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@@ -29,136 +29,43 @@ bodies, flexible cables, textiles, and volumetric deformable objects.
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  ## Task Overview
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- The table below summarizes the 22 GAUGE task families, including the
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- target physical property, number of condition variants, and material
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- instantiations.
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-
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- ---------------------------------------------------------------------------------------
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- Category Task Description Evaluation Subtasks Material
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- ------------ ------------- ---------------- ---------------- -------------- -----------
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- Rigid Body Slope Contact Fall of a Slope collisions 1 Wood,
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- trirectangular Plastic
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- tetrahedron
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-
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- Rigid Body Nonsmooth Fall of wedges Codimensional 3 Wood,
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- Contact and pyramids collisions Plastic
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-
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- Rigid Body Slope Slider Slide of a cube Static and 3 Wood,
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- on a slope kinetic friction Plastic,
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- Metal
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- Rigid Body Turntable Slide of a cube Static and 3 Wood,
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- on a turntable kinetic friction Plastic,
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- in a Metal
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- non-inertial
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- frame
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-
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- Rigid Body Bouncing Ball Fall and Rapid impact 1 Rubber
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- bouncing of a
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- ball
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- Rigid Body Newton's Collision of Momentum 1 Metal
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- Cradle closely fitted transfer
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- balls
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- Rigid Body Wall Breaking Collision of a Large-scale 1 Wood
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- wrecking ball dense collisions
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- with a wall
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-
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- Rigid Body Pendulum Oscillation of a Periodic motion 1 Metal
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- ball
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- Flexible Rope Winding Winding of a Self-collision 1 Rubber
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- Cable rope and stretch
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- modulus
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- Textile Textile Tensile Stretch modulus 1 R, S, U, O,
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- Stretching deformation of a L, N
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- textile
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- Textile Textile Natural sagging Bending modulus 1 R, S, U, O,
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- Bending of a textile L, N
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- Textile Textile Fluttering of a Motion under 1 R, S, U, O,
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- Flinging textile locally high L, N
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- acceleration
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- Textile Funnel Passage of Collision, 1 R, S, U, O,
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- textiles through friction L, N
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- a hole
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- Textile Rotating Ball Motion of a Static and 1 R, S, U
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- textile driven kinetic friction
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- by a rotating
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- ball
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- Textile Tablecloth Pulling a Static and 1 Wood,
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- Pulling textile from kinetic friction Plastic,
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- beneath rigid Metal
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- objects
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- Volumetric Foam Stretching of an Stretching 1 Soft, Hard
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- Deformable Stretching elastic cuboid modulus
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- Body
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- Volumetric Foam Compression of Compression 1 Soft, Hard
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- Deformable Compressing an elastic modulus
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- Body cuboid
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- Volumetric Foam Shearing Shearing of an Shear modulus 1 Soft, Hard
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- Deformable elastic cuboid
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- Body
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- Volumetric Foam Twisting Twisting of an Twisting modulus 1 Soft, Hard
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- Deformable elastic cuboid
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- Body
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- Volumetric Foam Bending Bending of an Bending modulus 1 Soft, Hard
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- Deformable elastic cuboid
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- Body
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- Volumetric Stick-Stack Sliding of an Static and 1 Soft, Hard
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- Deformable elastic rod on a kinetic friction
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- Body plane
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- Volumetric Cantilever Free hanging of Coupling with a 1 Soft, Hard
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- Deformable Beam an elastic large stiffness
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- Body cantilever beam ratio
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- ---------------------------------------------------------------------------------------
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-
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- ### Textile Material Abbreviations
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-
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- - **R** --- Rayon
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- - **S** --- Satin
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- - **U** --- Uniform cloth
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- - **O** --- Oxford fabric
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- - **L** --- Synthetic leather
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- - **N** --- Nylon taslan
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  ## Physical Regimes
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- ------------------------------------------------------------------------
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- Physical Regime Number of Task Families Representative
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- Properties
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- --------------------- ---------------------------- ---------------------
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- Rigid Body 8 Collision, friction,
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- momentum transfer,
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- impact, periodic
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- motion
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- Flexible Cable 1 Self-collision,
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- stretching
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- Textile 6 Stretching, bending,
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- friction,
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- high-acceleration
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- dynamics
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- Volumetric Deformable 7 Stretching,
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- Body compression, shear,
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- twisting, bending,
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- friction
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- ------------------------------------------------------------------------
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  ## Dataset Contents
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  ## Task Overview
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+ GAUGE contains **22 controlled task families** spanning rigid bodies, flexible cables, textiles, and volumetric deformable objects.
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+
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+ | Category | Task | Description | Evaluation | Subtasks | Material |
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+ | --- | --- | --- | --- | ---: | --- |
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+ | Rigid Body | Slope Contact | Fall of a trirectangular tetrahedron | Slope collisions | 1 | Wood, Plastic |
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+ | Rigid Body | Nonsmooth Contact | Fall of wedges and pyramids | Codimensional collisions | 3 | Wood, Plastic |
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+ | Rigid Body | Slope Slider | Slide of a cube on a slope | Static and kinetic friction | 3 | Wood, Plastic, Metal |
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+ | Rigid Body | Turntable | Slide of a cube on a turntable | Static and kinetic friction in a non-inertial frame | 3 | Wood, Plastic, Metal |
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+ | Rigid Body | Bouncing Ball | Fall and bouncing of a ball | Rapid impact | 1 | Rubber |
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+ | Rigid Body | Newton's Cradle | Collision of closely fitted balls | Momentum transfer | 1 | Metal |
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+ | Rigid Body | Wall Breaking | Collision of a wrecking ball with a wall | Large-scale dense collisions | 1 | Wood |
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+ | Rigid Body | Pendulum | Oscillation of a ball | Periodic motion | 1 | Metal |
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+ | Flexible Cable | Rope Winding | Winding of a rope | Self-collision and stretch modulus | 1 | Rubber |
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+ | Textile | Textile Stretching | Tensile deformation of a textile | Stretch modulus | 1 | R, S, U, O, L, N |
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+ | Textile | Textile Bending | Natural sagging of a textile | Bending modulus | 1 | R, S, U, O, L, N |
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+ | Textile | Textile Flinging | Fluttering of a textile | Motion under locally high acceleration | 1 | R, S, U, O, L, N |
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+ | Textile | Funnel | Passage of textiles through a hole | Collision, friction | 1 | R, S, U, O, L, N |
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+ | Textile | Rotating Ball | Motion of a textile driven by a rotating ball | Static and kinetic friction | 1 | R, S, U |
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+ | Textile | Tablecloth Pulling | Pulling a textile from beneath rigid objects | Static and kinetic friction | 1 | Wood, Plastic, Metal |
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+ | Volumetric Deformable Body | Foam Stretching | Stretching of an elastic cuboid | Stretching modulus | 1 | Soft, Hard |
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+ | Volumetric Deformable Body | Foam Compressing | Compression of an elastic cuboid | Compression modulus | 1 | Soft, Hard |
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+ | Volumetric Deformable Body | Foam Shearing | Shearing of an elastic cuboid | Shear modulus | 1 | Soft, Hard |
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+ | Volumetric Deformable Body | Foam Twisting | Twisting of an elastic cuboid | Twisting modulus | 1 | Soft, Hard |
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+ | Volumetric Deformable Body | Foam Bending | Bending of an elastic cuboid | Bending modulus | 1 | Soft, Hard |
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+ | Volumetric Deformable Body | Stick-Stack | Sliding of an elastic rod on a plane | Static and kinetic friction | 1 | Soft, Hard |
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+ | Volumetric Deformable Body | Cantilever Beam | Free hanging of an elastic cantilever beam | Coupling with a large stiffness ratio | 1 | Soft, Hard |
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+
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+ **Textile material abbreviations:** R = Rayon, S = Satin, U = Uniform cloth, O = Oxford fabric, L = Synthetic leather, N = Nylon taslan.
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  ## Physical Regimes
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+ | Physical Regime | Number of Task Families | Representative Properties |
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+ | -------------------- | ---------------------------- | --------------------- |
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+ | Rigid Body | 8 | Collision, friction, momentum transfer, impact, periodic motion |
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+ | Flexible Cable | 1 | Self-collision, stretching |
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+ | Textile | 6 | Stretching, bending, friction, high-acceleration dynamics |
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+ | Volumetric Deformable Body | 7 | Stretching, compression, shear, twisting, bending, friction |
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
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  ## Dataset Contents
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