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  "joints": [
    {
      "name": "wheel4",
      "parent": "/RootNode/Geometry/sm_wheelbase4_b01_obj_00/sm_wheelbase4_b01_mesh_00",
      "child": "/RootNode/Geometry/sm_wheel4_b01_obj_00/sm_wheel4_b01_mesh_00",
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    {
      "name": "wheelbase3",
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    {
      "name": "wheelbase4",
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      "child": "/RootNode/Geometry/sm_wheelbase4_b01_obj_00/sm_wheelbase4_b01_mesh_00",
      "axis": [
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      "lower": null,
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      "anchorMismatchMeters": 6.126783631843726e-09
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    {
      "name": "lid",
      "parent": "/RootNode/Geometry/sm_body_b01_obj_00/sm_body_b01_mesh_00",
      "child": "/RootNode/Geometry/sm_lid_b01_obj_00/sm_lid_b01_mesh_00",
      "axis": [
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      "pivot": [
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      "anchorMismatchMeters": 2.360403992947462e-09
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    {
      "name": "wheel2",
      "parent": "/RootNode/Geometry/sm_wheelbase2_b01_obj_00/sm_wheelbase2_b01_mesh_00",
      "child": "/RootNode/Geometry/sm_wheel2_b01_obj_00/sm_wheel2_b01_mesh_00",
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    {
      "name": "wheelbase1",
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      "child": "/RootNode/Geometry/sm_wheelbase1_b01_obj_00/sm_wheelbase1_b01_mesh_00",
      "axis": [
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      "anchorMismatchMeters": 6.126773214615809e-09
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    {
      "name": "wheel1",
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      "child": "/RootNode/Geometry/sm_wheel1_b01_obj_00/sm_wheel1_b01_mesh_00",
      "axis": [
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      "pivot": [
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      "anchorMismatchMeters": 0.0004437119126770109
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    {
      "name": "wheelbase2",
      "parent": "/RootNode/Geometry/sm_body_b01_obj_00/sm_body_b01_mesh_00",
      "child": "/RootNode/Geometry/sm_wheelbase2_b01_obj_00/sm_wheelbase2_b01_mesh_00",
      "axis": [
        0.0,
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        1.0
      ],
      "pivot": [
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      "parentPivot": [
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      "lower": null,
      "upper": null,
      "anchorMismatchMeters": 6.0747931383355656e-09
    },
    {
      "name": "wheel3",
      "parent": "/RootNode/Geometry/sm_wheelbase3_b01_obj_00/sm_wheelbase3_b01_mesh_00",
      "child": "/RootNode/Geometry/sm_wheel3_b01_obj_00/sm_wheel3_b01_mesh_00",
      "axis": [
        0.0,
        1.0,
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      ],
      "pivot": [
        0.0,
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      "parentPivot": [
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      "lower": -62831.8515625,
      "upper": 62831.8515625,
      "anchorMismatchMeters": 0.0004437119126770105
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  ],
  "totalMass": 21.840816363692284,
  "sourceHashes": {
    "sm_container_plastic_grit_blue_b01_01.usd": "b0d755723a851376ef7035edb9cc10d6caa0d79062191672e15574d3fed5acd7",
    "payloads/geometries.usd": "16d1b6453cf8cbb3435253813672368ce65d453aa001235383a5c9181ab6e458",
    "payloads/base.usda": "eedee7b9bc950fbc06634456626baa4e046e035c2a8c72a8a22687fca2443ead",
    "payloads/instances_mujoco.usda": "e6f43a4cbb983280f62e6b91a3ecbee28c6a8dad0f59f047fa07cbda614ddfa8",
    "payloads/Physics/physics.usda": "4bdeb8927e2543af157a6aeecca9cea537cf70e053ccae33c5115481a4bbab77"
  },
  "approximations": [
    "Body and lid use CoACD convex decomposition; wheels use fitted cylinders and mounts use bounding boxes.",
    "Self-collisions between bin parts are disabled; all ten parts can contact the ground.",
    "USD dynamic friction becomes MuJoCo sliding friction. Static friction is retained as metadata only.",
    "Torsional/rolling friction 0.005/0.0001 and joint damping 0.01 are demo settings.",
    "Restitution is retained as metadata; contacts use MuJoCo solref=0.01 1 rather than a direct restitution mapping.",
    "The floor friction is a demo setting: 0.5 0.005 0.0001; contact coefficients combine using MuJoCo rules.",
    "Mesh rest transforms and child joint anchors are preserved. Authored anchor discrepancies are recorded.",
    "No motors, hydraulics, contact-based lifting, or pallet jack are simulated in this experiment."
  ]
}