| { | |
| "index": { | |
| "type_name": "default", | |
| "entity": "UPB_00000472", | |
| "label": "3" | |
| }, | |
| "part_level": { | |
| "part_name": "Top Drawer", | |
| "affordance": 3, | |
| "graspable": false, | |
| "basic_description": "MDF drawer box with wood-grain front, approx 40*35*15 cm.", | |
| "functional_description": "Provides enclosed storage for small items in the top drawer position.", | |
| "movement_description": "Slides in and out along rails fixed to the cabinet frame; limited to roughly 30 cm extension.", | |
| "grasp_description": "Pulled via the attached knob rather than by the drawer edges." | |
| }, | |
| "basic_info": { | |
| "material": "wood/MDF_Laminated", | |
| "density": 0.75, | |
| "young": 3.5, | |
| "hardness": 20, | |
| "poisson": 0.3, | |
| "friction": 0.45 | |
| }, | |
| "kinematic_info": { | |
| "motion_types": [ | |
| "B" | |
| ], | |
| "motion_info": { | |
| "dependency": [ | |
| 3, | |
| 6 | |
| ], | |
| "B": { | |
| "axis": [ | |
| 0.0, | |
| 1.0, | |
| 0.0 | |
| ], | |
| "pos": [ | |
| 0.0, | |
| -0.19110730290412903, | |
| -0.29628920555114746 | |
| ], | |
| "range": [ | |
| -0.30000001192092896, | |
| 0.0 | |
| ], | |
| "damping": 0.06 | |
| } | |
| } | |
| } | |
| } |