File size: 3,875 Bytes
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"description": "The task involves an elastic cuboid with two ends fixed. Then, place a cube at the center of the cuboid.",
"assets": {
"base-1": {
"model": "../../assets/obj/base.obj",
"material": {
"plastic": {
"mass": 0.0351,
"friction": 0.01,
"restitution": 0.01
}
}
},
"base-2": {
"model": "../../assets/obj/base.obj",
"material": {
"plastic": {
"mass": 0.0351,
"friction": 0.01,
"restitution": 0.01
}
}
},
"cube": {
"model": "../../assets/obj/cube.obj",
"material": {
"plastic": {
"mass": 0.1469,
"friction": 0.01,
"restitution": 0.01
}
}
},
"foam": {
"model": "../../assets/obj/foam.obj",
"material": {
"soft": {
"mass": 0.0066,
"density": 13.2,
"young": 86410,
"poisson": 0.23,
"friction": 0,
"restitution": 0
},
"hard": {
"mass": 0.0131,
"density": 26.2,
"young": 99372,
"poisson": 0.34,
"friction": 0,
"restitution": 0
}
}
}
},
"tasks": {
"default": {
"assets": ["base-1", "base-2", "cube", "foam"],
"translation": {
"base-1": [0.41916, 0.28376, 0.20612],
"base-2": [0.41916, 0.50776, 0.20612],
"cube": [0.41916, 0.39576, 0.26672],
"foam": [0.41916, 0.39576, 0.20612]
},
"orientation": {
"base-1": [90, 0, 0],
"base-2": [90, 0, 0],
"cube": [0, 0, 0],
"foam": [90, 0, 0]
},
"fixed": {
"base-1": true,
"base-2": true,
"cube": false,
"foam": false
},
"kinematic": {
"base-1": false,
"base-2": false,
"cube": true,
"foam": false
},
"record": {
"assets": ["markers"],
"dim": ["x", "y", "z"],
"fps": 30
}
}
},
"markers": {
"translation": [
[0.44416 , 0.32076 , 0.19778667],
[0.44416 , 0.34576 , 0.19778667],
[0.44416 , 0.37076 , 0.19778667],
[0.44416 , 0.39576 , 0.19778667],
[0.44416 , 0.42076 , 0.19778667],
[0.44416 , 0.44576 , 0.19778667],
[0.44416 , 0.47076 , 0.19778667],
[0.44416 , 0.32076 , 0.21445333],
[0.44416 , 0.34576 , 0.21445333],
[0.44416 , 0.37076 , 0.21445333],
[0.44416 , 0.39576 , 0.21445333],
[0.44416 , 0.42076 , 0.21445333],
[0.44416 , 0.44576 , 0.21445333],
[0.44416 , 0.47076 , 0.21445333]
],
"faces": [
[0, 7, 8],
[0, 8, 1],
[1, 8, 9],
[1, 9, 2],
[2, 9, 10],
[2, 10, 3],
[3, 10, 11],
[3, 11, 4],
[4, 11, 12],
[4, 12, 5],
[5, 12, 13],
[5, 13, 6]
]
}
} |