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no actuation authored" }, "behavior": { "intent": { "confidence": "high", "mode": "none", "reason": "Hand cranked wheel coasts and slows by bearing friction after release." }, "status": "passive", "simulator_status": "not_run" } }, "crank_grip_spin": { "path": "/meat_slicer/Joints/crank_grip_spin", "type": "revolute", "parent": "flywheel", "child": "crank_grip", "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", "continuous": true, "authored": false }, "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": "Sleeve rotates freely on crank pin during manipulation and remains loose after release." }, "status": "passive", "simulator_status": "not_run" } }, "blade_spin": { "path": "/meat_slicer/Joints/blade_spin", "type": "revolute", "parent": "base", "child": "blade", "axis_contract": [ 0.0, 1.0, 0.0 ], "axis_token": "X", "frame_alignment_wxyz": [ 0.707106781, 0.0, -0.0, 0.707106781 ], "limits": { "lower": -180.0, "upper": 180.0, "unit": "deg", "continuous": true, "authored": false }, "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; 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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": 283.48447500000003, "dynamic_friction_si": 236.2370625, "required_capability": "PhysxJointAxisAPI", "supported_links": { "pusher": { "mass_kg": 15.124, "mass_properties": "mesh integrals scaled to resolved mass" }, "clamp_arm": { "mass_kg": 4.141, "mass_properties": "mesh integrals scaled to resolved mass" } } } }, "clamp_arm_hinge": { "path": "/meat_slicer/Joints/clamp_arm_hinge", "type": "revolute", "parent": "pusher", "child": "clamp_arm", "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": 68.754935, "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": "low", "mode": "none", "reason": "Handle lifts clamp; gravity lowers it after release. No spring is observed." }, "status": "passive", "simulator_status": "not_run" } }, "thickness_knob_turn": { "path": "/meat_slicer/Joints/thickness_knob_turn", "type": "revolute", "parent": "base", "child": "thickness_knob", "axis_contract": [ 0.0, 0.0, 1.0 ], "axis_token": "X", "frame_alignment_wxyz": [ 0.707106781, 0.0, -0.707106781, 0.0 ], "limits": { "lower": -171.887339, "upper": 171.887339, "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": "Threaded knob turns by hand and friction retains setting; exact adjustment purpose is uncertain." }, "status": "resolved", "simulator_status": "not_run", "effective_mass_or_inertia_si": 0.0004205519864306788, "gravity_bound_si": 0.1040114878425617, "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": 0.15601723176384255, "dynamic_friction_si": 0.13001435980320214, "required_capability": "PhysxJointAxisAPI", "supported_links": { "thickness_knob": { "mass_kg": 0.378, "mass_properties": "mesh integrals scaled to resolved mass" } } } } }, "preview_controls": [], "reference_pose": { "blade_spin": 0.0, "carriage_slide": 0.0, "clamp_arm_hinge": 0.0, "crank_grip_spin": 0.0, "flywheel_spin": 0.0, "pusher_feed": 0.0, "thickness_knob_turn": 0.0 }, "provenance": { "base_mode_reason": "Freestanding countertop slicer on four rubber feet; there are no bolts to a counter or other world mounting, so the base is left free.", "base_mode_source": "author_explicit", "contract_revision": "2.0", "producer": "articulated-asset-generation", "producer_version": "0.1.0" } }, "mass_kg": 68.2, "colliders": 8, "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" } }