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