{
  "profile": "hard2_box_lowfriction",
  "settings": {
    "dt": 0.0005,
    "tau": 0.002,
    "imp": 0.99,
    "dim": null,
    "box_friction": [
      0.1,
      1e-05,
      1e-06
    ]
  },
  "situations": [
    {
      "situation": "nested_box_extract",
      "peak_penetration_m": {
        "box_box": 0.0005078174290247262,
        "box_tube": 0.0,
        "box_robot": 0.0,
        "box_room": 2.8729440600727685e-05,
        "tube_tube": 0.0,
        "tube_robot": 0.0,
        "tube_room": 0.0,
        "robot_robot": 0.0,
        "robot_room": 0.0,
        "room_room": 0.0
      },
      "lower_box_rise_during_pull_m": 0.0,
      "finite": true,
      "lower_box_rise_pull_and_return_m": 8.285045623779297e-06,
      "lower_box_rise_first_half_second_m": 0.0,
      "upper_object_rise_pull_and_return_m": 0.7737979888916016
    },
    {
      "situation": "offset_box_extract",
      "peak_penetration_m": {
        "box_box": 0.0023016929626464844,
        "box_tube": 0.0,
        "box_robot": 0.0,
        "box_room": 0.002708503045141697,
        "tube_tube": 0.0,
        "tube_robot": 0.0,
        "tube_room": 0.0,
        "robot_robot": 0.0,
        "robot_room": 0.0,
        "room_room": 0.0
      },
      "lower_box_rise_during_pull_m": 0.0,
      "finite": true,
      "lower_box_rise_pull_and_return_m": 0.23836606740951538,
      "lower_box_rise_first_half_second_m": 0.0,
      "upper_object_rise_pull_and_return_m": 0.7737841606140137
    },
    {
      "situation": "pressed_tube_extract",
      "peak_penetration_m": {
        "box_box": 0.0,
        "box_tube": 0.001607656478881836,
        "box_robot": 0.0,
        "box_room": 3.814697720372351e-06,
        "tube_tube": 0.0,
        "tube_robot": 0.0,
        "tube_room": 0.0,
        "robot_robot": 0.0,
        "robot_room": 0.0,
        "room_room": 0.0
      },
      "lower_box_rise_during_pull_m": 0.0,
      "finite": true,
      "lower_box_rise_pull_and_return_m": 0.0,
      "lower_box_rise_first_half_second_m": 0.0,
      "upper_object_rise_pull_and_return_m": 0.41551917791366577
    }
  ],
  "measurement": "force-controlled canonical environment, per-substep GPU penetration",
  "force_pulse_s": 0.2,
  "wall_seconds": 268.54783902689815,
  "measurement_windows": "during_pull: 0.2 s forced interval; first_half_second: 0.5 s extraction; pull_and_return: 1 s including return impacts"
}