{
    "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
            }
        }
    }
}