| { |
| "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" |
| } |
| } |
