F TD2000 GEO INDUSTRY B013 / ideal chaplygin sleigh nonholonomic contact centroid energy transcript

{
  "type": "object",
  "additionalProperties": false,
  "required": [
    "artifact"
  ],
  "properties": {
    "artifact": {
      "type": "object",
      "additionalProperties": false,
      "required": [
        "chaplygin"
      ],
      "properties": {
        "chaplygin": {
          "type": "object",
          "additionalProperties": false,
          "required": [
            "data",
            "claim"
          ],
          "properties": {
            "data": {
              "type": "object",
              "additionalProperties": false,
              "required": [
                "mass",
                "centroid_offset",
                "centroid_inertia",
                "initial_contact_position",
                "initial_orientation",
                "initial_body_speed",
                "initial_angular_velocity",
                "sample_times"
              ],
              "properties": {
                "mass": {
                  "type": "number",
                  "minimum": 0.1,
                  "maximum": 10
                },
                "centroid_offset": {
                  "type": "number",
                  "minimum": 0.1,
                  "maximum": 2
                },
                "centroid_inertia": {
                  "type": "number",
                  "minimum": 0.01,
                  "maximum": 10
                },
                "initial_contact_position": {
                  "type": "array",
                  "items": {
                    "type": "number",
                    "minimum": -10,
                    "maximum": 10
                  },
                  "minItems": 2,
                  "maxItems": 2
                },
                "initial_orientation": {
                  "type": "number",
                  "minimum": -3.141592653589793,
                  "maximum": 3.141592653589793
                },
                "initial_body_speed": {
                  "type": "number",
                  "minimum": -2,
                  "maximum": 2
                },
                "initial_angular_velocity": {
                  "type": "number",
                  "minimum": -2,
                  "maximum": 2
                },
                "sample_times": {
                  "type": "array",
                  "items": {
                    "type": "number",
                    "minimum": 0,
                    "maximum": 10
                  },
                  "minItems": 1,
                  "maxItems": 8
                }
              }
            },
            "claim": {}
          }
        }
      }
    }
  }
}