| { | |
| "index": { | |
| "type_name": "default", | |
| "entity": "UPB_00000468", | |
| "label": "2" | |
| }, | |
| "part_level": { | |
| "part_name": "Upper left framed glass door", | |
| "affordance": 5, | |
| "graspable": false, | |
| "basic_description": "Wooden frame door with inset glass panel and knob mount.", | |
| "functional_description": "Closes the upper left storage area and protects contents while allowing visibility.", | |
| "movement_description": "Rotates about a vertical hinge axis relative to the carcass; opens up to roughly 110 degrees.", | |
| "grasp_description": "Users pull it via the attached knob rather than the door edge." | |
| }, | |
| "basic_info": { | |
| "material": "wood/Hardwood_Oak", | |
| "density": 0.7, | |
| "young": 11.0, | |
| "hardness": 28, | |
| "poisson": 0.35, | |
| "friction": 0.45 | |
| }, | |
| "kinematic_info": { | |
| "motion_types": [ | |
| "C" | |
| ], | |
| "motion_info": { | |
| "dependency": [ | |
| 2, | |
| 8 | |
| ], | |
| "C": { | |
| "axis": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "pos": [ | |
| -0.4189223349094391, | |
| -0.1593349725008011, | |
| 0.17705495655536652 | |
| ], | |
| "range": [ | |
| 0.0, | |
| 1.9198621771937625 | |
| ], | |
| "damping": 0.03 | |
| } | |
| } | |
| } | |
| } |