{
  "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": [
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              "size_m": [
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                0.321,
                0.018
              ],
              "origin_m": [
                0,
                0,
                0.017
              ],
              "rpy_rad": [
                0,
                0,
                0
              ]
            },
            {
              "shape": "box",
              "size_m": [
                0.20099999999999998,
                0.107,
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              "origin_m": [
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              "rpy_rad": [
                0,
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                0
              ]
            },
            {
              "shape": "box",
              "size_m": [
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                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": [
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              0.0,
              0.04700000211596489
            ],
            "dimensions_m": [
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              0.32100000977516174,
              0.07800000160932541
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          }
        },
        {
          "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
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          }
        },
        {
          "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
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          }
        },
        {
          "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
            ]
          }
        }
      ]
    }
  ]
}