Datasets:
File size: 2,466 Bytes
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"physics": {
"articulation": {
"schema_version": "articulation/2",
"root_link": "bracket",
"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": [],
"excluded_link_pairs": [],
"representation": "UsdPhysics.FilteredPairsAPI plus joint collisionEnabled",
"external_contacts": "enabled",
"other_engine_validation": "not_run"
},
"collider_aggregation": "link",
"joint_count": 0,
"joint_types": {},
"axis_rule": "physics:axis X; both joint frames rotated by the quaternion mapping +X onto the contract axis",
"links": {
"bracket": {
"prim": "/angle_bracket_long/bracket",
"mass_kg": 0.1188,
"mass_source": "metal_steel density 7850 kg/m^3 x 0.00002 m^3",
"colliders": 1,
"collision": [
{
"prim": "/angle_bracket_long/bracket/Collisions/link_collision",
"approximation": "convexDecomposition",
"basis": "planar",
"source_mesh_count": 1,
"source_meshes": [
"/angle_bracket_long/bracket/bracket__visual_000/formed_sheet_mesh_001"
],
"aggregation": "link",
"boolean_union": false,
"cooked_shape_count": null
}
]
}
},
"joints": {},
"preview_controls": [],
"reference_pose": {},
"provenance": {
"base_mode_reason": "Loose mounting bracket shown without fasteners or an attached world surface; the formed bend is rigid.",
"base_mode_source": "author_explicit",
"contract_revision": "2.0",
"producer": "articulated-asset-generation",
"producer_version": "0.1.0"
}
},
"mass_kg": 0.1188,
"colliders": 1,
"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",
"dynamic_friction_source": "material_table",
"dynamic_friction_convention": "pair_value_on_steel_dry"
}
} |