[
  {
    "engine": "physx",
    "label": "PhysX CPU / Isaac Sim",
    "bodies": {
      "sphere": {
        "final_position_m": [
          0.13884271681308746,
          -0.13585105538368225,
          0.029999980702996254
        ],
        "final_velocity_m_s": [
          0.10822486877441406,
          -0.15410065650939941,
          -2.3149826500201698e-10
        ],
        "final_yaw_deg": 285.9343671206805,
        "max_step_momentum_residual_Ns": 3.1833134288350864e-07,
        "strict_5e_6_Ns_audit_pass": true,
        "initial_position_error_m": 7.184677973235258e-09,
        "initial_velocity_error_m_s": 2.3841857821338408e-08
      },
      "cube": {
        "final_position_m": [
          0.11929687857627869,
          0.004931645002216101,
          0.02999998815357685
        ],
        "final_velocity_m_s": [
          6.839874004072044e-06,
          -4.699237251770683e-06,
          -2.437274548849899e-10
        ],
        "final_yaw_deg": 24.284565671133798,
        "max_step_momentum_residual_Ns": 1.803473966184793e-07,
        "strict_5e_6_Ns_audit_pass": true,
        "initial_position_error_m": 6.705522526129215e-10,
        "initial_velocity_error_m_s": 0.0
      },
      "prism": {
        "final_position_m": [
          0.18537494540214539,
          0.04225898161530495,
          0.029999990016222
        ],
        "final_velocity_m_s": [
          2.5617446226533502e-06,
          -2.508939360268414e-06,
          3.917570087774713e-11
        ],
        "final_yaw_deg": 22.989168064999657,
        "max_step_momentum_residual_Ns": 1.1352323850723272e-07,
        "strict_5e_6_Ns_audit_pass": true,
        "initial_position_error_m": 1.6940857419256334e-09,
        "initial_velocity_error_m_s": 0.0
      }
    },
    "first_pair_contact_s": {
      "cube / sphere": 0.0855,
      "cube / prism": 0.113
    }
  },
  {
    "engine": "newton_mjwarp",
    "label": "Newton / MuJoCo-Warp",
    "bodies": {
      "sphere": {
        "final_position_m": [
          0.15353548526763916,
          -0.14946278929710388,
          0.029990030452609062
        ],
        "final_velocity_m_s": [
          0.1085561141371727,
          -0.1792152225971222,
          -9.149904940386477e-07
        ],
        "final_yaw_deg": 234.92982535237473,
        "max_step_momentum_residual_Ns": 1.6961811476078606e-06,
        "strict_5e_6_Ns_audit_pass": true,
        "initial_position_error_m": 7.184677973235258e-09,
        "initial_velocity_error_m_s": 2.3841857821338408e-08
      },
      "cube": {
        "final_position_m": [
          0.13651365041732788,
          -0.002735591260716319,
          0.029997466132044792
        ],
        "final_velocity_m_s": [
          -2.115218421749887e-06,
          -1.2041246009175666e-06,
          1.6273305618597078e-06
        ],
        "final_yaw_deg": 28.453674031671664,
        "max_step_momentum_residual_Ns": 4.1191813266152455e-06,
        "strict_5e_6_Ns_audit_pass": true,
        "initial_position_error_m": 6.705522526129215e-10,
        "initial_velocity_error_m_s": 0.0
      },
      "prism": {
        "final_position_m": [
          0.17539367079734802,
          0.047747597098350525,
          0.029996700584888458
        ],
        "final_velocity_m_s": [
          2.754984734565369e-06,
          1.5959150232447428e-06,
          -1.05429865016049e-06
        ],
        "final_yaw_deg": 55.53743570298386,
        "max_step_momentum_residual_Ns": 4.116617951904972e-06,
        "strict_5e_6_Ns_audit_pass": true,
        "initial_position_error_m": 1.6940857419256334e-09,
        "initial_velocity_error_m_s": 0.0
      }
    },
    "first_pair_contact_s": {
      "cube / sphere": 0.08600000000000001,
      "cube / prism": 0.1135
    }
  },
  {
    "engine": "mujoco_cpu",
    "label": "MuJoCo CPU",
    "bodies": {
      "sphere": {
        "final_position_m": [
          0.1720172026961591,
          -0.15329490031007345,
          0.029990012655348928
        ],
        "final_velocity_m_s": [
          0.13633137423090677,
          -0.1876738894918629,
          -1.6899967384220672e-15
        ],
        "final_yaw_deg": 481.7965898164954,
        "max_step_momentum_residual_Ns": 1.747568277678987e-08,
        "strict_5e_6_Ns_audit_pass": true,
        "initial_position_error_m": 0.0,
        "initial_velocity_error_m_s": 0.0
      },
      "cube": {
        "final_position_m": [
          0.13898448871854885,
          -0.003119433250886007,
          0.02999750273500434
        ],
        "final_velocity_m_s": [
          -4.0075229654774785e-18,
          -1.6492520842597722e-18,
          1.8512347863924194e-15
        ],
        "final_yaw_deg": 33.1114768943981,
        "max_step_momentum_residual_Ns": 2.0928985311870712e-08,
        "strict_5e_6_Ns_audit_pass": true,
        "initial_position_error_m": 0.0,
        "initial_velocity_error_m_s": 0.0
      },
      "prism": {
        "final_position_m": [
          0.1814625118395164,
          0.05080880255436049,
          0.029185955833736548
        ],
        "final_velocity_m_s": [
          -0.004705219587608782,
          0.002577648883538376,
          0.0013778132664806918
        ],
        "final_yaw_deg": 57.37319041044658,
        "max_step_momentum_residual_Ns": 4.986545121254235e-08,
        "strict_5e_6_Ns_audit_pass": true,
        "initial_position_error_m": 0.0,
        "initial_velocity_error_m_s": 0.0
      }
    },
    "first_pair_contact_s": {
      "cube / sphere": 0.08600000000000001,
      "cube / prism": 0.114
    }
  },
  {
    "engine": "genesis",
    "label": "Genesis",
    "bodies": {
      "sphere": {
        "final_position_m": [
          0.14235264353936275,
          -0.14948415153403555,
          0.02994284815388754
        ],
        "final_velocity_m_s": [
          0.092168235493691,
          -0.17774487052391055,
          1.0137315297463483e-14
        ],
        "final_yaw_deg": 459.77658968464567,
        "max_step_momentum_residual_Ns": 1.7493917593934587e-11,
        "strict_5e_6_Ns_audit_pass": true,
        "initial_position_error_m": 0.0,
        "initial_velocity_error_m_s": 0.0
      },
      "cube": {
        "final_position_m": [
          0.13514544025350833,
          -0.00498769999666685,
          0.029985346771147076
        ],
        "final_velocity_m_s": [
          -6.000222579924126e-07,
          5.0469261688799325e-08,
          4.320271018043137e-07
        ],
        "final_yaw_deg": 27.184283043891288,
        "max_step_momentum_residual_Ns": 2.403022909680852e-11,
        "strict_5e_6_Ns_audit_pass": true,
        "initial_position_error_m": 0.0,
        "initial_velocity_error_m_s": 0.0
      },
      "prism": {
        "final_position_m": [
          0.17435708605122932,
          0.04440889733546218,
          0.02998129907061021
        ],
        "final_velocity_m_s": [
          2.2912121785073347e-07,
          -5.667792445045257e-07,
          -5.758769932651018e-07
        ],
        "final_yaw_deg": 55.2976487694831,
        "max_step_momentum_residual_Ns": 4.5411501263292336e-12,
        "strict_5e_6_Ns_audit_pass": true,
        "initial_position_error_m": 0.0,
        "initial_velocity_error_m_s": 0.0
      }
    },
    "first_pair_contact_s": {
      "cube / sphere": 0.08600000000000001,
      "cube / prism": 0.116
    }
  }
]