{
  "physics": {
    "articulation": {
      "schema_version": "articulation/2",
      "root_link": "upper_arm",
      "base_mode": "free",
      "world_joint": null,
      "behavior_sleep_threshold": 9.999999974752427e-07,
      "handoff_base_mode": "free",
      "base_mode_source": "handoff",
      "collision_filter": {
        "mode": "adjacent",
        "explicit_excluded_link_pairs": [],
        "handoff_excluded_link_pairs": [
          [
            "latch_hook",
            "lower_arm"
          ],
          [
            "lower_arm",
            "upper_arm"
          ]
        ],
        "excluded_link_pairs": [
          [
            "latch_hook",
            "lower_arm"
          ],
          [
            "lower_arm",
            "upper_arm"
          ]
        ],
        "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
        "external_contacts": "enabled",
        "other_engine_validation": "not_run"
      },
      "collider_aggregation": "link",
      "joint_count": 2,
      "joint_types": {
        "revolute": 2
      },
      "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
      "links": {
        "upper_arm": {
          "prim": "/industrial_shears/upper_arm",
          "mass_kg": 2.8543,
          "mass_source": "VLM per-part estimate, 9 of 9 meshes",
          "colliders": 1,
          "collision": [
            {
              "prim": "/industrial_shears/upper_arm/Collisions/link_collision",
              "approximation": "convexDecomposition",
              "basis": "combined rigid link; bounded concave cook",
              "source_mesh_count": 9,
              "source_meshes": [
                "/industrial_shears/upper_arm/upper_arm__visual_004/Cylinder_010",
                "/industrial_shears/upper_arm/upper_arm__visual_007/Upper_grip_001",
                "/industrial_shears/upper_arm/upper_arm__visual_001/Lower_jaw_with_upper_handle_tang_001",
                "/industrial_shears/upper_arm/upper_arm__visual_003/Cylinder_009",
                "/industrial_shears/upper_arm/upper_arm__visual_006/Cylinder_012",
                "/industrial_shears/upper_arm/upper_arm__visual_000/Upper_tang_sleeve_001",
                "/industrial_shears/upper_arm/upper_arm__visual_002/Cylinder_008",
                "/industrial_shears/upper_arm/upper_arm__visual_005/Cylinder_011",
                "/industrial_shears/upper_arm/upper_arm__visual_008/Upper_grip_diamond_knurl_001"
              ],
              "aggregation": "link",
              "boolean_union": false,
              "cooked_shape_count": null
            }
          ]
        },
        "lower_arm": {
          "prim": "/industrial_shears/lower_arm",
          "mass_kg": 1.3737,
          "mass_source": "VLM per-part estimate, 5 of 5 meshes",
          "colliders": 1,
          "collision": [
            {
              "prim": "/industrial_shears/lower_arm/Collisions/link_collision",
              "approximation": "convexDecomposition",
              "basis": "combined rigid link; bounded concave cook",
              "source_mesh_count": 5,
              "source_meshes": [
                "/industrial_shears/lower_arm/lower_arm__visual_001/Ground_blade_bevel_001",
                "/industrial_shears/lower_arm/lower_arm__visual_004/Cylinder_013",
                "/industrial_shears/lower_arm/lower_arm__visual_002/Lower_grip_001",
                "/industrial_shears/lower_arm/lower_arm__visual_000/Upper_blade_with_lower_handle_tang_001",
                "/industrial_shears/lower_arm/lower_arm__visual_003/Lower_grip_diamond_knurl_001"
              ],
              "aggregation": "link",
              "boolean_union": false,
              "cooked_shape_count": null
            }
          ]
        },
        "latch_hook": {
          "prim": "/industrial_shears/latch_hook",
          "mass_kg": 0.0481,
          "mass_source": "VLM per-part estimate, 3 of 3 meshes",
          "colliders": 1,
          "collision": [
            {
              "prim": "/industrial_shears/latch_hook/Collisions/link_collision",
              "approximation": "convexDecomposition",
              "basis": "combined rigid link; bounded concave cook",
              "source_mesh_count": 3,
              "source_meshes": [
                "/industrial_shears/latch_hook/latch_hook__visual_000/Cylinder_014",
                "/industrial_shears/latch_hook/latch_hook__visual_002/Cylinder_015",
                "/industrial_shears/latch_hook/latch_hook__visual_001/Curved_storage_latch_001"
              ],
              "aggregation": "link",
              "boolean_union": false,
              "cooked_shape_count": null
            }
          ]
        }
      },
      "joints": {
        "jaw_pivot": {
          "path": "/industrial_shears/Joints/jaw_pivot",
          "type": "revolute",
          "parent": "upper_arm",
          "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": -2.864789,
            "upper": 20.053523,
            "unit": "deg"
          },
          "drive": {
            "type": "force",
            "stiffness": 0.03119048662483692,
            "damping": 0.008626492694020271,
            "damping_si": 0.49426159678437276,
            "stiffness_si": 1.787083224283236,
            "max_force": 2.958813117527109,
            "target_position": 34.92682647705078,
            "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": "spring_return",
              "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.",
              "rest_position": 0.0
            },
            "status": "resolved",
            "simulator_status": "not_run",
            "effective_mass_or_inertia_si": 0.03417503487474956,
            "gravity_bound_si": 1.191388816188824,
            "gravity_at_rest_si": -1.0893847377255204,
            "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": 1.787083224283236,
            "damping_si": 0.49426159678437276,
            "target_position_si": 0.6095881394457447,
            "max_effort_si": 2.958813117527109,
            "static_friction_si": 0.0,
            "dynamic_friction_si": 0.0,
            "nominal_settling_seconds": 1.0,
            "rest_position_si": 0.0,
            "supported_links": {
              "lower_arm": {
                "mass_kg": 1.3737,
                "mass_properties": "mesh integrals scaled to resolved mass"
              },
              "latch_hook": {
                "mass_kg": 0.0481,
                "mass_properties": "mesh integrals scaled to resolved mass"
              }
            }
          }
        },
        "latch_pivot": {
          "path": "/industrial_shears/Joints/latch_pivot",
          "type": "revolute",
          "parent": "lower_arm",
          "child": "latch_hook",
          "axis_contract": [
            0.0,
            1.0,
            0.0
          ],
          "axis_token": "X",
          "frame_alignment_wxyz": [
            0.707106781,
            0.0,
            -0.0,
            0.707106781
          ],
          "limits": {
            "lower": -17.188734,
            "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": "The user flips the storage hook; assumed rivet friction keeps it where released. Engagement is not modeled as a constraint."
            },
            "status": "resolved",
            "simulator_status": "not_run",
            "effective_mass_or_inertia_si": 8.229282973590835e-05,
            "gravity_bound_si": 0.015227504965178586,
            "gravity_at_rest_si": -0.0011557810370623604,
            "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": 0.02284125744776788,
            "dynamic_friction_si": 0.01903438120647323,
            "required_capability": "PhysxJointAxisAPI",
            "supported_links": {
              "latch_hook": {
                "mass_kg": 0.0481,
                "mass_properties": "mesh integrals scaled to resolved mass"
              }
            }
          }
        }
      },
      "preview_controls": [],
      "reference_pose": {
        "jaw_pivot": 0.0,
        "latch_pivot": 0.0
      },
      "provenance": {
        "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.",
        "base_mode_source": "author_explicit",
        "contract_revision": "2.0",
        "producer": "articulated-asset-generation",
        "producer_version": "0.1.0"
      }
    },
    "mass_kg": 4.2761,
    "colliders": 3,
    "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"
  }
}