[
  {
    "name": "jersey_cloth",
    "units": "m, kg, s",
    "frame": "world, Z up",
    "vertices": 529,
    "triangles": 968,
    "tetrahedra": 0,
    "rest_state": "native generated initial reference; not the settled display mesh",
    "snapshot_time_s": 5.999999999999984,
    "material_provenance": "shipped preset or authored assumption; no real-data fitting",
    "spec": {
      "sim": null,
      "entity": "cloth",
      "name": "jersey_cloth",
      "mesh": "grid",
      "size": [
        0.28,
        0.28
      ],
      "cells": [
        22,
        22
      ],
      "asset": null,
      "pose": [
        -0.53,
        0.06,
        0.91
      ],
      "quat": [
        0.0,
        0.0,
        0.0,
        1.0
      ],
      "material": {
        "tri_ke": 10.0,
        "tri_ka": 10.0,
        "tri_kd": 1.5e-05,
        "edge_ke": 5e-05,
        "edge_kd": 5e-06,
        "areal_density": 0.2,
        "particle_radius": 0.008,
        "zero_rest_angle": true,
        "friction": 0.25,
        "contact_ke": 10.0,
        "contact_kd": 0.01,
        "shell": "membrane",
        "thickness": 0.0005,
        "core_shear_modulus": 100000.0,
        "core_lame_lambda": 0.0,
        "core_damping": 0.01,
        "shell_young": null,
        "shell_poisson": null
      },
      "particle_sets": [],
      "simplify_faces": 0,
      "settle_frames": 0,
      "settle_substeps": 10,
      "color": [
        0.18,
        0.58,
        0.89
      ],
      "opacity": 1.0,
      "finish": null,
      "decor": ""
    },
    "notes": "OBJ is visual geometry only. Use the packaged native scene for complete material/contact behavior.",
    "snapshot_source": "recorded trajectory final state"
  },
  {
    "name": "terry_towel",
    "units": "m, kg, s",
    "frame": "world, Z up",
    "vertices": 1058,
    "triangles": 2112,
    "tetrahedra": 2904,
    "rest_state": "native generated initial reference; not the settled display mesh",
    "snapshot_time_s": 5.999999999999984,
    "material_provenance": "shipped preset or authored assumption; no real-data fitting",
    "spec": {
      "sim": null,
      "entity": "cloth",
      "name": "terry_towel",
      "mesh": "grid",
      "size": [
        0.28,
        0.28
      ],
      "cells": [
        22,
        22
      ],
      "asset": null,
      "pose": [
        -0.14,
        0.06,
        0.91
      ],
      "quat": [
        0.0,
        0.0,
        0.0,
        1.0
      ],
      "material": {
        "tri_ke": 10000.0,
        "tri_ka": 10000.0,
        "tri_kd": 0.015,
        "edge_ke": 0.0001,
        "edge_kd": 0.0001,
        "areal_density": 0.5,
        "particle_radius": 0.00125,
        "zero_rest_angle": true,
        "friction": 0.25,
        "contact_ke": 10000.0,
        "contact_kd": 10.0,
        "shell": "slab",
        "thickness": 0.005,
        "core_shear_modulus": 100000.0,
        "core_lame_lambda": 0.0,
        "core_damping": 0.01,
        "shell_young": null,
        "shell_poisson": null
      },
      "particle_sets": [],
      "simplify_faces": 0,
      "settle_frames": 0,
      "settle_substeps": 10,
      "color": [
        0.86,
        0.32,
        0.24
      ],
      "opacity": 1.0,
      "finish": null,
      "decor": ""
    },
    "notes": "OBJ is visual geometry only. Use the packaged native scene for complete material/contact behavior.",
    "snapshot_source": "recorded trajectory final state"
  },
  {
    "name": "foam_sponge",
    "units": "m, kg, s",
    "frame": "world, Z up",
    "vertices": 440,
    "triangles": 552,
    "tetrahedra": 1400,
    "rest_state": "native generated initial reference; not the settled display mesh",
    "snapshot_time_s": 5.999999999999984,
    "material_provenance": "shipped preset or authored assumption; no real-data fitting",
    "spec": {
      "sim": null,
      "entity": "soft",
      "name": "foam_sponge",
      "size": [
        0.2,
        0.14,
        0.075
      ],
      "cells": [
        10,
        7,
        4
      ],
      "pose": [
        0.38,
        0.2,
        0.8
      ],
      "quat": [
        0.0,
        0.0,
        0.0,
        1.0
      ],
      "asset": null,
      "material": {
        "young": 20000.0,
        "poisson": 0.25,
        "density": 60.0,
        "mass_damping": 0.0,
        "stiffness_damping": 0.005,
        "friction": 0.9,
        "contact_penalty": 80000000.0,
        "contact_padding": 0.002,
        "particle_radius": 0.002,
        "collider": "auto",
        "contact_threshold": null,
        "contact_smoothing": null,
        "friction_falloff": null,
        "boundary_samples": null,
        "sdf_resolution": null
      },
      "particle_sets": [],
      "anchored": null,
      "rigid": null,
      "settle_frames": 0,
      "settle_substeps": 0,
      "color": [
        0.96,
        0.77,
        0.18
      ],
      "opacity": 1.0,
      "finish": null
    },
    "notes": "OBJ is visual geometry only. Use the packaged native scene for complete material/contact behavior.",
    "snapshot_source": "recorded trajectory final state"
  },
  {
    "name": "rubber_ring",
    "units": "m, kg, s",
    "frame": "world, Z up",
    "vertices": 160,
    "triangles": 320,
    "tetrahedra": 200,
    "rest_state": "native generated initial reference; not the settled display mesh",
    "snapshot_time_s": 5.999999999999984,
    "material_provenance": "shipped preset or authored assumption; no real-data fitting",
    "spec": {
      "sim": null,
      "entity": "soft",
      "name": "rubber_ring",
      "size": [
        0.1,
        0.07,
        0.035
      ],
      "cells": [
        10,
        7,
        4
      ],
      "pose": [
        -0.37,
        -0.22,
        0.82
      ],
      "quat": [
        0.0,
        0.0,
        0.0,
        1.0
      ],
      "asset": {
        "path": "native-session/assets/o_ring.npz",
        "collision_path": null,
        "collision_paths": [],
        "scale": 1.0,
        "approximate": null,
        "keep_visual": true,
        "skip_mesh_approximation": false,
        "texture": "",
        "material_colors": false
      },
      "material": {
        "young": 80000.0,
        "poisson": 0.35,
        "density": 600.0,
        "mass_damping": 0.0,
        "stiffness_damping": 0.005,
        "friction": 0.9,
        "contact_penalty": 80000000.0,
        "contact_padding": 0.002,
        "particle_radius": 0.003,
        "collider": "auto",
        "contact_threshold": null,
        "contact_smoothing": null,
        "friction_falloff": null,
        "boundary_samples": null,
        "sdf_resolution": null
      },
      "particle_sets": [],
      "anchored": null,
      "rigid": null,
      "settle_frames": 0,
      "settle_substeps": 0,
      "color": [
        0.24,
        0.74,
        0.45
      ],
      "opacity": 1.0,
      "finish": null
    },
    "notes": "OBJ is visual geometry only. Use the packaged native scene for complete material/contact behavior.",
    "snapshot_source": "recorded trajectory final state",
    "asset_path_resolution": "relative to the asset ZIP root"
  },
  {
    "name": "flexible_cable",
    "units": "m, kg, s",
    "frame": "world, Z up",
    "vertices": 302,
    "triangles": 600,
    "tetrahedra": 0,
    "centerline_nodes": 25,
    "rigid_segments": 24,
    "representation": "capsule chain on Newton VBD cable joints; OBJ is a display tube",
    "rest_state": "straight centerline",
    "snapshot_time_s": 5.999999999999984,
    "material_provenance": "authored defaults, not calibrated",
    "spec": {
      "name": "flexible_cable",
      "entity": "rod",
      "start": [
        -0.08,
        -0.22,
        0.89
      ],
      "direction": [
        1,
        0,
        0
      ],
      "length": 0.56,
      "radius": 0.008,
      "segments": 24,
      "density": 350.0,
      "stretch_ke": 200000.0,
      "stretch_kd": 1.0,
      "bend_ke": 0.04,
      "bend_kd": 0.06,
      "contact_ke": 10000.0,
      "contact_kd": 0.1,
      "contact_gap": 0.01,
      "mu_base": 2.0,
      "mu_cable": 60.0,
      "mu_gripper": 60.0,
      "mu_surface": 0.02,
      "surface_labels": [
        "table"
      ],
      "color": [
        0.55,
        0.32,
        0.8
      ],
      "finish": null,
      "anchor_grasp": null,
      "anchor_arm": "",
      "anchor_grip": 0.01,
      "scene_friction": false,
      "allow_grasp_latch": true,
      "filter_fingertip_scenery": true,
      "anchors": [
        "start",
        "end"
      ],
      "bow_range": [
        0.0,
        0.0
      ],
      "shift_range": [
        0.0,
        0.0
      ],
      "wave_range": [
        0.0,
        0.0
      ],
      "yaw_range": [
        0.0,
        0.0
      ],
      "nodes": null,
      "young_modulus": 5000000.0,
      "poisson_ratio": 0.45,
      "stiffness_damping": 0.001,
      "axial_stiffness": null,
      "contact_penalty": 80000000.0,
      "contact_threshold": null,
      "contact_smoothing": null,
      "friction_falloff": null,
      "skin": true,
      "skin_segments": 8,
      "skin_samples": null,
      "stress_free": null,
      "joins": [],
      "sim": null
    },
    "snapshot_source": "recorded trajectory final state"
  }
]