| { | |
| "index": { | |
| "type_name": "default", | |
| "entity": "UPB_00000455", | |
| "label": "2" | |
| }, | |
| "part_level": { | |
| "part_name": "Main Wooden Frame", | |
| "affordance": 6, | |
| "graspable": false, | |
| "basic_description": "Walnut carcass/frame with legs, top ring, and lower base shelf; supports all other modules.", | |
| "functional_description": "Provides structural integrity and mounting surfaces for hinges, doors, and the upper shelving unit.", | |
| "movement_description": "Stationary reference for all motions; rigidly connected to the shelf module and hinges.", | |
| "grasp_description": "Occasionally touched at edges when moving the cabinet but not meant for grasping." | |
| }, | |
| "basic_info": { | |
| "material": "wood/Walnut", | |
| "density": 0.64, | |
| "young": 11.0, | |
| "hardness": 30, | |
| "poisson": 0.35, | |
| "friction": 0.45 | |
| }, | |
| "kinematic_info": { | |
| "motion_types": [ | |
| "D" | |
| ], | |
| "motion_info": {} | |
| } | |
| } |