File size: 4,402 Bytes
c2d8cd1 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 | {
"description": "The task involves an elastic cuboid with one end fixed. Then, the other end is pulled parallel to the fixed end.",
"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
}
}
},
"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", "foam"],
"translation": {
"base-1": [0.40998, 0.39478, 0.02053],
"base-2": [0.40998, 0.39478, 0.24453],
"foam": [0.40998, 0.39478, 0.13253]
},
"orientation": {
"base-1": [0, 0, 0],
"base-2": [0, 0, 0],
"foam": [0, 0, 0]
},
"fixed": {
"base-1": true,
"base-2": false,
"foam": false
},
"kinematic": {
"base-1": false,
"base-2": true,
"foam": false
},
"record": {
"assets": ["markers"],
"dim": ["x", "y", "z"],
"fps": 30
}
}
},
"markers": {
"translation": [
[0.43498 , 0.38644667, 0.05753 ],
[0.43498 , 0.38644667, 0.08253 ],
[0.43498 , 0.38644667, 0.10753 ],
[0.43498 , 0.38644667, 0.13253 ],
[0.43498 , 0.38644667, 0.15753 ],
[0.43498 , 0.38644667, 0.18253 ],
[0.43498 , 0.38644667, 0.20753 ],
[0.43498 , 0.40311333, 0.05753 ],
[0.43498 , 0.40311333, 0.08253 ],
[0.43498 , 0.40311333, 0.10753 ],
[0.43498 , 0.40311333, 0.13253 ],
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[0.43498 , 0.40311333, 0.18253 ],
[0.43498 , 0.40311333, 0.20753 ],
[0.40164667, 0.41978 , 0.05753 ],
[0.40164667, 0.41978 , 0.08253 ],
[0.40164667, 0.41978 , 0.10753 ],
[0.40164667, 0.41978 , 0.13253 ],
[0.40164667, 0.41978 , 0.15753 ],
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[0.41831333, 0.41978 , 0.18253 ],
[0.41831333, 0.41978 , 0.20753 ]
],
"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],
[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]
]
}
} |