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