| { | |
| "index": { | |
| "type_name": "default", | |
| "entity": "UPB_00000470", | |
| "label": "7" | |
| }, | |
| "part_level": { | |
| "part_name": "Right Door", | |
| "affordance": 4, | |
| "graspable": true, | |
| "basic_description": "Tall MDF door panel finished in white; sized to cover the right half of the opening.", | |
| "functional_description": "Closes the cabinet and opens for access to the interior.", | |
| "movement_description": "Rotates about hinges mounted to the right side panel; typical opening angle up to 120\u00b0.", | |
| "grasp_description": "User pulls the handle to open, pushes to close." | |
| }, | |
| "basic_info": { | |
| "material": "wood/MDF_Laminate_White", | |
| "density": 0.72, | |
| "young": 3.0, | |
| "hardness": 16, | |
| "poisson": 0.3, | |
| "friction": 0.45 | |
| }, | |
| "kinematic_info": { | |
| "motion_types": [ | |
| "C" | |
| ], | |
| "motion_info": { | |
| "dependency": [ | |
| 7, | |
| 9 | |
| ], | |
| "C": { | |
| "axis": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "pos": [ | |
| -0.3931899666786194, | |
| -0.20992933213710785, | |
| 0.029835794121026993 | |
| ], | |
| "range": [ | |
| 0.0, | |
| 1.5707963267948966 | |
| ], | |
| "damping": 0.04 | |
| } | |
| } | |
| } | |
| } |