{
  "bin": {
    "center_m": [
      0.65,
      0.2,
      0.0
    ],
    "inner_size_m": [
      0.36,
      0.25,
      0.16
    ],
    "property_evidence": "authored_assumption",
    "sliding_friction": 0.6,
    "wall_m": 0.015,
    "yaw_rad": 0.0
  },
  "catalog_sha256": "592f363389a96fef7f9223737aa72a2f1a74f400238924bf6790ec5bfd3302b7",
  "control_s": 0.02,
  "goal": {
    "containment_margin_m": 0.001,
    "forbid_robot_contact": true,
    "max_angular_speed_rad_s": 0.05,
    "max_linear_speed_m_s": 0.01,
    "require_bin_floor_contact": true,
    "settle_s": 0.25
  },
  "objects": [
    {
      "id": "block",
      "kind": "box",
      "mass_kg": 0.04,
      "position_m": [
        0.65,
        0.2,
        0.08
      ],
      "property_evidence": "authored_assumption",
      "size_m": [
        0.04,
        0.04,
        0.04
      ],
      "sliding_friction": 0.5,
      "yaw_rad": 0.0
    }
  ],
  "robot_lock_sha256": "4b2ee2ca675aceb2f826983cb3082a3e08e9aa0ff419b23078abcff08ebcc6fe",
  "robot_profile": "piper",
  "schema": "dvidia.task-scene-recipe/v1",
  "source_sha256": {
    "asset_library.py": "347bfdeb61e22eb3f65e317c18f94d3b2076d05def77630ebbb6e7dde427c2a7",
    "reference_sim.py": "c1201d22eb13dd07a236ee63cc4ba68e129f6067e8db61ed41af2d820eb5e3b8",
    "robot_profiles.py": "fb90782a6a9979e282182118ae0e3e29d00f101255cc57378dd3f692672bb13d",
    "task_scene.py": "17034a12980fd69960adbb7b4be427bdde89222d6c69b75ddd51f90f99d48ba9"
  },
  "table": {
    "center_m": [
      0.4,
      0.0,
      -0.04
    ],
    "property_evidence": "authored_assumption",
    "size_m": [
      1.2,
      1.0,
      0.08
    ],
    "sliding_friction": 0.8
  },
  "timestep_s": 0.001
}