| { | |
| "index": { | |
| "type_name": "default", | |
| "entity": "UPB_00000463", | |
| "label": "3" | |
| }, | |
| "part_level": { | |
| "part_name": "Upper-Right Drawer", | |
| "affordance": 6, | |
| "graspable": true, | |
| "basic_description": "Wooden drawer box matching the others; approx 40*30*15 cm.", | |
| "functional_description": "Holds small items in the upper-right drawer bay.", | |
| "movement_description": "Translates along the depth relative to the frame; friction-damped wood-on-wood slide.", | |
| "grasp_description": "Pulled via its front knob; may be pushed closed by the 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": [ | |
| 3, | |
| 7 | |
| ], | |
| "B": { | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| 0.0 | |
| ], | |
| "pos": [ | |
| 0.21528565883636475, | |
| -0.15627364814281464, | |
| -0.5308724641799927 | |
| ], | |
| "range": [ | |
| -0.20000000298023224, | |
| 0.0 | |
| ], | |
| "damping": 0.05 | |
| } | |
| } | |
| } | |
| } |