{ "physics": { "articulation": { "schema_version": "articulation/2", "root_link": "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": [ [ "blade_slider", "handle_body" ] ], "excluded_link_pairs": [ [ "blade_slider", "handle_body" ] ], "representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled", "external_contacts": "enabled", "other_engine_validation": "not_run" }, "collider_aggregation": "link", "joint_count": 1, "joint_types": { "prismatic": 1 }, "axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis", "links": { "handle_body": { "prim": "/gen_1_1792063940462/handle_body", "mass_kg": 0.1673, "mass_source": "VLM per-part estimate, 33 of 33 meshes", "colliders": 1, "collision": [ { "prim": "/gen_1_1792063940462/handle_body/Collisions/link_collision", "approximation": "convexDecomposition", "basis": "combined rigid link; bounded concave cook", "source_mesh_count": 33, "source_meshes": [ "/gen_1_1792063940462/handle_body/handle_body__visual_001/Upper_cast_grip_shell_003", "/gen_1_1792063940462/handle_body/handle_body__visual_014/Track_ratchet_tooth_03_001", "/gen_1_1792063940462/handle_body/handle_body__visual_010/Rear_guide_rail_shoulder_003", "/gen_1_1792063940462/handle_body/handle_body__visual_007/Folded_guide_side_003", "/gen_1_1792063940462/handle_body/handle_body__visual_032/Cylinder_009", "/gen_1_1792063940462/handle_body/handle_body__visual_005/Rear_guide_rail_002", "/gen_1_1792063940462/handle_body/handle_body__visual_028/Track_ratchet_tooth_17_001", "/gen_1_1792063940462/handle_body/handle_body__visual_015/Track_ratchet_tooth_04_001", "/gen_1_1792063940462/handle_body/handle_body__visual_025/Track_ratchet_tooth_14_001", "/gen_1_1792063940462/handle_body/handle_body__visual_030/Rear_removable_cap_001", "/gen_1_1792063940462/handle_body/handle_body__visual_029/Track_ratchet_tooth_18_001", "/gen_1_1792063940462/handle_body/handle_body__visual_013/Track_ratchet_tooth_02_001", "/gen_1_1792063940462/handle_body/handle_body__visual_016/Track_ratchet_tooth_05_001", "/gen_1_1792063940462/handle_body/handle_body__visual_031/Cylinder_008", "/gen_1_1792063940462/handle_body/handle_body__visual_009/Rear_guide_rail_003", "/gen_1_1792063940462/handle_body/handle_body__visual_020/Track_ratchet_tooth_09_001", "/gen_1_1792063940462/handle_body/handle_body__visual_019/Track_ratchet_tooth_08_001", "/gen_1_1792063940462/handle_body/handle_body__visual_026/Track_ratchet_tooth_15_001", "/gen_1_1792063940462/handle_body/handle_body__visual_012/Track_ratchet_tooth_01_001", "/gen_1_1792063940462/handle_body/handle_body__visual_000/Lower_cast_grip_shell_001", "/gen_1_1792063940462/handle_body/handle_body__visual_021/Track_ratchet_tooth_10_001", "/gen_1_1792063940462/handle_body/handle_body__visual_017/Track_ratchet_tooth_06_001", "/gen_1_1792063940462/handle_body/handle_body__visual_024/Track_ratchet_tooth_13_001", "/gen_1_1792063940462/handle_body/handle_body__visual_018/Track_ratchet_tooth_07_001", "/gen_1_1792063940462/handle_body/handle_body__visual_002/Guide_bed_001", "/gen_1_1792063940462/handle_body/handle_body__visual_011/Track_ratchet_tooth_00_001", "/gen_1_1792063940462/handle_body/handle_body__visual_003/Folded_guide_side_002", "/gen_1_1792063940462/handle_body/handle_body__visual_027/Track_ratchet_tooth_16_001", "/gen_1_1792063940462/handle_body/handle_body__visual_008/Overhanging_guide_lip_003", "/gen_1_1792063940462/handle_body/handle_body__visual_004/Overhanging_guide_lip_002", "/gen_1_1792063940462/handle_body/handle_body__visual_022/Track_ratchet_tooth_11_001", "/gen_1_1792063940462/handle_body/handle_body__visual_023/Track_ratchet_tooth_12_001", "/gen_1_1792063940462/handle_body/handle_body__visual_006/Rear_guide_rail_shoulder_002" ], "aggregation": "link", "boolean_union": false, "cooked_shape_count": null } ] }, "blade_slider": { "prim": "/gen_1_1792063940462/blade_slider", "mass_kg": 0.0202, "mass_source": "VLM per-part estimate, 4 of 4 meshes", "colliders": 1, "collision": [ { "prim": "/gen_1_1792063940462/blade_slider/Collisions/link_collision", "approximation": "convexDecomposition", "basis": "combined rigid link; bounded concave cook", "source_mesh_count": 4, "source_meshes": [ "/gen_1_1792063940462/blade_slider/blade_slider__visual_000/Segmented_steel_blade_001", "/gen_1_1792063940462/blade_slider/blade_slider__visual_001/ground_edge_001", "/gen_1_1792063940462/blade_slider/blade_slider__visual_003/Thumb_slider_pad_001", "/gen_1_1792063940462/blade_slider/blade_slider__visual_002/Internal_slider_stem_001" ], "aggregation": "link", "boolean_union": false, "cooked_shape_count": null } ] } }, "joints": { "blade_extend": { "path": "/gen_1_1792063940462/Joints/blade_extend", "type": "prismatic", "parent": "handle_body", "child": "blade_slider", "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": 0.04, "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": "Push the thumb slider to extend or retract the blade; it stays where released. Visible ratchet teeth imply a concealed detent. Continuous friction holding approximates those indexed positions." }, "status": "resolved", "simulator_status": "not_run", "effective_mass_or_inertia_si": 0.0202, "gravity_bound_si": 0.198162, "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." ], "stiffness_si": 0.0, "damping_si": 0.0, "target_position_si": 0.0, "max_effort_si": 0.0, "static_friction_si": 0.29724300000000003, "dynamic_friction_si": 0.2477025, "required_capability": "PhysxJointAxisAPI", "supported_links": { "blade_slider": { "mass_kg": 0.0202, "mass_properties": "mesh integrals scaled to resolved mass" } } } } }, "preview_controls": [], "reference_pose": { "blade_extend": 0.032 }, "provenance": { "base_mode_reason": "Handheld utility knife resting on a surface with no mounting evidence; it is a freestanding movable object, 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": 0.1875, "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" } }