| { | |
| "index": { | |
| "type_name": "default", | |
| "entity": "UPB_00000455", | |
| "label": "7" | |
| }, | |
| "part_level": { | |
| "part_name": "Lower Right Wooden Door", | |
| "affordance": 5, | |
| "graspable": true, | |
| "basic_description": "Lower right walnut door matching the left door.", | |
| "functional_description": "Closes the right half of the base storage compartment.", | |
| "movement_description": "Rotates on hinges; the handle is rigidly attached.", | |
| "grasp_description": "Pulled at the handle to open." | |
| }, | |
| "basic_info": { | |
| "material": "wood/Walnut", | |
| "density": 0.64, | |
| "young": 11.0, | |
| "hardness": 30, | |
| "poisson": 0.35, | |
| "friction": 0.45 | |
| }, | |
| "kinematic_info": { | |
| "motion_types": [ | |
| "C" | |
| ], | |
| "motion_info": { | |
| "dependency": [ | |
| 7, | |
| 11 | |
| ], | |
| "C": { | |
| "axis": [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "pos": [ | |
| 0.4069992005825043, | |
| -0.19368594884872437, | |
| -0.7740755677223206 | |
| ], | |
| "range": [ | |
| 0.0, | |
| 1.9198621771937625 | |
| ], | |
| "damping": 0.05 | |
| } | |
| } | |
| } | |
| } |