| { | |
| "description": "The task involves an elastic cantilever beam with one end fixed on the wall. The beam consists of 4 deformable blocks. ", | |
| "assets": { | |
| "base": { | |
| "model": "../../assets/obj/pedestal.obj", | |
| "material": { | |
| "plastic": { | |
| "mass": 0.1719, | |
| "friction": 0.01, | |
| "restitution": 0.01 | |
| } | |
| } | |
| }, | |
| "cube-1": { | |
| "model": "../../assets/obj/cube.obj", | |
| "material": { | |
| "soft": { | |
| "mass": 0.0016, | |
| "density": 12.8, | |
| "young": 86410, | |
| "poisson": 0.23, | |
| "friction": 0, | |
| "restitution": 0 | |
| }, | |
| "hard": { | |
| "mass": 0.0034, | |
| "density": 27.2, | |
| "young": 99372, | |
| "poisson": 0.34, | |
| "friction": 0, | |
| "restitution": 0 | |
| } | |
| } | |
| }, | |
| "cube-2": { | |
| "model": "../../assets/obj/cube.obj", | |
| "material": { | |
| "rubber": { | |
| "mass": 0.1341, | |
| "friction": 0.01, | |
| "restitution": 0.01 | |
| } | |
| } | |
| }, | |
| "cube-3": { | |
| "model": "../../assets/obj/cube.obj", | |
| "material": { | |
| "soft": { | |
| "mass": 0.0016, | |
| "density": 12.8, | |
| "young": 86410, | |
| "poisson": 0.23, | |
| "friction": 0, | |
| "restitution": 0 | |
| }, | |
| "hard": { | |
| "mass": 0.0034, | |
| "density": 27.2, | |
| "young": 99372, | |
| "poisson": 0.34, | |
| "friction": 0.01, | |
| "restitution": 0.01 | |
| } | |
| } | |
| }, | |
| "cube-4": { | |
| "model": "../../assets/obj/cube.obj", | |
| "material": { | |
| "rubber": { | |
| "mass": 0.1341, | |
| "friction": 0.01, | |
| "restitution": 0.01 | |
| } | |
| } | |
| } | |
| }, | |
| "tasks": { | |
| "default": { | |
| "assets": ["base", "cube-1", "cube-2", "cube-3", "cube-4"], | |
| "translation": { | |
| "base": [0.41849, 0.28158, 0.20601], | |
| "cube-1": [0.41849, 0.36858, 0.20601], | |
| "cube-2": [0.41849, 0.41858, 0.20601], | |
| "cube-3": [0.41849, 0.46858, 0.20601], | |
| "cube-4": [0.41849, 0.51858, 0.20601] | |
| }, | |
| "orientation": { | |
| "base": [0, 0, 0], | |
| "cube-1": [0, 0, 0], | |
| "cube-2": [0, 0, 0], | |
| "cube-3": [0, 0, 0], | |
| "cube-4": [0, 0, 0] | |
| }, | |
| "fixed": { | |
| "base": true, | |
| "cube-1": false, | |
| "cube-2": false, | |
| "cube-3": false, | |
| "cube-4": false | |
| }, | |
| "kinematic": { | |
| "base": false, | |
| "cube-1": false, | |
| "cube-2": false, | |
| "cube-3": false, | |
| "cube-4": false | |
| }, | |
| "record": { | |
| "assets": ["markers"], | |
| "dim": ["x", "y", "z"], | |
| "fps": 30 | |
| } | |
| } | |
| }, | |
| "markers": { | |
| "translation": [ | |
| [0.39349, 0.34358, 0.23101], | |
| [0.39349, 0.39358, 0.23101], | |
| [0.39349, 0.44358, 0.23101], | |
| [0.39349, 0.49358, 0.23101], | |
| [0.41849, 0.36858, 0.23101], | |
| [0.41849, 0.41858, 0.23101], | |
| [0.41849, 0.46858, 0.23101], | |
| [0.41849, 0.51858, 0.23101], | |
| [0.44349, 0.34358, 0.23101], | |
| [0.44349, 0.39358, 0.23101], | |
| [0.44349, 0.44358, 0.23101], | |
| [0.44349, 0.49358, 0.23101], | |
| [0.44349, 0.36858, 0.20601], | |
| [0.44349, 0.41858, 0.20601], | |
| [0.44349, 0.46858, 0.20601], | |
| [0.44349, 0.51858, 0.20601], | |
| [0.44349, 0.34358, 0.18101], | |
| [0.44349, 0.39358, 0.18101], | |
| [0.44349, 0.44358, 0.18101], | |
| [0.44349, 0.49358, 0.18101]] | |
| } | |
| } |