| { | |
| "index": { | |
| "type_name": "default", | |
| "entity": "UPB_00000461", | |
| "label": "2" | |
| }, | |
| "part_level": { | |
| "part_name": "Right Door Panel", | |
| "affordance": 2, | |
| "graspable": true, | |
| "basic_description": "Framed hardwood door, approx. 38*1.8*40 cm, mounted on the right side of the carcass.", | |
| "functional_description": "Closes the right half of the cabinet opening and interfaces with the pull handle for access.", | |
| "movement_description": "Rotates outward about a vertical hinge axis on the carcass; typical opening up to ~110 degrees.", | |
| "grasp_description": "Users pull on the right handle or door edge to open and close." | |
| }, | |
| "basic_info": { | |
| "material": "wood/Hardwood_Oak_Veneer", | |
| "density": 0.7, | |
| "young": 11.0, | |
| "hardness": 35, | |
| "poisson": 0.35, | |
| "friction": 0.55 | |
| }, | |
| "kinematic_info": { | |
| "motion_types": [ | |
| "C" | |
| ], | |
| "motion_info": { | |
| "dependency": [ | |
| 2, | |
| 4 | |
| ], | |
| "C": { | |
| "axis": [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "pos": [ | |
| 0.41853395104408264, | |
| -0.1943235993385315, | |
| 0.012390297837555408 | |
| ], | |
| "range": [ | |
| 0.0, | |
| 1.5707963267948966 | |
| ], | |
| "damping": 0.03 | |
| } | |
| } | |
| } | |
| } |