| { | |
| "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] | |
| ] | |
| } | |
| } |