| { |
| "schema_version": "1.0", |
| "units": { |
| "length": "m", |
| "angle": "rad", |
| "mass": "kg", |
| "force": "N", |
| "time": "s" |
| }, |
| "coordinate_frame": "right-handed; +X right, +Y rear, +Z up; asset origin is footprint center on bench", |
| "geometry_status": "photo-referenced approximation with manufacturer global scale; not metrology-grade digital twin", |
| "scope": "External functional components; hidden sensor mechanics abstracted; optional vendor accessories excluded", |
| "assets": [ |
| { |
| "id": "PX224E", |
| "model": "OHAUS Pioneer PX224/E", |
| "dimensions_m": [ |
| 0.209, |
| 0.321, |
| 0.309 |
| ], |
| "capacity_kg": 0.22, |
| "readability_kg": 1e-07, |
| "mass_kg": 4.5, |
| "settling_time_s": 3, |
| "sources": [ |
| "PX_PRODUCT", |
| "PX_MANUAL", |
| "PX_DATASHEET" |
| ], |
| "components": [ |
| { |
| "id": "housing", |
| "label_zh": "承载底座与外壳", |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "承载并保护内部称量单元；禁止把外壳接触力计入秤盘载荷。", |
| "range_evidence": "photo_estimate", |
| "source_id": "PX_PRODUCT", |
| "mass_kg": 2.9250000000000003, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.209, |
| 0.321, |
| 0.018 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.017 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.20099999999999998, |
| 0.107, |
| 0.0359047619047619 |
| ], |
| "origin_m": [ |
| 0, |
| -0.10700000000000001, |
| 0.04395238095238095 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.20099999999999998, |
| 0.107, |
| 0.06 |
| ], |
| "origin_m": [ |
| 0, |
| 0.0, |
| 0.055999999999999994 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.20099999999999998, |
| 0.107, |
| 0.06 |
| ], |
| "origin_m": [ |
| 0, |
| 0.10700000000000001, |
| 0.055999999999999994 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.04700000211596489 |
| ], |
| "dimensions_m": [ |
| 0.20900000631809235, |
| 0.32100000977516174, |
| 0.07800000160932541 |
| ] |
| } |
| }, |
| { |
| "id": "foot_front_left", |
| "label_zh": "调平脚 front left", |
| "origin_m": [ |
| -0.08449999999999999, |
| -0.1405, |
| 0.008 |
| ], |
| "joint_type": "screw", |
| "axis": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "limits": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "limit_unit": "rad", |
| "rotation_limits_rad": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "physical_meaning_zh": "旋转调平脚改变支撑高度。暂设每圈 1 mm、相对中位 ±2 圈；螺距及机械止点待实测。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.022, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.016, |
| 0.004 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.006 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.017, |
| 0.008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.001 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.005, |
| 0.016 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.01 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Red controls", |
| "actual_manufacturer_limits": null, |
| "pitch_m_per_turn": 0.001, |
| "pitch_evidence": "engineering_assumption", |
| "coupling": "delta_z = -0.001 * theta / (2*pi); positive q extends foot downward", |
| "actions": [ |
| "grasp_knurled_rim", |
| "rotate_leveling_foot" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0.016, |
| 0, |
| -0.001 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "instrument unloaded; support body while adjusting; solve support-plane pose in host simulator" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 7.450580596923828e-09, |
| 0.0, |
| 0.004999999422580004 |
| ], |
| "dimensions_m": [ |
| 0.03499998897314072, |
| 0.03500000387430191, |
| 0.02599999960511923 |
| ] |
| } |
| }, |
| { |
| "id": "foot_rear_left", |
| "label_zh": "调平脚 rear left", |
| "origin_m": [ |
| -0.08449999999999999, |
| 0.1405, |
| 0.008 |
| ], |
| "joint_type": "screw", |
| "axis": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "limits": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "limit_unit": "rad", |
| "rotation_limits_rad": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "physical_meaning_zh": "旋转调平脚改变支撑高度。暂设每圈 1 mm、相对中位 ±2 圈；螺距及机械止点待实测。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.022, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.016, |
| 0.004 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.006 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.017, |
| 0.008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.001 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.005, |
| 0.016 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.01 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Red controls", |
| "actual_manufacturer_limits": null, |
| "pitch_m_per_turn": 0.001, |
| "pitch_evidence": "engineering_assumption", |
| "coupling": "delta_z = -0.001 * theta / (2*pi); positive q extends foot downward", |
| "actions": [ |
| "grasp_knurled_rim", |
| "rotate_leveling_foot" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0.016, |
| 0, |
| -0.001 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "instrument unloaded; support body while adjusting; solve support-plane pose in host simulator" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 7.450580596923828e-09, |
| 0.0, |
| 0.004999999422580004 |
| ], |
| "dimensions_m": [ |
| 0.03499998897314072, |
| 0.03500000387430191, |
| 0.02599999960511923 |
| ] |
| } |
| }, |
| { |
| "id": "foot_front_right", |
| "label_zh": "调平脚 front right", |
| "origin_m": [ |
| 0.08449999999999999, |
| -0.1405, |
| 0.008 |
| ], |
| "joint_type": "screw", |
| "axis": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "limits": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "limit_unit": "rad", |
| "rotation_limits_rad": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "physical_meaning_zh": "旋转调平脚改变支撑高度。暂设每圈 1 mm、相对中位 ±2 圈；螺距及机械止点待实测。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.022, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.016, |
| 0.004 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.006 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.017, |
| 0.008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.001 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.005, |
| 0.016 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.01 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Red controls", |
| "actual_manufacturer_limits": null, |
| "pitch_m_per_turn": 0.001, |
| "pitch_evidence": "engineering_assumption", |
| "coupling": "delta_z = -0.001 * theta / (2*pi); positive q extends foot downward", |
| "actions": [ |
| "grasp_knurled_rim", |
| "rotate_leveling_foot" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0.016, |
| 0, |
| -0.001 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "instrument unloaded; support body while adjusting; solve support-plane pose in host simulator" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.004999999422580004 |
| ], |
| "dimensions_m": [ |
| 0.03500000387430191, |
| 0.03500000387430191, |
| 0.02599999960511923 |
| ] |
| } |
| }, |
| { |
| "id": "foot_rear_right", |
| "label_zh": "调平脚 rear right", |
| "origin_m": [ |
| 0.08449999999999999, |
| 0.1405, |
| 0.008 |
| ], |
| "joint_type": "screw", |
| "axis": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "limits": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "limit_unit": "rad", |
| "rotation_limits_rad": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "physical_meaning_zh": "旋转调平脚改变支撑高度。暂设每圈 1 mm、相对中位 ±2 圈；螺距及机械止点待实测。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.022, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.016, |
| 0.004 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.006 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.017, |
| 0.008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.001 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.005, |
| 0.016 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.01 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Red controls", |
| "actual_manufacturer_limits": null, |
| "pitch_m_per_turn": 0.001, |
| "pitch_evidence": "engineering_assumption", |
| "coupling": "delta_z = -0.001 * theta / (2*pi); positive q extends foot downward", |
| "actions": [ |
| "grasp_knurled_rim", |
| "rotate_leveling_foot" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0.016, |
| 0, |
| -0.001 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "instrument unloaded; support body while adjusting; solve support-plane pose in host simulator" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.004999999422580004 |
| ], |
| "dimensions_m": [ |
| 0.03500000387430191, |
| 0.03500000387430191, |
| 0.02599999960511923 |
| ] |
| } |
| }, |
| { |
| "id": "control_panel", |
| "label_zh": "固定操作面板", |
| "origin_m": [ |
| 0, |
| -0.111, |
| 0.06097 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "承载显示屏及四个功能键；面板本身无旋转自由度。", |
| "range_evidence": "photo_estimate", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.01, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "read_display" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.15800000727176666, |
| 0.07090144604444504, |
| 0.030184967443346977 |
| ] |
| } |
| }, |
| { |
| "id": "level_indicator", |
| "label_zh": "水平泡", |
| "origin_m": [ |
| 0, |
| -0.111, |
| 0.06097 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "观测支撑平面倾斜；气泡居中表示调平。仅观测，无用户转动自由度。", |
| "range_evidence": "photo_estimate", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.002, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "observe_level" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.06599999964237213, |
| 0.010347411269322038, |
| 0.006513240630738437 |
| ], |
| "dimensions_m": [ |
| 0.010399997234344482, |
| 0.010382338892668486, |
| 0.006022490793839097 |
| ] |
| } |
| }, |
| { |
| "id": "button_zero", |
| "label_zh": "Zero 功能键", |
| "origin_m": [ |
| -0.0494999997317791, |
| -0.13342173397541046, |
| 0.05503148213028908 |
| ], |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 0.37890545461228703, |
| -0.9254353875150096 |
| ], |
| "limits": [ |
| 0, |
| 0.0008 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "短按开机或置零，长按关机。置零不等于物理清空秤盘。 按键沿面板法线内压，行程暂设 0.8 mm。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.002, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.027, |
| 0.009, |
| 0.0008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.0006 |
| ], |
| "rpy_rad": [ |
| 0.3886132740775903, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "short_press", |
| "long_press" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0.0012 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 1.800316385924816e-05 |
| ], |
| "dimensions_m": [ |
| 0.028999999165534973, |
| 0.010634475387632847, |
| 0.005314488895237446 |
| ] |
| } |
| }, |
| { |
| "id": "button_print", |
| "label_zh": "Print 功能键", |
| "origin_m": [ |
| -0.016499999910593033, |
| -0.13342173397541046, |
| 0.05503148213028908 |
| ], |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 0.37890545461228703, |
| -0.9254353875150096 |
| ], |
| "limits": [ |
| 0, |
| 0.0008 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "短按输出读数，长按切换单位。接口需连接才产生外部数据。 按键沿面板法线内压，行程暂设 0.8 mm。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.002, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.027, |
| 0.009, |
| 0.0008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.0006 |
| ], |
| "rpy_rad": [ |
| 0.3886132740775903, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "short_press", |
| "long_press" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0.0012 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 1.800316385924816e-05 |
| ], |
| "dimensions_m": [ |
| 0.028999999165534973, |
| 0.010634475387632847, |
| 0.005314488895237446 |
| ] |
| } |
| }, |
| { |
| "id": "button_function", |
| "label_zh": "Function 功能键", |
| "origin_m": [ |
| 0.016499999910593033, |
| -0.13342173397541046, |
| 0.05503148213028908 |
| ], |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 0.37890545461228703, |
| -0.9254353875150096 |
| ], |
| "limits": [ |
| 0, |
| 0.0008 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "应用功能与模式选择；不改变秤盘质量。 按键沿面板法线内压，行程暂设 0.8 mm。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.002, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.027, |
| 0.009, |
| 0.0008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.0006 |
| ], |
| "rpy_rad": [ |
| 0.3886132740775903, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "short_press", |
| "long_press" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0.0012 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 1.800316385924816e-05 |
| ], |
| "dimensions_m": [ |
| 0.028999999165534973, |
| 0.010634475387632847, |
| 0.005314488895237446 |
| ] |
| } |
| }, |
| { |
| "id": "button_tare", |
| "label_zh": "Tare 功能键", |
| "origin_m": [ |
| 0.0494999997317791, |
| -0.13342173397541046, |
| 0.05503148213028908 |
| ], |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 0.37890545461228703, |
| -0.9254353875150096 |
| ], |
| "limits": [ |
| 0, |
| 0.0008 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "以当前稳定载荷设置或清除皮重，显示样品净质量；长按进入菜单。 按键沿面板法线内压，行程暂设 0.8 mm。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.002, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.027, |
| 0.009, |
| 0.0008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.0006 |
| ], |
| "rpy_rad": [ |
| 0.3886132740775903, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "short_press", |
| "long_press" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0.0012 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 1.800316385924816e-05 |
| ], |
| "dimensions_m": [ |
| 0.028999999165534973, |
| 0.010634475387632847, |
| 0.005314488895237446 |
| ] |
| } |
| }, |
| { |
| "id": "chamber_floor", |
| "label_zh": "称量室底板", |
| "origin_m": [ |
| 0, |
| 0.042, |
| 0.088 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "固定金属底板；承接散落样品，底板上的质量不能算成秤盘样品。", |
| "range_evidence": "photo_estimate", |
| "source_id": "PX_DATASHEET", |
| "mass_kg": 0.2, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.17, |
| 0.204, |
| 0.004 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Brushed stainless steel", |
| "actual_manufacturer_limits": null, |
| "actions": [], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.17000000178813934, |
| 0.20399999618530273, |
| 0.004000000189989805 |
| ] |
| } |
| }, |
| { |
| "id": "pan_support", |
| "label_zh": "秤盘支承与称量耦合点", |
| "origin_m": [ |
| 0, |
| 0.022, |
| 0.099 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "把秤盘法向接触力传到内部称量单元；内部结构未公开，采用力传感抽象。", |
| "range_evidence": "photo_estimate", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.045, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.019, |
| 0.014 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Dark polymer", |
| "actual_manufacturer_limits": null, |
| "actions": [], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.03799999877810478, |
| 0.03799999877810478, |
| 0.014000000432133675 |
| ] |
| } |
| }, |
| { |
| "id": "pan", |
| "label_zh": "可拆卸不锈钢秤盘", |
| "origin_m": [ |
| 0, |
| 0.022, |
| 0.11 |
| ], |
| "joint_type": "detachable", |
| "axis": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "limits": [ |
| 0, |
| 0.08 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "圆盘直径 90 mm 为厂家规格；清洁时向上取下。80 mm 为演示抬升距离，不是机械关节止点。", |
| "range_evidence": "task_envelope", |
| "source_id": "PX_PRODUCT", |
| "mass_kg": 0.06, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.045, |
| 0.004 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Brushed stainless steel", |
| "actual_manufacturer_limits": null, |
| "load_support_surface": { |
| "shape": "disk", |
| "size_m": [ |
| 0.045 |
| ], |
| "center_m": [ |
| 0, |
| 0, |
| 0.002 |
| ], |
| "normal": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "aggregation": "sum normal supported load excluding pan self-weight; include container transmitted load" |
| }, |
| "actions": [ |
| "place_container", |
| "place_sample", |
| "remove_sample", |
| "detach_for_cleaning" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0.002 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "detach only unloaded and power off" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.09000000357627869, |
| 0.09000000357627869, |
| 0.004000000189989805 |
| ] |
| } |
| }, |
| { |
| "id": "draftshield_frame", |
| "label_zh": "防风罩固定框架", |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "支撑玻璃和滑轨，隔离气流对高精度称量的影响。", |
| "range_evidence": "photo_estimate", |
| "source_id": "PX_DATASHEET", |
| "mass_kg": 0.28, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.003, |
| 0.004, |
| 0.214 |
| ], |
| "origin_m": [ |
| -0.083, |
| -0.056, |
| 0.198 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.003, |
| 0.004, |
| 0.214 |
| ], |
| "origin_m": [ |
| -0.083, |
| 0.148, |
| 0.198 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.005, |
| 0.211, |
| 0.005 |
| ], |
| "origin_m": [ |
| -0.083, |
| 0.046, |
| 0.093 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.005, |
| 0.211, |
| 0.005 |
| ], |
| "origin_m": [ |
| -0.083, |
| 0.046, |
| 0.301 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.003, |
| 0.004, |
| 0.214 |
| ], |
| "origin_m": [ |
| 0.083, |
| -0.056, |
| 0.198 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.003, |
| 0.004, |
| 0.214 |
| ], |
| "origin_m": [ |
| 0.083, |
| 0.148, |
| 0.198 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.005, |
| 0.211, |
| 0.005 |
| ], |
| "origin_m": [ |
| 0.083, |
| 0.046, |
| 0.093 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.005, |
| 0.211, |
| 0.005 |
| ], |
| "origin_m": [ |
| 0.083, |
| 0.046, |
| 0.301 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.172, |
| 0.009, |
| 0.01 |
| ], |
| "origin_m": [ |
| 0, |
| 0.151, |
| 0.304 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.008, |
| 0.208, |
| 0.01 |
| ], |
| "origin_m": [ |
| -0.082, |
| 0.046, |
| 0.304 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.008, |
| 0.208, |
| 0.01 |
| ], |
| "origin_m": [ |
| 0.082, |
| 0.046, |
| 0.304 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| -7.450580596923828e-09, |
| 0.047999998554587364, |
| 0.19974999502301216 |
| ], |
| "dimensions_m": [ |
| 0.17200002074241638, |
| 0.2149999924004078, |
| 0.21849998086690903 |
| ] |
| } |
| }, |
| { |
| "id": "front_glass", |
| "label_zh": "固定前玻璃", |
| "origin_m": [ |
| 0, |
| -0.055, |
| 0.195 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "固定气流屏障；无开合旋转。", |
| "range_evidence": "photo_estimate", |
| "source_id": "PX_DATASHEET", |
| "mass_kg": 0.18, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.15, |
| 0.002, |
| 0.2 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Clear draftshield glass", |
| "actual_manufacturer_limits": null, |
| "actions": [], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.15000000596046448, |
| 0.0020000000949949026, |
| 0.20000000298023224 |
| ] |
| } |
| }, |
| { |
| "id": "rear_glass", |
| "label_zh": "固定后玻璃", |
| "origin_m": [ |
| 0, |
| 0.147, |
| 0.195 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "固定后部气流屏障；后部细节按照片近似。", |
| "range_evidence": "photo_estimate", |
| "source_id": "PX_DATASHEET", |
| "mass_kg": 0.18, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.15, |
| 0.002, |
| 0.2 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Clear draftshield glass", |
| "actual_manufacturer_limits": null, |
| "actions": [], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.15000000596046448, |
| 0.0020000000949949026, |
| 0.20000000298023224 |
| ] |
| } |
| }, |
| { |
| "id": "door_left", |
| "label_zh": "左滑动防风门", |
| "origin_m": [ |
| -0.079, |
| 0.043, |
| 0.195 |
| ], |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 1, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0.109 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "沿后方滑动，控制侧面取放通道及气流暴露。0–109 mm 是保守仿真设定；手册 430 mm 是开门整体包络，不能直接等同单扇门行程。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.19, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.002, |
| 0.193, |
| 0.2 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.012, |
| 0.012, |
| 0.062 |
| ], |
| "origin_m": [ |
| -0.007, |
| -0.07, |
| -0.062 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Clear draftshield glass", |
| "actual_manufacturer_limits": null, |
| "handle_geometry_evidence": "PX_DATASHEET page 3 photo; tapered shape and placement estimated, handle moves rigidly with door", |
| "actions": [ |
| "grasp_handle", |
| "slide_open", |
| "slide_close" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| -0.009, |
| -0.07, |
| -0.062 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| -0.005717808962799609, |
| 0.0, |
| 3.725290298461914e-09 |
| ], |
| "dimensions_m": [ |
| 0.01443561795167625, |
| 0.19300000369548798, |
| 0.20000001043081284 |
| ] |
| } |
| }, |
| { |
| "id": "door_right", |
| "label_zh": "右滑动防风门", |
| "origin_m": [ |
| 0.079, |
| 0.043, |
| 0.195 |
| ], |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 1, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0.109 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "沿后方滑动，控制侧面取放通道及气流暴露。0–109 mm 是保守仿真设定；手册 430 mm 是开门整体包络，不能直接等同单扇门行程。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.19, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.002, |
| 0.193, |
| 0.2 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.012, |
| 0.012, |
| 0.062 |
| ], |
| "origin_m": [ |
| 0.007, |
| -0.07, |
| -0.062 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Clear draftshield glass", |
| "actual_manufacturer_limits": null, |
| "handle_geometry_evidence": "PX_DATASHEET page 3 photo; tapered shape and placement estimated, handle moves rigidly with door", |
| "actions": [ |
| "grasp_handle", |
| "slide_open", |
| "slide_close" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0.009, |
| -0.07, |
| -0.062 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.005717808962799609, |
| 0.0, |
| 3.725290298461914e-09 |
| ], |
| "dimensions_m": [ |
| 0.01443561795167625, |
| 0.19300000369548798, |
| 0.20000001043081284 |
| ] |
| } |
| }, |
| { |
| "id": "door_top", |
| "label_zh": "顶部滑动防风门", |
| "origin_m": [ |
| 0, |
| 0.043, |
| 0.296 |
| ], |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 1, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0.109 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "向后滑动打开顶部加样通道。行程为仿真假设，需要实物验证。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "PX_DATASHEET", |
| "mass_kg": 0.09, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.151, |
| 0.194, |
| 0.002 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.07, |
| 0.008, |
| 0.006 |
| ], |
| "origin_m": [ |
| 0, |
| -0.085, |
| 0.003 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Clear draftshield glass", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "grasp_handle", |
| "slide_open", |
| "slide_close" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| -0.085, |
| 0.003 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.002499995578546077 |
| ], |
| "dimensions_m": [ |
| 0.1509999930858612, |
| 0.1940000057220459, |
| 0.006999991252087057 |
| ] |
| } |
| }, |
| { |
| "id": "antistatic_bar", |
| "label_zh": "顶部前横梁静电释放接触条", |
| "origin_m": [ |
| 0, |
| -0.058, |
| 0.304 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "厂家规格书第 3 页引线标明顶部前横梁为永久静电耗散 ABS 接触条，提供接地点；不是称量室内的独立立柱，也不是主动离子发生器。位置有图示依据，截面尺寸为照片近似，电荷消散需另行建立电学模型。", |
| "range_evidence": "photo_estimate", |
| "source_id": "PX_DATASHEET", |
| "mass_kg": 0.009, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.172, |
| 0.009, |
| 0.01 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "ground_contact" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| -0.0045, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.1720000058412552, |
| 0.008999999612569809, |
| 0.009999999776482582 |
| ] |
| } |
| }, |
| { |
| "id": "rear_ports", |
| "label_zh": "后部电源与通信接口", |
| "origin_m": [ |
| 0, |
| 0.161, |
| 0.039 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "USB Device 与 RS232 输出称量数据，直流电源口提供电源。插拔为外部连接事件；接口没有旋转自由度。", |
| "range_evidence": "photo_estimate", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.03, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.143, |
| 0.002, |
| 0.023 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.013, |
| 0.003, |
| 0.012 |
| ], |
| "origin_m": [ |
| -0.058, |
| 0.001, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.026, |
| 0.003, |
| 0.012 |
| ], |
| "origin_m": [ |
| 0.03, |
| 0.003, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.0045, |
| 0.004 |
| ], |
| "origin_m": [ |
| 0.062, |
| 0.003, |
| 0 |
| ], |
| "rpy_rad": [ |
| 1.5707963267948966, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Dark polymer", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "connect_power", |
| "disconnect_power", |
| "connect_communication_accessory" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.002999998687300831, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.14300000667572021, |
| 0.007999997469596565, |
| 0.023000000044703484 |
| ] |
| } |
| }, |
| { |
| "id": "security_switch", |
| "label_zh": "校准保护滑动开关", |
| "origin_m": [ |
| -0.029, |
| 0.163, |
| 0.039 |
| ], |
| "joint_type": "prismatic", |
| "axis": [ |
| 1, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0.004 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "保护菜单与校准设置；不承担秤盘运输锁功能。滑动距离暂设 4 mm。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "PX_MANUAL", |
| "mass_kg": 0.002, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.018, |
| 0.004, |
| 0.012 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Red controls", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "slide_lock", |
| "slide_unlock" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.017999999225139618, |
| 0.004000000189989805, |
| 0.012000000104308128 |
| ] |
| } |
| }, |
| { |
| "id": "weigh_below", |
| "label_zh": "下挂称量接入点", |
| "origin_m": [ |
| 0, |
| 0.022, |
| 0.014 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "底部悬挂称量的功能接入点，常规台面任务不可访问。挂钩细节为简化表示。", |
| "range_evidence": "photo_estimate", |
| "source_id": "PX_PRODUCT", |
| "mass_kg": 0.006, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.01, |
| 0.003 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "attach_suspension" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "access underside through suitable bench opening" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.019999999552965164, |
| 0.019999999552965164, |
| 0.003000000026077032 |
| ] |
| } |
| }, |
| { |
| "id": "security_anchor", |
| "label_zh": "防盗固定点", |
| "origin_m": [ |
| 0, |
| 0.162, |
| 0.024 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "外部防盗锁连接点，固定结构。", |
| "range_evidence": "photo_estimate", |
| "source_id": "PX_PRODUCT", |
| "mass_kg": 0.005, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.004, |
| 0.002, |
| 0.012 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "attach_security_cable" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.004000000189989805, |
| 0.0020000000949949026, |
| 0.012000000104308128 |
| ] |
| } |
| } |
| ] |
| }, |
| { |
| "id": "SPX2201", |
| "model": "OHAUS Scout SPX2201", |
| "dimensions_m": [ |
| 0.202, |
| 0.224, |
| 0.054 |
| ], |
| "capacity_kg": 2.2, |
| "readability_kg": 0.0001, |
| "mass_kg": 1, |
| "settling_time_s": 1, |
| "sources": [ |
| "SPX_PRODUCT", |
| "SPX_MANUAL", |
| "SPX_DATASHEET" |
| ], |
| "components": [ |
| { |
| "id": "housing", |
| "label_zh": "承载底座与外壳", |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "承载并保护内部称量单元；禁止把外壳接触力计入秤盘载荷。", |
| "range_evidence": "photo_estimate", |
| "source_id": "SPX_PRODUCT", |
| "mass_kg": 0.5899999999999999, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.202, |
| 0.224, |
| 0.009999999999999998 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.013 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.194, |
| 0.07466666666666667, |
| 0.01647619047619048 |
| ], |
| "origin_m": [ |
| 0, |
| -0.07466666666666666, |
| 0.02623809523809524 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.194, |
| 0.07466666666666667, |
| 0.028 |
| ], |
| "origin_m": [ |
| 0, |
| 0.0, |
| 0.032 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.194, |
| 0.07466666666666667, |
| 0.028 |
| ], |
| "origin_m": [ |
| 0, |
| 0.07466666666666667, |
| 0.032 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.02700000023469329 |
| ], |
| "dimensions_m": [ |
| 0.20200000703334808, |
| 0.2240000069141388, |
| 0.03799999970942736 |
| ] |
| } |
| }, |
| { |
| "id": "foot_front_left", |
| "label_zh": "调平脚 front left", |
| "origin_m": [ |
| -0.081, |
| -0.092, |
| 0.008 |
| ], |
| "joint_type": "screw", |
| "axis": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "limits": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "limit_unit": "rad", |
| "rotation_limits_rad": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "physical_meaning_zh": "旋转调平脚改变支撑高度。暂设每圈 1 mm、相对中位 ±2 圈；螺距及机械止点待实测。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.022, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.016, |
| 0.004 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.006 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.017, |
| 0.008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.001 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.005, |
| 0.016 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.01 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Red controls", |
| "actual_manufacturer_limits": null, |
| "pitch_m_per_turn": 0.001, |
| "pitch_evidence": "engineering_assumption", |
| "coupling": "delta_z = -0.001 * theta / (2*pi); positive q extends foot downward", |
| "actions": [ |
| "grasp_knurled_rim", |
| "rotate_leveling_foot" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0.016, |
| 0, |
| -0.001 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "instrument unloaded; support body while adjusting; solve support-plane pose in host simulator" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.004999999422580004 |
| ], |
| "dimensions_m": [ |
| 0.03500000387430191, |
| 0.03500000387430191, |
| 0.02599999960511923 |
| ] |
| } |
| }, |
| { |
| "id": "foot_rear_left", |
| "label_zh": "调平脚 rear left", |
| "origin_m": [ |
| -0.081, |
| 0.092, |
| 0.008 |
| ], |
| "joint_type": "screw", |
| "axis": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "limits": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "limit_unit": "rad", |
| "rotation_limits_rad": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "physical_meaning_zh": "旋转调平脚改变支撑高度。暂设每圈 1 mm、相对中位 ±2 圈；螺距及机械止点待实测。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.022, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.016, |
| 0.004 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.006 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.017, |
| 0.008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.001 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.005, |
| 0.016 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.01 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Red controls", |
| "actual_manufacturer_limits": null, |
| "pitch_m_per_turn": 0.001, |
| "pitch_evidence": "engineering_assumption", |
| "coupling": "delta_z = -0.001 * theta / (2*pi); positive q extends foot downward", |
| "actions": [ |
| "grasp_knurled_rim", |
| "rotate_leveling_foot" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0.016, |
| 0, |
| -0.001 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "instrument unloaded; support body while adjusting; solve support-plane pose in host simulator" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.004999999422580004 |
| ], |
| "dimensions_m": [ |
| 0.03500000387430191, |
| 0.03500000387430191, |
| 0.02599999960511923 |
| ] |
| } |
| }, |
| { |
| "id": "foot_front_right", |
| "label_zh": "调平脚 front right", |
| "origin_m": [ |
| 0.081, |
| -0.092, |
| 0.008 |
| ], |
| "joint_type": "screw", |
| "axis": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "limits": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "limit_unit": "rad", |
| "rotation_limits_rad": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "physical_meaning_zh": "旋转调平脚改变支撑高度。暂设每圈 1 mm、相对中位 ±2 圈；螺距及机械止点待实测。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.022, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.016, |
| 0.004 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.006 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.017, |
| 0.008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.001 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.005, |
| 0.016 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.01 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Red controls", |
| "actual_manufacturer_limits": null, |
| "pitch_m_per_turn": 0.001, |
| "pitch_evidence": "engineering_assumption", |
| "coupling": "delta_z = -0.001 * theta / (2*pi); positive q extends foot downward", |
| "actions": [ |
| "grasp_knurled_rim", |
| "rotate_leveling_foot" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0.016, |
| 0, |
| -0.001 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "instrument unloaded; support body while adjusting; solve support-plane pose in host simulator" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| -7.450580596923828e-09, |
| 0.0, |
| 0.004999999422580004 |
| ], |
| "dimensions_m": [ |
| 0.03499998897314072, |
| 0.03500000387430191, |
| 0.02599999960511923 |
| ] |
| } |
| }, |
| { |
| "id": "foot_rear_right", |
| "label_zh": "调平脚 rear right", |
| "origin_m": [ |
| 0.081, |
| 0.092, |
| 0.008 |
| ], |
| "joint_type": "screw", |
| "axis": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "limits": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "limit_unit": "rad", |
| "rotation_limits_rad": [ |
| -12.566370614359172, |
| 12.566370614359172 |
| ], |
| "physical_meaning_zh": "旋转调平脚改变支撑高度。暂设每圈 1 mm、相对中位 ±2 圈；螺距及机械止点待实测。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.022, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.016, |
| 0.004 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.006 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.017, |
| 0.008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| -0.001 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.005, |
| 0.016 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.01 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Red controls", |
| "actual_manufacturer_limits": null, |
| "pitch_m_per_turn": 0.001, |
| "pitch_evidence": "engineering_assumption", |
| "coupling": "delta_z = -0.001 * theta / (2*pi); positive q extends foot downward", |
| "actions": [ |
| "grasp_knurled_rim", |
| "rotate_leveling_foot" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0.016, |
| 0, |
| -0.001 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "instrument unloaded; support body while adjusting; solve support-plane pose in host simulator" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| -7.450580596923828e-09, |
| 0.0, |
| 0.004999999422580004 |
| ], |
| "dimensions_m": [ |
| 0.03499998897314072, |
| 0.03500000387430191, |
| 0.02599999960511923 |
| ] |
| } |
| }, |
| { |
| "id": "control_panel", |
| "label_zh": "固定操作面板", |
| "origin_m": [ |
| 0, |
| -0.071, |
| 0.0362 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "承载显示屏及四个功能键；面板本身无旋转自由度。", |
| "range_evidence": "photo_estimate", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.01, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "read_display" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.15800000727176666, |
| 0.06587640941143036, |
| 0.019816219806671143 |
| ] |
| } |
| }, |
| { |
| "id": "level_indicator", |
| "label_zh": "水平泡", |
| "origin_m": [ |
| 0, |
| -0.071, |
| 0.0362 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "观测支撑平面倾斜；气泡居中表示调平。仅观测，无用户转动自由度。", |
| "range_evidence": "photo_estimate", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.002, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "observe_level" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.06599999964237213, |
| 0.011013373965397477, |
| 0.005356124020181596 |
| ], |
| "dimensions_m": [ |
| 0.010399997234344482, |
| 0.010553586762398481, |
| 0.0051122300792485476 |
| ] |
| } |
| }, |
| { |
| "id": "button_zero", |
| "label_zh": "Zero 功能键", |
| "origin_m": [ |
| -0.0494999997317791, |
| -0.09395518153905869, |
| 0.03287437558174133 |
| ], |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 0.27017650300586354, |
| -0.9628108107118047 |
| ], |
| "limits": [ |
| 0, |
| 0.0008 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "短按开机或置零，长按关机。置零不等于物理清空秤盘。 按键沿面板法线内压，行程暂设 0.8 mm。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.002, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.027, |
| 0.009, |
| 0.0008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.0006 |
| ], |
| "rpy_rad": [ |
| 0.27357634730199537, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "short_press", |
| "long_press" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0.0012 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 6.863020826131105e-05 |
| ], |
| "dimensions_m": [ |
| 0.028999999165534973, |
| 0.01091513130813837, |
| 0.0042645747307688 |
| ] |
| } |
| }, |
| { |
| "id": "button_print", |
| "label_zh": "Print 功能键", |
| "origin_m": [ |
| -0.016499999910593033, |
| -0.09395518153905869, |
| 0.03287437558174133 |
| ], |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 0.27017650300586354, |
| -0.9628108107118047 |
| ], |
| "limits": [ |
| 0, |
| 0.0008 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "短按输出读数，长按切换单位。接口需连接才产生外部数据。 按键沿面板法线内压，行程暂设 0.8 mm。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.002, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.027, |
| 0.009, |
| 0.0008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.0006 |
| ], |
| "rpy_rad": [ |
| 0.27357634730199537, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "short_press", |
| "long_press" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0.0012 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 6.863020826131105e-05 |
| ], |
| "dimensions_m": [ |
| 0.028999999165534973, |
| 0.01091513130813837, |
| 0.0042645747307688 |
| ] |
| } |
| }, |
| { |
| "id": "button_function", |
| "label_zh": "Function 功能键", |
| "origin_m": [ |
| 0.016499999910593033, |
| -0.09395518153905869, |
| 0.03287437558174133 |
| ], |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 0.27017650300586354, |
| -0.9628108107118047 |
| ], |
| "limits": [ |
| 0, |
| 0.0008 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "应用功能与模式选择；不改变秤盘质量。 按键沿面板法线内压，行程暂设 0.8 mm。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.002, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.027, |
| 0.009, |
| 0.0008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.0006 |
| ], |
| "rpy_rad": [ |
| 0.27357634730199537, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "short_press", |
| "long_press" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0.0012 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 6.863020826131105e-05 |
| ], |
| "dimensions_m": [ |
| 0.028999999165534973, |
| 0.01091513130813837, |
| 0.0042645747307688 |
| ] |
| } |
| }, |
| { |
| "id": "button_tare", |
| "label_zh": "Tare 功能键", |
| "origin_m": [ |
| 0.0494999997317791, |
| -0.09395518153905869, |
| 0.03287437558174133 |
| ], |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 0.27017650300586354, |
| -0.9628108107118047 |
| ], |
| "limits": [ |
| 0, |
| 0.0008 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "以当前稳定载荷设置或清除皮重，显示样品净质量；长按进入菜单。 按键沿面板法线内压，行程暂设 0.8 mm。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.002, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.027, |
| 0.009, |
| 0.0008 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0.0006 |
| ], |
| "rpy_rad": [ |
| 0.27357634730199537, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "short_press", |
| "long_press" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0.0012 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 6.863020826131105e-05 |
| ], |
| "dimensions_m": [ |
| 0.028999999165534973, |
| 0.01091513130813837, |
| 0.0042645747307688 |
| ] |
| } |
| }, |
| { |
| "id": "pan_support", |
| "label_zh": "秤盘下托架", |
| "origin_m": [ |
| 0, |
| 0.03, |
| 0.045 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "固定支承面及卡扣配合；通过秤盘向称量传感器传力。", |
| "range_evidence": "photo_estimate", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.055, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.058, |
| 0.006 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.005, |
| 0.005 |
| ], |
| "origin_m": [ |
| 0.038, |
| 0.0, |
| 0.002 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.005, |
| 0.005 |
| ], |
| "origin_m": [ |
| -0.01918415197479459, |
| 0.0328019559326572, |
| 0.002 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.005, |
| 0.005 |
| ], |
| "origin_m": [ |
| -0.01862991121094658, |
| -0.03311987935171635, |
| 0.002 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Dark polymer", |
| "actual_manufacturer_limits": null, |
| "actions": [], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0007500001229345798 |
| ], |
| "dimensions_m": [ |
| 0.11599999666213989, |
| 0.11599999666213989, |
| 0.007500000298023224 |
| ] |
| } |
| }, |
| { |
| "id": "transport_lock", |
| "label_zh": "红色运输锁", |
| "origin_m": [ |
| -0.02, |
| 0.032, |
| 0.049 |
| ], |
| "joint_type": "revolute", |
| "axis": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "limits": [ |
| 0, |
| 1.5707963267948966 |
| ], |
| "limit_unit": "rad", |
| "rotation_limits_rad": [ |
| 0, |
| 1.5707963267948966 |
| ], |
| "physical_meaning_zh": "从上方沿负 Z 看，逆时针 90°由锁定切换至解锁。锁定保护称量机构，锁定时禁止有效称量。需先卸下秤盘才能操作。", |
| "range_evidence": "manufacturer_verified", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.003, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.008, |
| 0.002 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.006, |
| 0.014, |
| 0.003 |
| ], |
| "origin_m": [ |
| 0, |
| 0.005, |
| 0.001 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Red controls", |
| "actual_manufacturer_limits": [ |
| 0, |
| 1.5707963267948966 |
| ], |
| "default_q": 1.5707963267948966, |
| "actions": [ |
| "rotate_to_lock", |
| "rotate_to_unlock" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0.005, |
| 0.001 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "pan removed", |
| "power off", |
| "no sample load" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.001999999862164259, |
| 0.0007499991334043443 |
| ], |
| "dimensions_m": [ |
| 0.01600000075995922, |
| 0.02000000048428774, |
| 0.0034999983618035913 |
| ] |
| } |
| }, |
| { |
| "id": "pan", |
| "label_zh": "旋转卡扣矩形秤盘", |
| "origin_m": [ |
| 0, |
| 0.03, |
| 0.052 |
| ], |
| "joint_type": "bayonet", |
| "axis": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "limits": [ |
| -0.3490658503988659, |
| 0 |
| ], |
| "limit_unit": "rad", |
| "rotation_limits_rad": [ |
| -0.3490658503988659, |
| 0 |
| ], |
| "physical_meaning_zh": "矩形盘 170 × 140 mm。安装时逆时针旋转锁定，拆卸先顺时针解锁再抬起。20°只作演示，厂家未给出卡扣角度。正常称量锁定为 0°。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.11, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.17, |
| 0.14, |
| 0.004 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Brushed stainless steel", |
| "actual_manufacturer_limits": null, |
| "detach_requires": "q <= -20 degrees, power off, no load; then free 6-DoF after release", |
| "load_support_surface": { |
| "shape": "rectangle", |
| "size_m": [ |
| 0.17, |
| 0.14 |
| ], |
| "center_m": [ |
| 0, |
| 0, |
| 0.002 |
| ], |
| "normal": [ |
| 0, |
| 0, |
| 1 |
| ], |
| "aggregation": "sum normal supported load excluding pan self-weight; include container transmitted load" |
| }, |
| "actions": [ |
| "place_container", |
| "place_sample", |
| "remove_sample", |
| "detach_for_cleaning" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0.002 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "detach only unloaded and power off", |
| "clockwise bayonet release before lifting" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.17000000178813934, |
| 0.14000000059604645, |
| 0.004000000189989805 |
| ] |
| } |
| }, |
| { |
| "id": "rear_ports", |
| "label_zh": "后部电源与选配接口", |
| "origin_m": [ |
| -0.045, |
| 0.112, |
| 0.029 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "直流电源输入及附件接口。RS232、USB、以太网等需另外安装模块，不能视为本机自带端口。", |
| "range_evidence": "photo_estimate", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.016, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.006, |
| 0.003 |
| ], |
| "origin_m": [ |
| -0.01, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 1.5707963267948966, |
| 0, |
| 0 |
| ] |
| }, |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.0035, |
| 0.003 |
| ], |
| "origin_m": [ |
| 0.012, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 1.5707963267948966, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Dark polymer", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "connect_power", |
| "disconnect_power", |
| "connect_communication_accessory" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| -0.00024999864399433136, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.03150000050663948, |
| 0.0030000004917383194, |
| 0.012000000104308128 |
| ] |
| } |
| }, |
| { |
| "id": "security_anchor", |
| "label_zh": "防盗锁槽", |
| "origin_m": [ |
| 0.063, |
| 0.112, |
| 0.023 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "固定后部防盗锁插槽。", |
| "range_evidence": "photo_estimate", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.002, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.003, |
| 0.002, |
| 0.012 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "attach_security_cable" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.003000000026077032, |
| 0.0020000000949949026, |
| 0.012000000104308128 |
| ] |
| } |
| }, |
| { |
| "id": "battery_cover", |
| "label_zh": "底部电池仓盖", |
| "origin_m": [ |
| 0.056, |
| -0.005, |
| 0.009 |
| ], |
| "joint_type": "detachable", |
| "axis": [ |
| 0, |
| 0, |
| -1 |
| ], |
| "limits": [ |
| 0, |
| 0.03 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "取下底盖更换四节 AA 电池。解卡方式与精确位移未公开，30 mm 仅为拆卸演示；不是铰链旋转。", |
| "range_evidence": "task_envelope", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.018, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.046, |
| 0.094, |
| 0.003 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Red controls", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "detach", |
| "reattach" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "power off", |
| "access underside", |
| "release cover latch before cover removal" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.04600000008940697, |
| 0.09399999678134918, |
| 0.003000000026077032 |
| ] |
| } |
| }, |
| { |
| "id": "battery_1", |
| "label_zh": "AA 电池 1", |
| "origin_m": [ |
| 0.056, |
| -0.035, |
| 0.02 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "可更换电源，安装需要正确极性；电池在默认场景中位于封闭仓内，几何为代理。", |
| "range_evidence": "photo_estimate", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.023, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [], |
| "material": "Cast metal / lower ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "detach", |
| "reattach" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "power off", |
| "access underside", |
| "release cover latch before cover removal" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.041999999433755875, |
| 0.013399999588727951, |
| 0.0134000014513731 |
| ] |
| } |
| }, |
| { |
| "id": "battery_2", |
| "label_zh": "AA 电池 2", |
| "origin_m": [ |
| 0.056, |
| -0.016000000000000004, |
| 0.02 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "可更换电源，安装需要正确极性；电池在默认场景中位于封闭仓内，几何为代理。", |
| "range_evidence": "photo_estimate", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.023, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [], |
| "material": "Cast metal / lower ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "detach", |
| "reattach" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "power off", |
| "access underside", |
| "release cover latch before cover removal" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.041999999433755875, |
| 0.013399999588727951, |
| 0.0134000014513731 |
| ] |
| } |
| }, |
| { |
| "id": "battery_3", |
| "label_zh": "AA 电池 3", |
| "origin_m": [ |
| 0.056, |
| 0.0029999999999999957, |
| 0.02 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "可更换电源，安装需要正确极性；电池在默认场景中位于封闭仓内，几何为代理。", |
| "range_evidence": "photo_estimate", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.023, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [], |
| "material": "Cast metal / lower ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "detach", |
| "reattach" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "power off", |
| "access underside", |
| "release cover latch before cover removal" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.041999999433755875, |
| 0.013399999588727951, |
| 0.0134000014513731 |
| ] |
| } |
| }, |
| { |
| "id": "battery_4", |
| "label_zh": "AA 电池 4", |
| "origin_m": [ |
| 0.056, |
| 0.021999999999999992, |
| 0.02 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "可更换电源，安装需要正确极性；电池在默认场景中位于封闭仓内，几何为代理。", |
| "range_evidence": "photo_estimate", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.023, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [], |
| "material": "Cast metal / lower ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "detach", |
| "reattach" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "power off", |
| "access underside", |
| "release cover latch before cover removal" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.041999999433755875, |
| 0.013399999588727951, |
| 0.0134000014513731 |
| ] |
| } |
| }, |
| { |
| "id": "security_switch", |
| "label_zh": "底部校准保护滑动开关", |
| "origin_m": [ |
| -0.063, |
| 0.041, |
| 0.009 |
| ], |
| "joint_type": "prismatic", |
| "axis": [ |
| 0, |
| 1, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0.004 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "限制菜单与校准修改；与运输锁分别标注。4 mm 行程为仿真假设。", |
| "range_evidence": "engineering_assumption", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.002, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "box", |
| "size_m": [ |
| 0.014, |
| 0.025, |
| 0.003 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Red controls", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "slide_lock", |
| "slide_unlock" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.014000000432133675, |
| 0.02500000037252903, |
| 0.003000000026077032 |
| ] |
| } |
| }, |
| { |
| "id": "weigh_below", |
| "label_zh": "底部下挂称量孔", |
| "origin_m": [ |
| 0, |
| 0.03, |
| 0.008 |
| ], |
| "joint_type": "fixed", |
| "axis": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "limits": [ |
| 0, |
| 0 |
| ], |
| "limit_unit": "m", |
| "rotation_limits_rad": [ |
| 0, |
| 0 |
| ], |
| "physical_meaning_zh": "支持下挂称量及密度测量；需要可访问底部的实验台布置。孔盖与钩仅作功能代理。", |
| "range_evidence": "photo_estimate", |
| "source_id": "SPX_MANUAL", |
| "mass_kg": 0.004, |
| "mass_evidence": "engineering_assumption", |
| "friction_coefficient": 0.4, |
| "friction_evidence": "engineering_assumption", |
| "collisions": [ |
| { |
| "shape": "cylinder", |
| "size_m": [ |
| 0.008, |
| 0.002 |
| ], |
| "origin_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "rpy_rad": [ |
| 0, |
| 0, |
| 0 |
| ] |
| } |
| ], |
| "material": "Warm white ABS", |
| "actual_manufacturer_limits": null, |
| "actions": [ |
| "attach_suspension" |
| ], |
| "interaction_anchor": { |
| "position_in_component_m": [ |
| 0, |
| 0, |
| 0 |
| ], |
| "evidence": "photo_estimate", |
| "purpose": "nominal interaction point; not a validated robot grasp pose" |
| }, |
| "action_preconditions": [ |
| "access underside through suitable bench opening" |
| ], |
| "restitution": 0.05, |
| "restitution_evidence": "engineering_assumption", |
| "inertia_approximation": { |
| "method": "uniform bounding box", |
| "center_of_mass_m": [ |
| 0.0, |
| 0.0, |
| 0.0 |
| ], |
| "dimensions_m": [ |
| 0.01600000075995922, |
| 0.01600000075995922, |
| 0.0020000000949949026 |
| ] |
| } |
| } |
| ] |
| } |
| ] |
| } |
