{ "scene_type": "distance_barrier_rb_problem", "rigid_body_problem": { "rigid_bodies": [ { "vertices": [ [ -1, -1 ], [ -1, 1 ], [ 1, 1 ], [ 1, -1 ] ], "edges": [ [ 0, 1 ], [ 1, 2 ], [ 2, 3 ], [ 3, 0 ] ], "linear_velocity": [ 0.0, -1.0 ], "angular_velocity": [ 0.5 ] }, { "vertices": [ [ -10, -10 ], [ -10, -9 ], [ 10, -9 ], [ 10, -10 ] ], "is_dof_fixed": [ false, false, false ], "edges": [ [ 0, 1 ], [ 1, 2 ], [ 2, 3 ], [ 3, 0 ] ], "linear_velocity": [ 0.0, 0.0 ], "angular_velocity": [ 0.0 ] } ] } }