{
  "engine": "Project Chrono / PyChrono rigid contact",
  "engine_version": "9.0.1",
  "experiment": "Sprung track-shoe carriage crossing an isolated rigid rock",
  "cad_tessellation_tolerance_mm": 1.0,
  "carrier_mass_kg": 20.0,
  "carrier_inertia_kg_m2": [1.0, 1.0, 1.0],
  "initial_position_m": [-0.4, 0.0, 0.02],
  "drive_speeds_m_s": [0.15, 0.18],
  "duration_s": 5.0,
  "time_step_s": 0.001,
  "gravity_m_s2": 9.81,
  "spring_rest_height_m": 0.02,
  "spring_stiffness_N_m": 5000.0,
  "spring_damping_N_s_m": 1000.0,
  "rock_radius_m": 0.04,
  "rock_center_m": [0.0, 0.0, 0.0],
  "contact_friction": 0.4,
  "contact_young_modulus_Pa": 2000000.0,
  "collision_thickness_m": 0.001,
  "minimum_baseline_peak_acceleration_m_s2": 2.0,
  "required_relative_peak_acceleration_reduction": 0.5,
  "maximum_candidate_peak_acceleration_m_s2": 2.0,
  "minimum_rock_climb_m": 0.015,
  "maximum_relative_volume_change": 0.000001,
  "maximum_mount_missing_mm3": 0.0001,
  "maximum_envelope_excess_mm3": 0.0001
}