Update README.md

README.md

@@ -221,12 +221,47 @@ Manycore entity uses metadata of the following form:
 
 ### Part-level annotations
 
-Each `annotations/part_<id>.json` contains:
+Each `annotations/part_<id>.json` contains the part description, intrinsic
+physical properties, motion type, joint parameters, and motion dependency:
 
-- `index`: entity and part identifiers;
-- `part_level`: part name, descriptions, affordance, and graspability;
-- `basic_info`: material and intrinsic physical properties;
-- `kinematic_info`: motion type, dependency group, and joint parameters.
+```json
+{
+  "index": {
+    "type_name": "default",
+    "entity": "UPB_00000000",
+    "label": "3"
+  },
+  "part_level": {
+    "part_name": "Front Seat Trim Bar",
+    "affordance": 2,
+    "graspable": false,
+    "basic_description": "Slim ABS trim piece at the front edge of the seat.",
+    "functional_description": "Covers a seam and provides a finished edge.",
+    "movement_description": "Revolute; attached to the seat base.",
+    "grasp_description": "Grasp the handle of the bar."
+  },
+  "basic_info": {
+    "material": "metal/Steel",
+    "density": 7.85,
+    "young": 200.0,
+    "hardness": 180.0,
+    "poisson": 0.3,
+    "friction": 0.45
+  },
+  "kinematic_info": {
+    "motion_types": ["C"],
+    "motion_info": {
+      "dependency": [3],
+      "C": {
+        "axis": [-1.0, 0.0, 0.0],
+        "pos": [-0.02277967, 0.38144422, -0.02326505],
+        "range": [0.0, 0.785],
+        "damping": 0.03
+      }
+    }
+  }
+}
+```
 
 `kinematic_info.motion_info.dependency` lists the part IDs that move together.
 For movable parts, `B` contains prismatic parameters and `C` contains revolute