| { | |
| "index": { | |
| "type_name": "default", | |
| "entity": "UPB_00000480", | |
| "label": "7" | |
| }, | |
| "part_level": { | |
| "part_name": "Left Glass Door", | |
| "affordance": 3, | |
| "graspable": true, | |
| "basic_description": "Painted hardwood frame with a soda-lime glass pane, forming the left top door.", | |
| "functional_description": "Closes the upper storage compartment and allows visibility of contents.", | |
| "movement_description": "Rotates about a vertical hinge axis with typical soft-closing behavior.", | |
| "grasp_description": "Grasped at the knob to open/close; edges may be touched when cleaning." | |
| }, | |
| "basic_info": { | |
| "material": "wood/Hardwood_Painted", | |
| "density": 0.7, | |
| "young": 10.0, | |
| "hardness": 28, | |
| "poisson": 0.35, | |
| "friction": 0.45 | |
| }, | |
| "kinematic_info": { | |
| "motion_types": [ | |
| "C" | |
| ], | |
| "motion_info": { | |
| "dependency": [ | |
| 7, | |
| 15 | |
| ], | |
| "C": { | |
| "axis": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "pos": [ | |
| -0.4374852776527405, | |
| -0.16053999960422516, | |
| 0.3329096734523773 | |
| ], | |
| "range": [ | |
| 0.0, | |
| 1.9198621771937625 | |
| ], | |
| "damping": 0.04 | |
| } | |
| } | |
| } | |
| } |