| { | |
| "index": { | |
| "type_name": "default", | |
| "entity": "UPB_00000493", | |
| "label": "2" | |
| }, | |
| "part_level": { | |
| "part_name": "Left Upper Glass Door", | |
| "affordance": 1, | |
| "graspable": true, | |
| "basic_description": "Tall left-hand door with wood frame and central glass panel; approximate size 37\u00d72\u00d7120 cm.", | |
| "functional_description": "Covers and protects the upper-left compartment while allowing visibility through the glass panel.", | |
| "movement_description": "Rotates about a vertical hinge on the cabinet\u2019s left side; typical soft-close damping limits the swing to about 110\u00b0.", | |
| "grasp_description": "Users grasp the handle or door edge to open/close the cabinet." | |
| }, | |
| "basic_info": { | |
| "material": "wood/MDF_Laminate", | |
| "density": 0.72, | |
| "young": 3.2, | |
| "hardness": 28, | |
| "poisson": 0.3, | |
| "friction": 0.45 | |
| }, | |
| "kinematic_info": { | |
| "motion_types": [ | |
| "C" | |
| ], | |
| "motion_info": { | |
| "dependency": [ | |
| 2 | |
| ], | |
| "C": { | |
| "axis": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "pos": [ | |
| -0.3747354745864868, | |
| -0.13936647772789001, | |
| 0.0 | |
| ], | |
| "range": [ | |
| 0.0, | |
| 1.9198621771937625 | |
| ], | |
| "damping": 0.03 | |
| } | |
| } | |
| } | |
| } |