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"0801030a85d638339d4f2a2fb00955596bf2c9f87129aea0b7e6dbd7403acbb0", "shape31.vertices": "6bc60d3ac697291479018aa4381ae84a2118a68f5090533d00e3340dce3942e0", "shape31.indices": "70507c377a6f8082cc273f9fa8bf5f34783df16d015790aea5bd6a92ebae4124", "shape32.vertices": "480ea7127dea8383e43f7d6efcc1bc9608133ae20dca803a3c4fd150a7e0bd32", "shape32.indices": "0801030a85d638339d4f2a2fb00955596bf2c9f87129aea0b7e6dbd7403acbb0", "soft_contact_ke": 18000.0, "soft_contact_kd": 0.1, "soft_contact_mu": 1.0 } }, "title": "R5 | Franka: original-size towel", "description": "Preserves the original R1 cloth shape, scale, table and close/lift/carry/hold/place/release operation. The placement hand height increases by 20-25 mm to clear the finite table with the original hand. Original robot hand geometry replaces the cube jaws. Robot roots and joints are prescribed; all cloth vertices remain dynamic, with no pins or attachments. Open Franka fingers close around the accessible original cloth edge or bag handle.", "protocol": { "case_id": "r5_franka_towel_contact_v2", "scene_id": "r5_franka_towel_contact_v2", "family": "Robot manipulation", "collection_group": "Robot matrix exemplar", "original_case": null, "runner": "manipulation", "kwargs": { "substeps": 10, "iterations": 30 }, "env": {}, "replay": {}, "recorded_status": "Pickup, carry, and release observed; severe local strain remains", "frame_dt_s": 0.03333333333333333, "substeps": 10, "substep_dt_s": 0.003333333333333333, "iterations": 30, "duration_s": 70.0, "recorded_wall_time_s": 112.80208329111338, "material_path": "cloth", "elasticity_treatment_applicable": true, "initial_hold_prepared": false, "hold_start": 5.5, "hold_end": 65.5, "stationary_windows": [ [ 5.5, 65.5 ] ], "dynamic_window": [ 0.0, 70.0 ], "applicability": { "task_completion": true, "grasp_acquisition": true, "grasp_retention": true, "grasp_slip": true, "penetration": true, "stationary_stability": true, "dynamic_response": false, "release": true, "analytic_freefall": false, "grasp": true, "hold": true, "transport": true, "place_release": true, "soft_stability": true, "friction_separation": true, "dynamic": false }, "notes": [ "Explicit Franka-matrix exemplar; H1 towel supersedes it only in the original collection row." ], "transport_windows": [ [ 1.5, 5.5 ] ], "place_release_windows": [ [ 7.0, 11.5 ] ], "category_applicability": { "grasp": true, "hold": true, "transport": true, "place_release": true, "penetration": true, "soft_stability": true, "friction_separation": true, "dynamic": false }, "clock_policy": "Physical time advances continuously; only the original stationary command clock pauses.", "extra_hold_s": 58.5, "raw_metrics_time_basis": "original motion time; comparison scores use physical time", "penetration_surfaces": [ { "shape_index": 0, "label": "unchanged original start and placement table", "shape_margin_m": 0.0010000000474974513, "geometry_source": "model.shape_transform and model.shape_scale", "kind": "box", "center_m": [ 0.0, 0.38999998569488525, 0.11999999731779099 ], "half_extents_m": [ 0.6499999761581421, 0.3100000023841858, 0.12999999523162842 ], "rotation_xyzw": [ 0.0, 0.0, 0.0, 1.0 ] }, { "shape_index": 37, "label": "ground_plane", "shape_margin_m": 0.0010000000474974513, "geometry_source": "model.shape_transform and model.shape_scale", "kind": "plane", "normal": [ 0.0, 0.0, 1.0 ], "offset_m": 0.0 } ], "stationary_requested_intervals": [ { "start_s": 5.5, "end_s": 65.5, "phase": "declared stationary command" } ], "stationary_intervals": [ { "start_s": 5.5, "end_s": 65.5, "phase": "declared stationary command", "requested_start_s": 5.5, "requested_end_s": 65.5 } ], "original_stationary_windows": [ [ 5.5, 7.0 ] ], "transport_intervals": [ { "start_s": 1.5, "end_s": 5.5 } ], "place_release_intervals": [ { "start_s": 65.5, "end_s": 70.0 } ], "contact_stiffness_policy": { "name": "elasticity-cap", "version": 1, "max_ratio": 10.0, "tet_policy": "numeric" }, "effective_contact_materials": { "policy": { "name": "elasticity-cap", "version": 1, "max_ratio": 10.0, "tet_policy": "numeric" }, "authored": { "soft_contact_ke": 50000.0, "shape_count": 38, "shape_material_ke_min": 50000.0, "shape_material_ke_max": 50000.0, "shape_material_ke_values": [ 50000.0 ], "shape_material_ke_sha256": "47410cd9540f0647bcd53a2aead6ac364d660c1048a107fb79642efd4d201aee" }, "scope": "This material policy changes only soft_contact_ke and shape_material_ke. Scene-specific pose corrections are outside this policy and are recorded by the scene adapter.", "mixing": "rigid-soft: arithmetic mean of soft and shape ke; rigid-rigid: mean of the two shape ke values", "grip_validation": "not established by coefficient bounds", "reference_terms": [ { "material": "cloth", "source": "tri_materials[:, :2]", "units": "N/m", "value": 1800.0, "physical_units_match": true } ], "reference_coefficient": 1800.0, "cap_N_per_m": 18000.0, "dimensionally_comparable": true, "mixed_material_rule": "Use the smallest declared reference; one global soft-contact coefficient.", "effective": { "soft_contact_ke": 18000.0, "shape_count": 38, "shape_material_ke_min": 18000.0, "shape_material_ke_max": 18000.0, "shape_material_ke_values": [ 18000.0 ], "shape_material_ke_sha256": "4eb6dcfdf4e2c0dac24fcca2fbc8648d42ffad9231a1687010d3a8a19aa0e753" }, "changed": true } }, "setup_wall_s": 4.418415281921625, "frame_dt_s": 0.03333333333333333, "substeps": 10, "substep_dt_s": 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Outcomes are measured, not assumed." }, "math_mode": "off", "fast_math_enabled": false, "rigid_soft_enable_dat": true, "contact_damping_bidirectional": false, "task_measurements": { "schema_version": 1, "enabled": true, "sample_interval_s": 0.03333333333333333, "method": "Conservative whole-object shell AABB versus whole original-hand collision AABB, expanded by shape margin; detection gap excluded. Positive distance establishes geometric separation at the sampled state. 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"scope": "Sticky global rigid/full-surface and soft-self row counts across every owned detection, including preparation; excludes per-body adjacency capacities. Self-contact order: vertex-triangle, edge-edge, triangle-vertex." } }