{
  "engine": "Project Chrono / PyChrono planar guide-contact dynamics",
  "engine_version": "9.0.1",
  "experiment": "Passive keyed-block yaw alignment during fixed jaw closing",
  "guide_y_min_mm": -25.0,
  "guide_y_max_mm": 25.0,
  "guide_profile_pitch_mm": 1.0,
  "guide_slice_width_mm": 0.02,
  "initial_yaw_angles_rad": [-0.25, 0.25],
  "target_yaw_error_rad": 0.03,
  "required_relative_yaw_error_reduction": 0.8,
  "block_mass_kg": 0.2,
  "block_yaw_inertia_kg_m2": 0.001,
  "keyed_block_contact_points_m": [
    [-0.01, -0.018], [0.01, -0.018],
    [-0.01, 0.018], [0.01, 0.018],
    [-0.006, 0.024], [0.006, 0.024]
  ],
  "jaw_initial_translation_m": -0.005,
  "jaw_final_translation_m": 0.008,
  "closing_duration_s": 1.0,
  "duration_s": 1.5,
  "time_step_s": 0.001,
  "contact_penalty_stiffness_N_m": 10000.0,
  "rotational_damping_N_m_s_rad": 0.04,
  "maximum_total_guide_force_N": 10.0,
  "maximum_relative_volume_change": 0.000001,
  "maximum_mount_missing_mm3": 0.0001,
  "maximum_envelope_excess_mm3": 0.0001
}