{
  "schema_version": 1,
  "genesis_world_version": "1.4.2",
  "sim_options": {
    "dt": 0.01,
    "substeps": 10,
    "gravity": [
      0.0,
      0.0,
      -9.8
    ]
  },
  "rigid_options": {
    "integrator": "approximate_implicitfast",
    "constraint_solver": "Newton",
    "friction_cone": "elliptic",
    "contact_resolution": "convex",
    "impratio": null,
    "iterations": 100,
    "tolerance": 1e-05,
    "ls_iterations": 50,
    "ls_tolerance": 0.01,
    "sparse_solve": false,
    "noslip_iterations": 0,
    "noslip_tolerance": 1e-06,
    "constraint_timeconst": 0.01,
    "contact_pruning_tolerance": 0.02,
    "use_hibernation": false,
    "hibernation_thresh_vel": 0.001,
    "enable_collision": true,
    "enable_joint_limit": true,
    "enable_self_collision": false,
    "enable_adjacent_collision": false,
    "enable_neutral_collision": false,
    "enable_multi_contact": true,
    "enable_mujoco_compatibility": false,
    "enable_torsional_friction": false,
    "enable_rolling_friction": false,
    "box_box_detection": true,
    "use_gjk_collision": false
  },
  "material": {
    "rho": 200.0,
    "friction": 1.0
  }
}