed the reported resistance; viewport dragging is not universally guaranteed." ], "stiffness_si": 0.0, "damping_si": 0.0, "target_position_si": 0.0, "max_effort_si": 0.0, "static_friction_si": 13884.694353000003, "dynamic_friction_si": 11570.578627500001, "required_capability": "PhysxJointAxisAPI", "supported_links": { "carriage": { "mass_kg": 943.5742, "mass_properties": "mesh integrals scaled to resolved mass" } } } } }, "preview_controls": [], "reference_pose": { "fork_lift": 0.0, "mast_tilt": 0.0 }, "provenance": { "base_mode_reason": "Wheeled forklift is a movable vehicle with no world mounting.", "base_mode_source": "author_explicit", "contract_revision": "2.0", "producer": "articulated-asset-generation", "producer_version": "0.1.0" } }, "mass_kg": 3870.0, "colliders": 7, "status": "articulated_body", "material_class": "metal_steel", "engine": "physx", "multipart_physx": false, "static_friction": 0.6, "dynamic_friction": 0.45, "restitution": 0.25, "friction_model": "legacy", "friction_convention": "pair_value_on_steel_dry" } }