{
    "scene_type": "distance_barrier_rb_problem",
    "solver": "ipc_solver",
    "timestep": 0.025,
    "max_time": 20,
    "distance_barrier_constraint": {
        "initial_barrier_activation_distance": 1e-3
    },
    "ipc_solver": {
        "velocity_conv_tol": 1e-4
    },
    "friction_constraints": {
        "static_friction_speed_bound": 1e-5,
        "iterations": -1
    },
    "rigid_body_problem": {
        "coefficient_friction": 0.5,
        "gravity": [0, -9.8, 0],
        "rigid_bodies": [{
            "mesh": "cylinder.obj",
            "position": [0, 0, 0],
            "scale": [2, 0.08333333333, 2],
            "angular_velocity": [0, 45, 0],
            "torque": [0, 300, 0],
            "is_dof_fixed": [true, true, true, true, false, true]
        }, {
            "mesh": "cube.obj",
            "position": [1.5, 0.3, 0],
            "scale": [0.25, 0.25, 0.25]
        }]
    }
}