| { | |
| "index": { | |
| "type_name": "default", | |
| "entity": "UPB_00000498", | |
| "label": "3" | |
| }, | |
| "part_level": { | |
| "part_name": "Upper left framed glass door", | |
| "affordance": 5, | |
| "graspable": false, | |
| "basic_description": "Tall wood-framed door with a tempered-glass center panel; approx. 38*2*120 cm.", | |
| "functional_description": "Closes the upper-left display compartment while allowing visibility through the glass.", | |
| "movement_description": "Rotates about vertical hinges mounted on the cabinet's left stile; typical opening angle up to ~110 degrees.", | |
| "grasp_description": "Pulled open by the attached knob rather than by the door edge." | |
| }, | |
| "basic_info": { | |
| "material": "wood/Hardwood_Oak", | |
| "density": 0.7, | |
| "young": 11.0, | |
| "hardness": 45, | |
| "poisson": 0.3, | |
| "friction": 0.4 | |
| }, | |
| "kinematic_info": { | |
| "motion_types": [ | |
| "C" | |
| ], | |
| "motion_info": { | |
| "dependency": [ | |
| 3, | |
| 7 | |
| ], | |
| "C": { | |
| "axis": [ | |
| 0.0, | |
| 0.0, | |
| -1.0 | |
| ], | |
| "pos": [ | |
| -0.4177197813987732, | |
| -0.16546852886676788, | |
| 0.3416590094566345 | |
| ], | |
| "range": [ | |
| 0.0, | |
| 1.9198621771937625 | |
| ], | |
| "damping": 0.03 | |
| } | |
| } | |
| } | |
| } |