{
    "description": "The task involves a textile with edges each attached to a rod. Then, a controlled probe rod draws a trajectory on the cloth.",
    "assets": {
        "rod": {
            "model": "../../assets/obj/rod-20.obj",
            "material": {
                "wood": {
                    "mass": 0.0089,
                    "friction": 0.1,
                    "restitution": 0.1
                }
            }
        },
        "frame": {
            "model": "../../assets/obj/frame.obj",
            "material": {
                "wood": {
                    "mass": 0.08544,
                    "friction": 0.1,
                    "restitution": 0.1
                }
            }
        },
        "textile": {
            "model": "../../assets/obj/textile-40_40.obj",
            "material": {
                "oxford": {
                    "mass": 0.28291,
                    "density": 1.76818,
                    "thickness": 0.36e-3,
                    "stretch stiffness": 2904.55425,
                    "bend stiffness": 4.77659e-5,
                    "shear stiffness": 2904.55425,
                    "friction": 0.402920,
                    "restitution": 0.268232
                },
                "leather": {
                    "mass": 0.32,
                    "density": 2,
                    "thickness": 0.68e-3,
                    "stretch stiffness": 2080.14025,
                    "bend stiffness": 1.762045e-5,
                    "shear stiffness": 1950.165,
                    "friction": 0.502946,
                    "restitution": 0.267822
                },
                "nylon": {
                    "mass": 0.021333,
                    "density": 0.13333,
                    "thickness": 0.19e-3,
                    "stretch stiffness": 1243.5165,
                    "bend stiffness": 6.24621e-6,
                    "shear stiffness": 120,
                    "friction": 0.704508,
                    "restitution": 0.21001
                },
                "cotton": {
                    "mass": 0.02144,
                    "density": 0.134,
                    "thickness": 0.27e-3,
                    "stretch stiffness": 302.137325,
                    "bend stiffness": 1.388423e-6,
                    "shear stiffness": 333.14525,
                    "friction": 0.503819,
                    "restitution": 0.182298
                },
                "satin": {
                    "mass": 0.0113936,
                    "density": 0.07121,
                    "thickness": 0.14e-3,
                    "stretch stiffness": 77.15638,
                    "bend stiffness": 1.47498e-6,
                    "shear stiffness": 1.00797,
                    "friction": 0.476749,
                    "restitution": 0.22468
                },
                "suit": {
                    "mass": 0.0926,
                    "density": 0.57879,
                    "thickness": 0.2e-3,
                    "stretch stiffness": 900,
                    "bend stiffness": 2.22038e-6,
                    "shear stiffness": 333.16913,
                    "friction": 0.309839,
                    "restitution": 0.238921
                }
            }
        }
    },
    "tasks": {
        "default": {
            "assets": ["rod", "frame", "textile"],
            "translation": {
                "rod": [0.38564, 0.44261, 0.31943],
                "frame": [0.491, 0.441, 0.320],
                "textile": [0.491, 0.441, 0.320]
            },
            "orientation": {
                "rod": [0, 0, 0],
                "frame": [0, 0, 0],
                "textile": [0, 0, 0]
            },
            "fixed": {
                "rod": false,
                "frame": true,
                "textile": false
            },
            "kinematic": {
                "rod": true,
                "frame": false,
                "textile": false
            },
            "record": {
                "assets": ["markers"],
                "dim": ["x", "y", "z"],
                "fps": 30
            }
        }
    },
    "markers":{
        "translation": [
            [0.491, 0.291, 0.17 ],
            [0.491, 0.291, 0.27 ],
            [0.491, 0.291, 0.37 ],
            [0.491, 0.291, 0.47 ],
            [0.491, 0.391, 0.17 ],
            [0.491, 0.391, 0.27 ],
            [0.491, 0.391, 0.37 ],
            [0.491, 0.391, 0.47 ],
            [0.491, 0.491, 0.17 ],
            [0.491, 0.491, 0.27 ],
            [0.491, 0.491, 0.37 ],
            [0.491, 0.491, 0.47 ],
            [0.491, 0.591, 0.17 ],
            [0.491, 0.591, 0.27 ],
            [0.491, 0.591, 0.37 ],
            [0.491, 0.591, 0.47 ],
            [0.491, 0.341, 0.22 ],
            [0.491, 0.341, 0.32 ],
            [0.491, 0.341, 0.42 ],
            [0.491, 0.441, 0.22 ],
            [0.491, 0.441, 0.32 ],
            [0.491, 0.441, 0.42 ],
            [0.491, 0.541, 0.22 ],
            [0.491, 0.541, 0.32 ],
            [0.491, 0.541, 0.42 ]
        ],
        "faces": [
            [0, 4, 16],
            [4, 5, 16],
            [5, 1, 16],
            [1, 0, 16],
            [1, 5, 17],
            [5, 6, 17],
            [6, 2, 17],
            [2, 1, 17],
            [2, 6, 18],
            [6, 7, 18],
            [7, 3, 18],
            [3, 2, 18],
            [4, 8, 19],
            [8, 9, 19],
            [9, 5, 19],
            [5, 4, 19],
            [5, 9, 20],
            [9, 10, 20],
            [10, 6, 20],
            [6, 5, 20],
            [6, 10, 21],
            [10, 11, 21],
            [11, 7, 21],
            [7, 6, 21],
            [8, 12, 22],
            [12, 13, 22],
            [13, 9, 22],
            [9, 8, 22],
            [9, 13, 23],
            [13, 14, 23],
            [14, 10, 23],
            [10, 9, 23],
            [10, 14, 24],
            [14, 15, 24],
            [15, 11, 24],
            [11, 10, 24]
        ],
        "corner": [0, 3, 12, 15],
        "edge": [1, 2, 4, 7, 8, 11, 13, 14],
        "inner": [5, 6, 9, 10, 16, 17, 18, 19, 20, 21, 22, 23, 24]
    }
}