{
  "engine": "Project Chrono / PyChrono rigid contact",
  "engine_version": "9.0.1",
  "experiment": "Two-finger lift-and-shake retention of a horizontal cylinder",
  "cad_tessellation_tolerance_mm": 0.5,
  "contact_friction": 0.7,
  "contact_young_modulus_Pa": 1000000.0,
  "collision_thickness_m": 0.0005,
  "payload_radius_m": 0.02,
  "payload_length_m": 0.05,
  "payload_density_kg_m3": 8000.0,
  "jaw_preload_offset_m": 0.001,
  "gravity_m_s2": 9.81,
  "lift_height_m": 0.2,
  "lift_duration_s": 1.0,
  "shake_amplitude_m": 0.02,
  "shake_ramp_duration_s": 0.2,
  "shake_frequencies_Hz": [4.0, 5.0],
  "duration_s": 2.0,
  "time_step_s": 0.001,
  "maximum_payload_vertical_error_m": 0.01,
  "maximum_payload_horizontal_error_m": 0.01,
  "maximum_peak_jaw_normal_force_N": 50.0,
  "maximum_relative_volume_change": 0.000001,
  "maximum_mount_missing_mm3": 0.0001,
  "maximum_envelope_excess_mm3": 0.0001
}