| { | |
| "index": { | |
| "type_name": "default", | |
| "entity": "UPB_00000481", | |
| "label": "7" | |
| }, | |
| "part_level": { | |
| "part_name": "Right Glass-paneled Door", | |
| "affordance": 4, | |
| "graspable": false, | |
| "basic_description": "Painted MDF frame with glass panes forming the right door.", | |
| "functional_description": "Closes the right half of the cabinet and aligns at the center with the left door.", | |
| "movement_description": "Rotates about a vertical hinge axis relative to the body.", | |
| "grasp_description": "Pulled by the right door handle during normal use." | |
| }, | |
| "basic_info": { | |
| "material": "glass", | |
| "density": 2.454884526558893, | |
| "young": 68.975519630485, | |
| "hardness": 570.689376443418, | |
| "poisson": 0.22218706697459378, | |
| "friction": 0.46981524249422724 | |
| }, | |
| "kinematic_info": { | |
| "motion_types": [ | |
| "C" | |
| ], | |
| "motion_info": { | |
| "dependency": [ | |
| 7, | |
| 11 | |
| ], | |
| "C": { | |
| "axis": [ | |
| 0.0, | |
| 0.0, | |
| 1.0 | |
| ], | |
| "pos": [ | |
| 0.4575808048248291, | |
| -0.14476895332336426, | |
| 0.10536448657512665 | |
| ], | |
| "range": [ | |
| 0.0, | |
| 1.9198621771937625 | |
| ], | |
| "damping": 0.03 | |
| } | |
| } | |
| } | |
| } |