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  "runtime_configuration": {
    "case_id": "r5_franka_trousers",
    "contact_damping_bidirectional": false,
    "particle_elasticity": "standard VBD",
    "rigid_soft_enable_dat": true,
    "integrate_with_external_rigid_solver": false,
    "enable_fast_math": false,
    "pipeline": {
      "soft_contact_gap": 0.005,
      "enable_rigid_soft_full_surface_contact": true
    },
    "collision_schedule": {
      "RIGID": "PRE_POST_INIT",
      "SOFT_SELF_CONTACT": "PRE_POST_INIT"
    },
    "mesh_contact_filter": "Merged upstream OGC Eq. 14 wireframe edge-edge filtering; native full-surface solver selects force rows",
    "motion_bridge": "Copy prescribed state_out(t+dt) kinematic endpoints into state_in before native step",
    "history_scope": "Native first/reset step rebaselines at its input endpoint; later steps retain prior accepted pose",
    "guarantee_scope": "Kinematic motion is not DAT-truncated; no continuous prescribed-hand sweep guarantee",
    "contact_latch_scope": "Global rigid/full-surface counts at every owned detection, including preparation",
    "self_contact_latch_scope": "Raw vertex/edge/optional triangle row counts and capacity excess at every native self detection; sticky across preparation",
    "capacity_scope_limit": "Per-body adjacency and other internal broad/narrow-phase scratch capacities are not latched"
  },
  "source_guard_unchanged": true,
  "dat_contact_coverage": {
    "sample_count": 21000,
    "max_soft_rows": 18488,
    "max_rigid_rows": 0,
    "collision_calls": 42000,
    "self_contact_peak_counts": [
      27,
      60,
      0
    ],
    "self_contact_peak_excess": [
      0,
      0,
      0
    ],
    "self_detection_calls": 42000,
    "overflow": false,
    "scope": "Sticky global rigid/full-surface and soft-self row counts across every owned detection, including preparation; excludes per-body adjacency capacities. Self-contact order: vertex-triangle, edge-edge, triangle-vertex."
  }
}