diff --git "a/assets/physics_annotations.json" "b/assets/physics_annotations.json" new file mode 100644--- /dev/null +++ "b/assets/physics_annotations.json" @@ -0,0 +1,4668 @@ +{ + "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、��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 + ] + } + } + ] + } + ] +} \ No newline at end of file