| { | |
| "index": { | |
| "type_name": "default", | |
| "entity": "UPB_00000463", | |
| "label": "2" | |
| }, | |
| "part_level": { | |
| "part_name": "Upper-Left Drawer", | |
| "affordance": 5, | |
| "graspable": true, | |
| "basic_description": "Wooden drawer box with decorative front panel; about 40*30*15 cm.", | |
| "functional_description": "Provides enclosed storage for small items in the upper-left drawer bay.", | |
| "movement_description": "Slides in/out relative to the frame on wooden runners, a single-axis translation along the depth.", | |
| "grasp_description": "Pulled by the attached knob; users typically grasp the knob or drawer front." | |
| }, | |
| "basic_info": { | |
| "material": "wood/Hardwood_Poplar", | |
| "density": 0.55, | |
| "young": 9.0, | |
| "hardness": 30, | |
| "poisson": 0.35, | |
| "friction": 0.5 | |
| }, | |
| "kinematic_info": { | |
| "motion_types": [ | |
| "B" | |
| ], | |
| "motion_info": { | |
| "dependency": [ | |
| 2, | |
| 6 | |
| ], | |
| "B": { | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| 0.0 | |
| ], | |
| "pos": [ | |
| -0.21174703538417816, | |
| -0.15627364814281464, | |
| -0.5308724641799927 | |
| ], | |
| "range": [ | |
| -0.20000000298023224, | |
| 0.0 | |
| ], | |
| "damping": 0.05 | |
| } | |
| } | |
| } | |
| } |