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InternRobotics
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GAUGE-Dataset

Tasks:
Other
Languages:
English
Tags:
robotics
embodied-ai
physics
simulation
world-model
motion-capture
License:
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  1. metadata/deformable/cantilever beam.json +138 -0
  2. metadata/deformable/foam bending.json +122 -0
  3. metadata/deformable/foam compressing.json +134 -0
  4. metadata/deformable/foam shearing.json +134 -0
  5. metadata/deformable/foam stretching.json +134 -0
  6. metadata/deformable/foam twisting.json +134 -0
  7. metadata/deformable/stick-stack.json +84 -0
  8. metadata/rigid/bouncing ball.json +40 -0
  9. metadata/rigid/newton's cradle.json +99 -0
  10. metadata/rigid/nonsmooth contact.json +200 -0
  11. metadata/rigid/pendulum.json +39 -0
  12. metadata/rigid/slope contact.json +82 -0
  13. metadata/rigid/slope slider.json +163 -0
  14. metadata/rigid/turntable.json +162 -0
  15. metadata/rigid/wall breaking.json +2881 -0
  16. metadata/rope/rope winding.json +103 -0
  17. metadata/textile/funnel.json +164 -0
  18. metadata/textile/rotating ball.json +98 -0
  19. metadata/textile/tablecloth pulling.json +89 -0
  20. metadata/textile/textile bending.json +157 -0
  21. metadata/textile/textile flinging.json +284 -0
  22. metadata/textile/textile stretching.json +190 -0
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metadata/deformable/foam stretching.json ADDED
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1
+ {
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+ "description": "The task involves an elastic cuboid with one end fixed. Then, the other end is pulled along the long axis to a certain distance.",
3
+ "assets": {
4
+ "base-1": {
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+ "model": "../../assets/obj/base.obj",
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+ }
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1
+ {
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+ "description": "The task involves an elastic cuboid with one end fixed. Then, the other end is rotated around the long axis.",
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+ "assets": {
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+ "model": "../../assets/obj/base.obj",
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+ ]
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+ }
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+ }
metadata/deformable/stick-stack.json ADDED
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1
+ {
2
+ "description": "The task involves an elastic rod with a controlled top end. And the bottom end slides or stacks on the ground surface.",
3
+ "assets": {
4
+ "base": {
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+ "model": "../../assets/obj/base.obj",
6
+ "material": {
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+ "friction": 0.01,
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+ }
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+ }
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+ },
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+ "rod": {
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+ "model": "../../assets/obj/rod-15.obj",
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+ "material": {
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+ }
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+ }
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+ },
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+ "board": {
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+ "model": "../../assets/obj/board.obj",
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+ "material": {
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+ "wood": {
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+ "mass": 0.4769,
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+ "friction": 0.262758,
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+ "restitution": 0.223583
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+ }
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+ }
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+ }
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+ },
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+ "tasks": {
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+ "default": {
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+ "assets": ["base", "rod", "board"],
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+ "translation": {
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+ "base": [0.26265, 0.41963, 0.17665],
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+ "rod": [0.26265, 0.41963, 0.08965],
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+ "board": [0.46265, 0.41963, 0.00965]
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+ },
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+ "orientation": {
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+ "base": [0, 0, 0],
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+ "rod": [90, 0, 0],
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+ "board": [0, 0, 0]
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+ },
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+ "fixed": {
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+ "base": false,
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+ "rod": false,
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+ "board": true
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+ },
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+ "kinematic": {
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+ "base": true,
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+ },
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+ "record": {
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+ "dim": ["x", "y", "z"],
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+ "fps": 30
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+ }
74
+ }
75
+ },
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+ "markers": {
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+ [0.26265, 0.41463, 0.03465],
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+ [0.26265, 0.41463, 0.06465],
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+ [0.26265, 0.41463, 0.10465]
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+ ]
83
+ }
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+ }
metadata/rigid/bouncing ball.json ADDED
@@ -0,0 +1,40 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "description": "The task involves an elastic ball released to undergo free fall.",
3
+ "prompt": "Static frontal camera view: A dark elastic ball (mass ≈ 121 g) is suspended high above a wooden plank, which rests on two end supports atop a black perforated optical table. Coefficient of friction ≈ 0.81; coefficient of restitution ≈ 0.58. When released, the ball undergoes free fall, followed by a sequence of successive bounces with diminishing peak heights, before finally coming to rest on either the plank or the table surface.",
4
+ "assets": {
5
+ "ball": {
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+ "model": "../../assets/obj/ball-6.obj",
7
+ "material": {
8
+ "soft": {
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+ "mass": 0.121,
10
+ "density": 1069.8749,
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+ "friction": 0.808698,
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+ "restitution": 0.576733
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+ }
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+ }
15
+ }
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+ },
17
+ "tasks": {
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+ "default": {
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+ "assets": ["ball"],
20
+ "translation": {
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+ "ball": [0.418911, 0.435316, 0.451023],
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+ "ground": [0, 0, 0.013297]
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+ },
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+ "orientation": {
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+ "ball": [0, 0, 0]
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+ },
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+ "fixed": {
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+ "ball": false
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+ },
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+ "kinematic": {
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+ "ball": false
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+ },
33
+ "record": {
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+ "assets": ["ball"],
35
+ "dim": ["x", "y", "z"],
36
+ "fps": 30
37
+ }
38
+ }
39
+ }
40
+ }
metadata/rigid/newton's cradle.json ADDED
@@ -0,0 +1,99 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "description": "The task involves a series of suspended small balls arranged in a straight line and closely fitting each other. Then, one ball at one end is lifted and released, colliding with the other balls.",
3
+ "prompt": "Static frontal camera view: A Newton’s cradle assembly (five identical 33 g steel balls; coefficient of friction ≈ 0.01, coefficient of restitution ≈ 0.20) rests atop a black perforated optical table. Four balls hang in contact forming a stationary aligned row; the leftmost ball is pulled back to a nearly horizontal position on its individual suspension string and held propped against the tip of an independent lever mounted to a sliding rail. Upon release, the ball swings back to collide with the stationary row. Momentum transfers sequentially through the chain of balls, launching the terminal ball outward into a swing. The collisions are moderately inelastic, which visibly suppresses the ideal Newton’s cradle behavior across successive oscillation cycles.",
4
+ "assets": {
5
+ "ball-1": {
6
+ "model": "../../assets/obj/ball-2.obj",
7
+ "material": {
8
+ "metal": {
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+ "mass": 0.033,
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+ "density": 7878.1697,
11
+ "friction": 0.01,
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+ "restitution": 0.202387
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+ }
14
+ }
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+ },
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+ "ball-2": {
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+ "model": "../../assets/obj/ball-2.obj",
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+ "material": {
19
+ "metal": {
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+ "mass": 0.033,
21
+ "density": 7878.1697,
22
+ "friction": 0.01,
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+ "restitution": 0.202387
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+ }
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+ }
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+ },
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+ "ball-3": {
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+ "model": "../../assets/obj/ball-2.obj",
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+ "material": {
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+ "metal": {
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+ "mass": 0.033,
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+ "density": 7878.1697,
33
+ "friction": 0.01,
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+ "restitution": 0.202387
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+ }
36
+ }
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+ },
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+ "ball-4": {
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+ "model": "../../assets/obj/ball-2.obj",
40
+ "material": {
41
+ "metal": {
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+ "mass": 0.033,
43
+ "density": 7878.1697,
44
+ "friction": 0.01,
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+ "restitution": 0.202387
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+ }
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+ }
48
+ },
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+ "ball-5": {
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+ "model": "../../assets/obj/ball-2.obj",
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+ "material": {
52
+ "metal": {
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+ "mass": 0.033,
54
+ "density": 7878.1697,
55
+ "friction": 0.01,
56
+ "restitution": 0.202387
57
+ }
58
+ }
59
+ }
60
+ },
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+ "tasks": {
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+ "default": {
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+ "assets": ["ball-1", "ball-2", "ball-3", "ball-4", "ball-5"],
64
+ "translation": {
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+ "ball-1": [0.448794, 0.377852, 0.178669],
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+ "ball-2": [0.448794, 0.397852, 0.178669],
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+ "ball-3": [0.448794, 0.417852, 0.178669],
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+ "ball-4": [0.448794, 0.437852, 0.178669],
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+ "ball-5": [0.448794, 0.457852, 0.178669]
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+ },
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+ "orientation": {
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+ "ball-1": [-90, 0, 0],
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+ "ball-2": [0, 0, 0],
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+ "ball-3": [0, 0, 0],
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+ "ball-4": [0, 0, 0],
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+ "ball-5": [0, 0, 0]
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+ },
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+ "fixed": {
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+ "ball-1": false,
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+ "ball-3": false,
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+ "ball-4": false,
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+ "ball-5": false
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+ },
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+ "kinematic": {
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+ "ball-3": false,
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+ "ball-4": false,
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+ "ball-5": false
91
+ },
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+ "record": {
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+ "assets": ["ball-5"],
94
+ "dim": ["x", "y", "z"],
95
+ "fps": 30
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+ }
97
+ }
98
+ }
99
+ }
metadata/rigid/nonsmooth contact.json ADDED
@@ -0,0 +1,200 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "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.",
3
+ "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.",
4
+ "assets": {
5
+ "wedge": {
6
+ "model": "../../assets/obj/wedge.obj",
7
+ "material": {
8
+ "wood": {
9
+ "mass": 0.0634,
10
+ "density": 507.2,
11
+ "friction": 0.273673,
12
+ "restitution": {
13
+ "task-5": 0.307752
14
+ }
15
+ },
16
+ "plastic": {
17
+ "mass": 0.1463,
18
+ "density": 1170.4,
19
+ "friction": 0.275018,
20
+ "restitution": {
21
+ "task-5": 0.389192
22
+ }
23
+ }
24
+ }
25
+ },
26
+ "pyramid": {
27
+ "model": "../../assets/obj/pyramid.obj",
28
+ "material": {
29
+ "wood": {
30
+ "mass": 0.0433,
31
+ "density": 519.6,
32
+ "friction": 0.273673,
33
+ "restitution": {
34
+ "task-3": 0.329297,
35
+ "task-4": 0.334596
36
+ }
37
+ },
38
+ "plastic": {
39
+ "mass": 0.0976,
40
+ "density": 1171.2,
41
+ "friction": 0.275018,
42
+ "restitution": {
43
+ "task-3": 0.364949,
44
+ "task-4": 0.319815
45
+ }
46
+ }
47
+ }
48
+ },
49
+ "squarebase": {
50
+ "model": "../../assets/obj/squarebase.obj",
51
+ "material": {
52
+ "wood": {
53
+ "mass": 0.1146,
54
+ "density": 523.8857,
55
+ "friction": 0.273673,
56
+ "restitution": {
57
+ "task-3": 0.329297
58
+ }
59
+ }
60
+ }
61
+ },
62
+ "tribase": {
63
+ "model": "../../assets/obj/tribase.obj",
64
+ "material": {
65
+ "wood": {
66
+ "mass": 0.0547,
67
+ "density": 500.1143,
68
+ "friction": 0.273673,
69
+ "restitution": {
70
+ "task-4": 0.334596,
71
+ "task-5": 0.307752
72
+ }
73
+ }
74
+ }
75
+ }
76
+ },
77
+ "tasks": {
78
+ "task-3": {
79
+ "assets": ["pyramid", "squarebase"],
80
+ "translation": {
81
+ "pyramid": {
82
+ "wood": [0.419851, 0.430966, 0.164676],
83
+ "plastic": [0.420323, 0.430436, 0.164440]
84
+ },
85
+ "squarebase": {
86
+ "wood": [0.410310, 0.429903, 0.030423],
87
+ "plastic": [0.410314, 0.429868, 0.030368]
88
+ },
89
+ "ground": {
90
+ "wood": [0, 0, 0.005423],
91
+ "plastic": [0, 0, 0.005368]
92
+ }
93
+ },
94
+ "orientation": {
95
+ "pyramid": {
96
+ "wood": [-10, 10, 0],
97
+ "plastic": [-10, 10, 0]
98
+ },
99
+ "squarebase": {
100
+ "wood": [0, 0, 0],
101
+ "plastic": [0, 0, 0]
102
+ }
103
+ },
104
+ "fixed": {
105
+ "pyramid": false,
106
+ "squarebase": true
107
+ },
108
+ "kinematic": {
109
+ "pyramid": false,
110
+ "squarebase": false
111
+ },
112
+ "record": {
113
+ "assets": ["pyramid"],
114
+ "dim": ["x", "y", "z"],
115
+ "fps": 30
116
+ }
117
+ },
118
+ "task-4": {
119
+ "assets": ["pyramid", "tribase"],
120
+ "translation": {
121
+ "pyramid": {
122
+ "wood": [0.403041, 0.374874, 0.169568],
123
+ "plastic": [0.405253, 0.375113, 0.171423]
124
+ },
125
+ "tribase": {
126
+ "wood": [0.390056, 0.374062, 0.030673],
127
+ "plastic": [0.386422, 0.373865, 0.030480]
128
+ },
129
+ "ground": {
130
+ "wood": [0, 0, 0.005673],
131
+ "plastic": [0, 0, 0.005480]
132
+ }
133
+ },
134
+ "orientation": {
135
+ "pyramid": {
136
+ "wood": [-10, 10, 0],
137
+ "plastic": [-10, 10, 0]
138
+ },
139
+ "tribase": {
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+ "wood": [0, 0, 0],
141
+ "plastic": [0, 0, 0]
142
+ }
143
+ },
144
+ "fixed": {
145
+ "pyramid": false,
146
+ "tribase": true
147
+ },
148
+ "kinematic": {
149
+ "pyramid": false,
150
+ "tribase": false
151
+ },
152
+ "record": {
153
+ "assets": ["pyramid"],
154
+ "dim": ["x", "y", "z"],
155
+ "fps": 30
156
+ }
157
+ },
158
+ "task-5": {
159
+ "assets": ["wedge", "tribase"],
160
+ "translation": {
161
+ "wedge": {
162
+ "wood": [0.402296, 0.374206, 0.169536],
163
+ "plastic": [0.401995, 0.373761, 0.170778]
164
+ },
165
+ "tribase": {
166
+ "wood": [0.390030, 0.374022, 0.030529],
167
+ "plastic": [0.389799, 0.375095, 0.030643]
168
+ },
169
+ "ground": {
170
+ "wood": [0, 0, 0.005529],
171
+ "plastic": [0, 0, 0.005643]
172
+ }
173
+ },
174
+ "orientation": {
175
+ "wedge": {
176
+ "wood": [-5, 5, 0],
177
+ "plastic": [-5, 5, 0]
178
+ },
179
+ "tribase": {
180
+ "wood": [0, 0, 0],
181
+ "plastic": [0, 0, 0]
182
+ }
183
+ },
184
+ "fixed": {
185
+ "wedge": false,
186
+ "tribase": true
187
+ },
188
+ "kinematic": {
189
+ "wedge": false,
190
+ "tribase": false
191
+ },
192
+ "record": {
193
+ "assets": ["wedge"],
194
+ "dim": ["x", "y", "z"],
195
+ "fps": 30
196
+ }
197
+ }
198
+ }
199
+
200
+ }
metadata/rigid/pendulum.json ADDED
@@ -0,0 +1,39 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "description": "The task involves a ball connected with a lightweight rod which can rotate around one of its ends. Then, the ball is lifted and released.",
3
+ "prompt": "Static frontal camera view: A heavy metal ball (mass ≈ 318 g) is fixed to the tip of a lightweight rigid rod, which rotates freely about a stationary horizontal axle mounted between two vertical posts atop a black perforated optical table. The rod is initially lifted to a horizontal position, with the ball extending out to one side. Upon release, the ball follows pendulum motion: it accelerates downward past the vertical datum, ascends on the opposite side, and continues oscillating back and forth over numerous cycles, its amplitude slowly and gradually diminishing due to frictional losses.",
4
+ "assets": {
5
+ "ball": {
6
+ "model": "../../assets/obj/ball-6.obj",
7
+ "material": {
8
+ "metal": {
9
+ "mass": 0.3175,
10
+ "density": 2807.3164,
11
+ "friction": 0.01,
12
+ "restitution": 0.01
13
+ }
14
+ }
15
+ }
16
+ },
17
+ "tasks": {
18
+ "default": {
19
+ "assets": ["ball"],
20
+ "translation": {
21
+ "ball": [0.373960, 0.490590, 0.445133]
22
+ },
23
+ "orientation": {
24
+ "ball": [0, 90, 0]
25
+ },
26
+ "fixed": {
27
+ "ball": false
28
+ },
29
+ "kinematic": {
30
+ "ball": false
31
+ },
32
+ "record": {
33
+ "assets": ["ball"],
34
+ "dim": ["x", "y", "z"],
35
+ "fps": 30
36
+ }
37
+ }
38
+ }
39
+ }
metadata/rigid/slope contact.json ADDED
@@ -0,0 +1,82 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "description": "The task involves a trirectangular tetrahedron which forms a initially tight fit with its complementary base fixed on the table. Then, the trirectangular tetrahedron is released and falls under its own gravity.",
3
+ "prompt": "Static frontal camera view: A solid wooden trirectangular tetrahedron (mass ≈ 84 g) is tightly wedged against its stationary matching base (mass ≈ 997 g) atop a black perforated optical table. The two components combine to form a single upright rectangular block divided by a diagonal contact seam. Coefficient of friction for wood-on-wood contact ≈ 0.39; coefficient of restitution ≈ 0.37. An out-of-frame tension string securing the tetrahedron is released, after which frictional forces alone are insufficient to retain the tetrahedron on the base’s inclined surface. The tetrahedron follows a sequence of rigid-body motion governed by gravity: sliding along the slope, detaching fully from the base, free falling through air, potentially bouncing or tumbling upon impact, and finally settling into a stable resting configuration. The complementary base remains entirely stationary for the full duration of the motion event.",
4
+ "assets": {
5
+ "teh": {
6
+ "model": "../../assets/obj/teh.obj",
7
+ "material": {
8
+ "wood": {
9
+ "mass": 0.0839,
10
+ "density": 503.4,
11
+ "friction": 0.388428,
12
+ "restitution": 0.370309
13
+ },
14
+ "plastic": {
15
+ "mass": 0.0529,
16
+ "density": 317.4,
17
+ "friction": 0.182460,
18
+ "restitution": 0.307058
19
+ }
20
+ }
21
+ },
22
+ "base": {
23
+ "model": "../../assets/obj/tehC.obj",
24
+ "material": {
25
+ "wood": {
26
+ "mass": 0.9969,
27
+ "density": 543.7636,
28
+ "friction": 0.388428,
29
+ "restitution": 0.370309
30
+ },
31
+ "plastic": {
32
+ "mass": 0.4104,
33
+ "density": 223.8545,
34
+ "friction": 0.182460,
35
+ "restitution": 0.307058
36
+ }
37
+ }
38
+ }
39
+ },
40
+ "tasks": {
41
+ "default": {
42
+ "assets": ["teh", "base"],
43
+ "translation": {
44
+ "teh": {
45
+ "wood": [0.504278, 0.408961, 0.180622],
46
+ "plastic": [0.505473, 0.406877, 0.180174]
47
+ },
48
+ "base": {
49
+ "wood": [0.468923, 0.408961, 0.105622],
50
+ "plastic": [0.470118, 0.406877, 0.105174]
51
+ },
52
+ "ground": {
53
+ "wood":[0, 0, 0.005622],
54
+ "plastic": [0, 0, 0.005174]
55
+ }
56
+ },
57
+ "orientation": {
58
+ "teh": {
59
+ "wood": [0, 0, 0],
60
+ "plastic": [0, 0, 0]
61
+ },
62
+ "base": {
63
+ "wood": [0, 0, 0],
64
+ "plastic": [0, 0, 0]
65
+ }
66
+ },
67
+ "fixed": {
68
+ "teh": false,
69
+ "base": true
70
+ },
71
+ "kinematic": {
72
+ "teh": false,
73
+ "base": false
74
+ },
75
+ "record": {
76
+ "assets": ["teh"],
77
+ "dim": ["x", "y", "z"],
78
+ "fps": 30
79
+ }
80
+ }
81
+ }
82
+ }
metadata/rigid/slope slider.json ADDED
@@ -0,0 +1,163 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "description": "The task involves a cube resting on a board which can rotate with different angles according to its fixed axis passing through its geometric center. Then, the cube is placed at the higher end of the broad, and slides under its own gravity.",
3
+ "prompt": "Static frontal camera view: A black plastic cube (mass ≈ 147 g) sits near the upper end of a wooden plank (mass ≈ 477 g). The plank is secured to a pivoting fixture locked at a steady, relatively steep incline of approximately 30°. A linear ruler and digital protractor are placed beside the assembly, all resting on a black perforated optical table. Coefficient of friction between plastic and wood ≈ 0.28; coefficient of restitution for the cube ≈ 0.37. Upon release, the cube undergoes the following motion sequence: it accelerates as it slides down the inclined surface, and finally lands before coming to rest on the table surface. The wooden plank remains fully stationary for the entire duration of the motion.",
4
+ "assets": {
5
+ "cube": {
6
+ "model": "../../assets/obj/cube.obj",
7
+ "material": {
8
+ "wood": {
9
+ "mass": 0.0903,
10
+ "density": 722.4,
11
+ "friction": 0.273673,
12
+ "restitution": 0.223583
13
+ },
14
+ "plastic": {
15
+ "mass": 0.1469,
16
+ "density": 1175.2,
17
+ "friction": 0.275018,
18
+ "restitution": 0.373862
19
+ },
20
+ "metal": {
21
+ "mass": 0.3397,
22
+ "density": 2717.6,
23
+ "friction": 0.262758,
24
+ "restitution": 0.333623
25
+ }
26
+ }
27
+ },
28
+ "board": {
29
+ "model": "../../assets/obj/board.obj",
30
+ "material": {
31
+ "wood": {
32
+ "mass": 0.4769,
33
+ "density": 635.87,
34
+ "friction": 0.262758,
35
+ "restitution": 0.223583
36
+ }
37
+ }
38
+ }
39
+ },
40
+ "tasks": {
41
+ "task-1": {
42
+ "assets": ["cube", "board"],
43
+ "translation": {
44
+ "cube": {
45
+ "wood": [0.017089, 0.396862, 0.210591],
46
+ "plastic": [0.014675, 0.398604, 0.203510],
47
+ "metal": [0.014765, 0.401449, 0.202390]
48
+ },
49
+ "board": {
50
+ "wood": [0.233461, 0.396862, 0.141976],
51
+ "plastic": [0.231047, 0.398604, 0.134895],
52
+ "metal": [0.231137, 0.401449, 0.133775]
53
+ }
54
+ },
55
+ "orientation": {
56
+ "cube": {
57
+ "wood": [0, 10, 0],
58
+ "plastic": [0, 10, 0],
59
+ "metal": [0, 10, 0]
60
+ },
61
+ "board": {
62
+ "wood": [0, 10, 0],
63
+ "plastic": [0, 10, 0],
64
+ "metal": [0, 10, 0]
65
+ }
66
+ },
67
+ "fixed": {
68
+ "cube": false,
69
+ "board": true
70
+ },
71
+ "kinematic": {
72
+ "cube": false,
73
+ "board": false
74
+ },
75
+ "record": {
76
+ "assets": ["cube"],
77
+ "dim": ["x", "y", "z"],
78
+ "fps": 30
79
+ }
80
+ },
81
+ "task-2": {
82
+ "assets": ["cube", "board"],
83
+ "translation": {
84
+ "cube": {
85
+ "wood": [0.097247, 0.406934, 0.359354],
86
+ "plastic": [0.099205, 0.405048, 0.359256],
87
+ "metal": [0.098720, 0.403392, 0.359680]
88
+ },
89
+ "board": {
90
+ "wood": [0.277103, 0.406934, 0.220873],
91
+ "plastic": [0.279061, 0.405048, 0.220775],
92
+ "metal": [0.27857572, 0.403392, 0.22119924]
93
+ }
94
+ },
95
+ "orientation": {
96
+ "cube": {
97
+ "wood": [0, 30, 0],
98
+ "plastic": [0, 30, 0],
99
+ "metal": [0, 30, 0]
100
+ },
101
+ "board": {
102
+ "wood": [0, 30, 0],
103
+ "plastic": [0, 30, 0],
104
+ "metal": [0, 30, 0]
105
+ }
106
+ },
107
+ "fixed": {
108
+ "cube": false,
109
+ "board": true
110
+ },
111
+ "kinematic": {
112
+ "cube": false,
113
+ "board": false
114
+ },
115
+ "record": {
116
+ "assets": ["cube"],
117
+ "dim": ["x", "y", "z"],
118
+ "fps": 30
119
+ }
120
+ },
121
+ "task-3": {
122
+ "assets": ["cube", "board"],
123
+ "translation": {
124
+ "cube": {
125
+ "wood": [0.072447, 0.388420, 0.264611],
126
+ "plastic": [0.071240, 0.385604, 0.264552],
127
+ "metal": [0.072298, 0.387577, 0.268944]
128
+ },
129
+ "board": {
130
+ "wood": [0.297447, 0.38842, 0.234611],
131
+ "plastic": [0.29624 , 0.385604, 0.234552],
132
+ "metal": [0.297298, 0.387577, 0.238944]
133
+ }
134
+ },
135
+ "orientation": {
136
+ "cube": {
137
+ "wood": [0, 0, 0],
138
+ "plastic": [0, 0, 0],
139
+ "metal": [0, 0, 0]
140
+ },
141
+ "board": {
142
+ "wood": [0, 0, 0],
143
+ "plastic": [0, 0, 0],
144
+ "metal": [0, 0, 0]
145
+ }
146
+ },
147
+ "fixed": {
148
+ "cube": false,
149
+ "board": false
150
+ },
151
+ "kinematic": {
152
+ "cube": false,
153
+ "board": true
154
+ },
155
+ "record": {
156
+ "assets": ["cube"],
157
+ "dim": ["x", "y", "z"],
158
+ "fps": 30
159
+ }
160
+ }
161
+ }
162
+
163
+ }
metadata/rigid/turntable.json ADDED
@@ -0,0 +1,162 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "description": "The task involves a cube hovering above a rotating circle turntable. Then, the cube is released on the turntable, and slides or keeps rest relative to the surface.",
3
+ "prompt": "Static top camera view: A black plastic cube (mass ≈ 147 g) is positioned off-center atop a wooden circular turntable (mass ≈ 722 g) driven by an electric motor and undergoing continuous rotation; the full assembly rests on a optical table. Coefficient of static friction between the cube and turntable ≈ 0.32; coefficient of restitution ≈ 0.32. Upon rotation, the cube follows a sliding trajectory across the spinning turntable surface.",
4
+ "assets": {
5
+ "cube": {
6
+ "model": "../../assets/obj/cube.obj",
7
+ "material": {
8
+ "wood": {
9
+ "mass": 0.0903,
10
+ "density": 722.4,
11
+ "friction": 0.378789,
12
+ "restitution": 0.285485
13
+ },
14
+ "plastic": {
15
+ "mass": 0.1469,
16
+ "density": 1175.2,
17
+ "friction": 0.322256,
18
+ "restitution": 0.324127
19
+ },
20
+ "metal": {
21
+ "mass": 0.3397,
22
+ "density": 2717.6,
23
+ "friction": 0.326517,
24
+ "restitution": 0.225054
25
+ }
26
+ }
27
+ },
28
+ "plate": {
29
+ "model": "../../assets/obj/plate.obj",
30
+ "material": {
31
+ "wood": {
32
+ "mass": 0.7216,
33
+ "density": 510.4276,
34
+ "friction": 0.322256,
35
+ "restitution": 0.225054
36
+ }
37
+ }
38
+ }
39
+ },
40
+ "tasks": {
41
+ "task-1": {
42
+ "assets": ["cube", "plate"],
43
+ "translation": {
44
+ "cube": {
45
+ "wood": [0.480787, 0.406880, 0.213902],
46
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metadata/rigid/wall breaking.json ADDED
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metadata/rope/rope winding.json ADDED
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1
+ {
2
+ "description": "The task involves a hanging soft rope with a ball connected to each end. Then, two balls are pushed in opposite directions parallel to the ground surface and rotate under the gravity and constraint of the rope.",
3
+ "assets": {
4
+ "beam": {
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+ "model": "../../assets/obj/rod-40.obj",
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+ "material": {
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+ "friction": 0.467163,
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+ }
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+ }
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+ }
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+ "model": "../../assets/obj/support.obj",
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+ }
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+ "model": "../../assets/obj/ball-6.obj",
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+ "friction": 0.615085,
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+ }
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+ }
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+ },
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+ "billiard": {
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+ "model": "../../assets/obj/billiard.obj",
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+ "material": {
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+ "mass": 0.0272,
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+ }
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+ }
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+ }
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+ }
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+ }
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+ }
metadata/textile/funnel.json ADDED
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1
+ {
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+ "description": "The task involves one piece of textiles stacked on a plane with a hole at its center. Then, a heavy ball falls and passes through the hole together with the textiles.",
3
+ "assets": {
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+ "ball": {
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+ "model": "../../assets/obj/ball-14.obj",
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+ "model": "../../assets/obj/textile-80_80.obj",
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+ "material": {
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metadata/textile/rotating ball.json ADDED
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metadata/textile/textile bending.json ADDED
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metadata/textile/textile flinging.json ADDED
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metadata/textile/textile stretching.json ADDED
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