| { | |
| "description": "The task involves wedges or pyramids suspended at a fixed height. Then, these wedges and pyramids are released and fall under its own gravity on the square base or tribase.", | |
| "prompt": "Static frontal camera view: A robotic gripper holds a black plastic pyramid (mass ≈ 98 g, apex oriented downward with a slight tilt) suspended approximately 13 cm above a stationary light wooden square base (mass ≈ 115 g) featuring a square recess; the entire assembly sits atop a black perforated optical table. Coefficient of friction for plastic–wood contact ≈ 0.28; coefficient of restitution ≈ 0.36. The gripper actuates open to release the pyramid, which then undergoes unconstrained free fall driven by gravity. The pyramid follows this sequence of motion: it descends vertically, strikes near the square base on initial contact, may tip or bounce due to inherent instability from its apex-down orientation, and finally settles into a stable resting configuration. The square base and optical table remain fully stationary for the entire duration of the motion.", | |
| "assets": { | |
| "wedge": { | |
| "model": "../../assets/obj/wedge.obj", | |
| "material": { | |
| "wood": { | |
| "mass": 0.0634, | |
| "density": 507.2, | |
| "friction": 0.273673, | |
| "restitution": { | |
| "task-5": 0.307752 | |
| } | |
| }, | |
| "plastic": { | |
| "mass": 0.1463, | |
| "density": 1170.4, | |
| "friction": 0.275018, | |
| "restitution": { | |
| "task-5": 0.389192 | |
| } | |
| } | |
| } | |
| }, | |
| "pyramid": { | |
| "model": "../../assets/obj/pyramid.obj", | |
| "material": { | |
| "wood": { | |
| "mass": 0.0433, | |
| "density": 519.6, | |
| "friction": 0.273673, | |
| "restitution": { | |
| "task-3": 0.329297, | |
| "task-4": 0.334596 | |
| } | |
| }, | |
| "plastic": { | |
| "mass": 0.0976, | |
| "density": 1171.2, | |
| "friction": 0.275018, | |
| "restitution": { | |
| "task-3": 0.364949, | |
| "task-4": 0.319815 | |
| } | |
| } | |
| } | |
| }, | |
| "squarebase": { | |
| "model": "../../assets/obj/squarebase.obj", | |
| "material": { | |
| "wood": { | |
| "mass": 0.1146, | |
| "density": 523.8857, | |
| "friction": 0.273673, | |
| "restitution": { | |
| "task-3": 0.329297 | |
| } | |
| } | |
| } | |
| }, | |
| "tribase": { | |
| "model": "../../assets/obj/tribase.obj", | |
| "material": { | |
| "wood": { | |
| "mass": 0.0547, | |
| "density": 500.1143, | |
| "friction": 0.273673, | |
| "restitution": { | |
| "task-4": 0.334596, | |
| "task-5": 0.307752 | |
| } | |
| } | |
| } | |
| } | |
| }, | |
| "tasks": { | |
| "task-3": { | |
| "assets": ["pyramid", "squarebase"], | |
| "translation": { | |
| "pyramid": { | |
| "wood": [0.419851, 0.430966, 0.164676], | |
| "plastic": [0.420323, 0.430436, 0.164440] | |
| }, | |
| "squarebase": { | |
| "wood": [0.410310, 0.429903, 0.030423], | |
| "plastic": [0.410314, 0.429868, 0.030368] | |
| }, | |
| "ground": { | |
| "wood": [0, 0, 0.005423], | |
| "plastic": [0, 0, 0.005368] | |
| } | |
| }, | |
| "orientation": { | |
| "pyramid": { | |
| "wood": [-10, 10, 0], | |
| "plastic": [-10, 10, 0] | |
| }, | |
| "squarebase": { | |
| "wood": [0, 0, 0], | |
| "plastic": [0, 0, 0] | |
| } | |
| }, | |
| "fixed": { | |
| "pyramid": false, | |
| "squarebase": true | |
| }, | |
| "kinematic": { | |
| "pyramid": false, | |
| "squarebase": false | |
| }, | |
| "record": { | |
| "assets": ["pyramid"], | |
| "dim": ["x", "y", "z"], | |
| "fps": 30 | |
| } | |
| }, | |
| "task-4": { | |
| "assets": ["pyramid", "tribase"], | |
| "translation": { | |
| "pyramid": { | |
| "wood": [0.403041, 0.374874, 0.169568], | |
| "plastic": [0.405253, 0.375113, 0.171423] | |
| }, | |
| "tribase": { | |
| "wood": [0.390056, 0.374062, 0.030673], | |
| "plastic": [0.386422, 0.373865, 0.030480] | |
| }, | |
| "ground": { | |
| "wood": [0, 0, 0.005673], | |
| "plastic": [0, 0, 0.005480] | |
| } | |
| }, | |
| "orientation": { | |
| "pyramid": { | |
| "wood": [-10, 10, 0], | |
| "plastic": [-10, 10, 0] | |
| }, | |
| "tribase": { | |
| "wood": [0, 0, 0], | |
| "plastic": [0, 0, 0] | |
| } | |
| }, | |
| "fixed": { | |
| "pyramid": false, | |
| "tribase": true | |
| }, | |
| "kinematic": { | |
| "pyramid": false, | |
| "tribase": false | |
| }, | |
| "record": { | |
| "assets": ["pyramid"], | |
| "dim": ["x", "y", "z"], | |
| "fps": 30 | |
| } | |
| }, | |
| "task-5": { | |
| "assets": ["wedge", "tribase"], | |
| "translation": { | |
| "wedge": { | |
| "wood": [0.402296, 0.374206, 0.169536], | |
| "plastic": [0.401995, 0.373761, 0.170778] | |
| }, | |
| "tribase": { | |
| "wood": [0.390030, 0.374022, 0.030529], | |
| "plastic": [0.389799, 0.375095, 0.030643] | |
| }, | |
| "ground": { | |
| "wood": [0, 0, 0.005529], | |
| "plastic": [0, 0, 0.005643] | |
| } | |
| }, | |
| "orientation": { | |
| "wedge": { | |
| "wood": [-5, 5, 0], | |
| "plastic": [-5, 5, 0] | |
| }, | |
| "tribase": { | |
| "wood": [0, 0, 0], | |
| "plastic": [0, 0, 0] | |
| } | |
| }, | |
| "fixed": { | |
| "wedge": false, | |
| "tribase": true | |
| }, | |
| "kinematic": { | |
| "wedge": false, | |
| "tribase": false | |
| }, | |
| "record": { | |
| "assets": ["wedge"], | |
| "dim": ["x", "y", "z"], | |
| "fps": 30 | |
| } | |
| } | |
| } | |
| } |