{
  "engine": "Project Chrono / PyChrono SCM terrain",
  "engine_version": "9.0.1",
  "experiment": "Drawbar pull from a prescribed-speed wheel rig on SCM soil",
  "cad_tessellation_tolerance_mm": 2.0,
  "wheel_mass_kg": 80.0,
  "wheel_inertia_kg_m2": [20.0, 20.0, 20.0],
  "wheel_initial_height_m": 0.32,
  "wheel_outer_radius_m": 0.3,
  "starting_x_offsets_m": [0.0, 0.01],
  "gravity_m_s2": 9.81,
  "time_step_s": 0.002,
  "settling_duration_s": 1.0,
  "drive_duration_s": 1.5,
  "measure_after_drive_s": 0.5,
  "forward_speed_m_s": 0.2,
  "commanded_longitudinal_slip": 0.05,
  "terrain_length_m": 2.0,
  "terrain_width_m": 1.2,
  "terrain_grid_m": 0.02,
  "soil_Kphi": 200000.0,
  "soil_Kc": 0.0,
  "soil_n": 1.1,
  "soil_cohesion_Pa": 0.0,
  "soil_friction_angle_deg": 30.0,
  "soil_Janosi_m": 0.01,
  "soil_elastic_stiffness_Pa_m": 40000000.0,
  "soil_damping_Pa_s_m": 30000.0,
  "minimum_drawbar_gain_N": 25.0,
  "minimum_candidate_drawbar_pull_N": 20.0,
  "maximum_relative_volume_change": 0.000001,
  "maximum_hub_missing_mm3": 0.0001,
  "maximum_bore_overlap_mm3": 0.0001,
  "maximum_envelope_excess_mm3": 0.0001,
  "maximum_radius_error_mm": 0.00001
}