{
    "scene_type": "distance_barrier_rb_problem",
    "timestep": 0.01,
    "distance_barrier_constraint": {
        "initial_barrier_activation_distance": 0.01,
        "detection_method": "brute_force",
        "use_distance_hashgrid": true,
        "custom_hashgrid_cellsize": -1
    },
    "homotopy_solver": {
        "min_barrier_epsilon": 0.0001
    },
    "rigid_body_problem": {
        "rigid_bodies": [
            {
                "vertices": [
                    [
                        -10,
                        0
                    ],
                    [
                        10,
                        0
                    ]
                ],
                "is_dof_fixed": [
                    true,
                    true,
                    true
                ],
                "edges": [
                    [
                        0,
                        1
                    ]
                ]
            },
            {
                "vertices": [
                    [
                        0,
                        0.1
                    ],
                    [
                        0.5,
                        1.5
                    ],
                    [
                        -0.5,
                        1.5
                    ]
                ],
                "is_dof_fixed": [
                    false,
                    false,
                    false
                ],
                "edges": [
                    [
                        0,
                        1
                    ],
                    [
                        0,
                        2
                    ]
                ],
                "linear_velocity": [
                    0.0,
                    -1.0
                ],
                "angular_velocity": [
                    0.0
                ]
            }
        ]
    }
}