File size: 2,864 Bytes
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"description": "The task involves a textile pressed by a cube. One of textile's edges is attached to a rod. Then, suddenly pull the rod to make the textile slide.",
"assets": {
"cube": {
"model": "../../assets/obj/cube.obj",
"material": {
"wood": {
"mass": 0.0938,
"friction": 0.482590,
"restitution": 0.343222
},
"plastic": {
"mass": 0.1494,
"friction": 0.409626,
"restitution": 0.303054
},
"metal": {
"mass": 0.3422,
"friction": 0.385805,
"restitution": 0.189784
}
}
},
"rod": {
"model": "../../assets/obj/rod-40.obj",
"material": {
"wood": {
"mass": 0.02136,
"friction": 0.01,
"restitution": 0.01
}
}
},
"table": {
"model": "../../assets/obj/table.obj",
"material": {
"wood": {
"mass": 6.4113,
"friction": 0.01,
"restitution": 0.01
}
}
},
"textile": {
"model": "../../assets/obj/tablecloth.obj",
"material": {
"nylon": {
"mass": 0.096011,
"density": 0.53939,
"thickness": 0.21e-3,
"stretch stiffness": 1308.39850,
"bend stiffness": 2.8613e-7,
"shear stiffness": 86.34980,
"friction": 0.1,
"restitution": 0.1
}
}
}
},
"tasks": {
"default": {
"assets": ["cube", "rod", "table", "textile"],
"translation": {
"cube": [0.71605, 0.41785, 0.2077],
"rod": [0.36220, 0.42129, 0.1826],
"table": [0.78265, 0.40502, 0.17],
"textile": [0.58470, 0.42129, 0.1826]
},
"orientation": {
"cube": [0, 0, 0],
"rod": [0, 0, 0],
"table": [0, 0, 0],
"textile": [0, 0, 0]
},
"fixed": {
"cube": false,
"rod": false,
"table": true,
"textile": false
},
"kinematic": {
"cube": false,
"rod": true,
"table": false,
"textile": false
}
}
}
}
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