{
    "description": "The task involves an elastic cantilever beam with one end fixed on the wall. The beam consists of 4 deformable blocks. ",
    "assets": {
        "base": {
            "model": "../../assets/obj/pedestal.obj",
            "material": {
                "plastic": {
                    "mass": 0.1719,
                    "friction": 0.01,
                    "restitution": 0.01
                }
            }
        },
        "cube-1": {
            "model": "../../assets/obj/cube.obj",
            "material": {
                "soft": {
                    "mass": 0.0016,
                    "density": 12.8,
                    "young": 86410,
                    "poisson": 0.23,
                    "friction": 0,
                    "restitution": 0
                },
                "hard": {
                    "mass": 0.0034,
                    "density": 27.2,
                    "young": 99372,
                    "poisson": 0.34,
                    "friction": 0,
                    "restitution": 0
                }
            }
        },
        "cube-2": {
            "model": "../../assets/obj/cube.obj",
            "material": {
                "rubber": {
                    "mass": 0.1341,
                    "friction": 0.01,
                    "restitution": 0.01
                }
            }
        },
        "cube-3": {
            "model": "../../assets/obj/cube.obj",
            "material": {
                "soft": {
                    "mass": 0.0016,
                    "density": 12.8,
                    "young": 86410,
                    "poisson": 0.23,
                    "friction": 0,
                    "restitution": 0
                },
                "hard": {
                    "mass": 0.0034,
                    "density": 27.2,
                    "young": 99372,
                    "poisson": 0.34,
                    "friction": 0.01,
                    "restitution": 0.01
                }
            }
        },
        "cube-4": {
            "model": "../../assets/obj/cube.obj",
            "material": {
                "rubber": {
                    "mass": 0.1341,
                    "friction": 0.01,
                    "restitution": 0.01
                }
            }
        }
    },
    "tasks": {
        "default": {
            "assets": ["base", "cube-1", "cube-2", "cube-3", "cube-4"],
            "translation": {
                "base": [0.41849, 0.28158, 0.20601],
                "cube-1": [0.41849, 0.36858, 0.20601],
                "cube-2": [0.41849, 0.41858, 0.20601],
                "cube-3": [0.41849, 0.46858, 0.20601],
                "cube-4": [0.41849, 0.51858, 0.20601]
            },
            "orientation": {
                "base": [0, 0, 0],
                "cube-1": [0, 0, 0],
                "cube-2": [0, 0, 0],
                "cube-3": [0, 0, 0],
                "cube-4": [0, 0, 0]
            },
            "fixed": {
                "base": true,
                "cube-1": false,
                "cube-2": false,
                "cube-3": false,
                "cube-4": false
            },
            "kinematic": {
                "base": false,
                "cube-1": false,
                "cube-2": false,
                "cube-3": false,
                "cube-4": false
            },
            "record": {
                "assets": ["markers"],
                "dim": ["x", "y", "z"],
                "fps": 30
            }
        }
    },
    "markers": {
        "translation": [
            [0.39349, 0.34358, 0.23101],
            [0.39349, 0.39358, 0.23101],
            [0.39349, 0.44358, 0.23101],
            [0.39349, 0.49358, 0.23101],
            [0.41849, 0.36858, 0.23101],
            [0.41849, 0.41858, 0.23101],
            [0.41849, 0.46858, 0.23101],
            [0.41849, 0.51858, 0.23101],
            [0.44349, 0.34358, 0.23101],
            [0.44349, 0.39358, 0.23101],
            [0.44349, 0.44358, 0.23101],
            [0.44349, 0.49358, 0.23101],
            [0.44349, 0.36858, 0.20601],
            [0.44349, 0.41858, 0.20601],
            [0.44349, 0.46858, 0.20601],
            [0.44349, 0.51858, 0.20601],
            [0.44349, 0.34358, 0.18101],
            [0.44349, 0.39358, 0.18101],
            [0.44349, 0.44358, 0.18101],
            [0.44349, 0.49358, 0.18101]]
    }
}