| { | |
| "index": { | |
| "type_name": "default", | |
| "entity": "UPB_00000456", | |
| "label": "2" | |
| }, | |
| "part_level": { | |
| "part_name": "Upper Left Framed Glass Door", | |
| "affordance": 1, | |
| "graspable": true, | |
| "basic_description": "Tall door with a hardwood frame and central glass panel; approx. 42*3*135 cm. Mounted on left-side hinges.", | |
| "functional_description": "Closes the upper-left display compartment while allowing visibility through the glass.", | |
| "movement_description": "Rotates about a vertical hinge axis on its left edge relative to the cabinet body.", | |
| "grasp_description": "Grasped by the handle to pull open/close; fingers contact the wood frame more than the glass." | |
| }, | |
| "basic_info": { | |
| "material": "wood/Oak_Veneer_on_MDF", | |
| "density": 0.75, | |
| "young": 12.0, | |
| "hardness": 40, | |
| "poisson": 0.33, | |
| "friction": 0.5 | |
| }, | |
| "kinematic_info": { | |
| "motion_types": [ | |
| "C" | |
| ], | |
| "motion_info": { | |
| "dependency": [ | |
| 2 | |
| ], | |
| "C": { | |
| "axis": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "pos": [ | |
| -0.438030868768692, | |
| -0.17999885976314545, | |
| 0.0 | |
| ], | |
| "range": [ | |
| 0.0, | |
| 1.9198621771937625 | |
| ], | |
| "damping": 0.05 | |
| } | |
| } | |
| } | |
| } |