| { | |
| "index": { | |
| "type_name": "default", | |
| "entity": "UPB_00000488", | |
| "label": "3" | |
| }, | |
| "part_level": { | |
| "part_name": "Left glass door", | |
| "affordance": 4, | |
| "graspable": true, | |
| "basic_description": "Tall left-hinged door with a light-wood frame and a central glass panel, fitted with hinges and a knob.", | |
| "functional_description": "Closes the left side of the cabinet opening, protects and displays contents while allowing visibility.", | |
| "movement_description": "Rotates about a vertical hinge axis mounted to the carcass; typical swing up to roughly 110 degrees.", | |
| "grasp_description": "Grasp the knob to pull the door open or push it closed." | |
| }, | |
| "basic_info": { | |
| "material": "wood/Plywood_Laminated", | |
| "density": 0.65, | |
| "young": 9.0, | |
| "hardness": 30, | |
| "poisson": 0.3, | |
| "friction": 0.4 | |
| }, | |
| "kinematic_info": { | |
| "motion_types": [ | |
| "C" | |
| ], | |
| "motion_info": { | |
| "dependency": [ | |
| 3, | |
| 6 | |
| ], | |
| "C": { | |
| "axis": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "pos": [ | |
| -0.3776293098926544, | |
| -0.14968235790729523, | |
| 0.0 | |
| ], | |
| "range": [ | |
| 0.0, | |
| 1.9198621771937625 | |
| ], | |
| "damping": 0.05 | |
| } | |
| } | |
| } | |
| } |