{ "scene_type": "distance_barrier_rb_problem", "max_iterations": 1000, "timestep": 0.01, "distance_barrier_constraint": { "initial_barrier_activation_distance": 0.01, "detection_method": "hash_grid" }, "homotopy_solver": { "min_barrier_epsilon": 0.0001 }, "rigid_body_problem": { "gravity": [ 0, -9.81 ], "coefficient_restitution": 1.0, "rigid_bodies": [{ "vertices": [ [ -4.0, 0.5 ], [ 4.0, 0.5 ], [ 4.0, 10.5 ], [ 11.071067811865476, 17.571067811865476 ], [ 11.778174593052023, 16.863961030678926 ], [ 5.0, 10.085786437626904 ], [ 5.0, 0.5 ], [ 5.0, -0.5 ], [ -5.0, -0.5 ], [ -5.0, 0.5 ], [ -5.0, 10.085786437626904 ], [ -11.778174593052023, 16.863961030678926 ], [ -11.071067811865476, 17.571067811865476 ], [ -4.0, 10.5 ] ], "polygons": [ [ [ 5.0, 0.5 ], [ -5.0, 0.5 ], [ -5.0, -0.5 ], [ 5.0, -0.5 ] ], [ [ 5.0, 10.5 ], [ 4.0, 10.5 ], [ 4.0, 0.5 ], [ 5.0, 0.5 ] ], [ [ -4.0, 10.5 ], [ -5.0, 10.5 ], [ -5.0, 0.5 ], [ -4.0, 0.5 ] ], [ [ 11.071067811865476, 17.571067811865476 ], [ 4.0, 10.5 ], [ 4.707106781186548, 9.792893218813452 ], [ 11.778174593052023, 16.863961030678926 ] ], [ [ -4.0, 10.5 ], [ -11.071067811865476, 17.571067811865476 ], [ -11.778174593052023, 16.863961030678926 ], [ -4.707106781186548, 9.792893218813452 ] ] ], "oriented": false, "is_dof_fixed": [ true, true, true ], "edges": [ [ 0, 1 ], [ 1, 2 ], [ 2, 3 ], [ 3, 4 ], [ 4, 5 ], [ 5, 6 ], [ 6, 7 ], [ 7, 8 ], [ 8, 9 ], [ 9, 10 ], [ 10, 11 ], [ 11, 12 ], [ 12, 13 ], [ 13, 0 ] ] }, { "vertices": [ [ 0.5, 0.0 ], [ 3.061616997868383e-17, 0.5 ], [ -0.5, 6.123233995736766e-17 ], [ -9.184850993605148e-17, -0.5 ] ], "polygons": [ [ [ 0.5, 0.0 ], [ 3.061616997868383e-17, 0.5 ], [ -0.5, 6.123233995736766e-17 ], [ -9.184850993605148e-17, -0.5 ] ] ], "oriented": true, "position": [ 0.336813177098541, 22.955680991172585 ], "is_dof_fixed": [ false, false, false ], "edges": [ [ 0, 1 ], [ 1, 2 ], [ 2, 3 ], [ 3, 0 ] ], "rotation": [ 27.124351923223973 ], "linear_velocity": [ 0.0, 0.0 ], "angular_velocity": [ 0.0 ] }, { "vertices": [ [ 0.5, 0.0 ], [ 3.061616997868383e-17, 0.5 ], [ -0.5, 6.123233995736766e-17 ], [ -9.184850993605148e-17, -0.5 ] ], "polygons": [ [ [ 0.5, 0.0 ], [ 3.061616997868383e-17, 0.5 ], [ -0.5, 6.123233995736766e-17 ], [ -9.184850993605148e-17, -0.5 ] ] ], "oriented": true, "position": [ 0.3096939626785882, 14.209643980167142 ], "is_dof_fixed": [ false, false, false ], "edges": [ [ 0, 1 ], [ 1, 2 ], [ 2, 3 ], [ 3, 0 ] ], "rotation": [ 29.065235087999525 ], "linear_velocity": [ 0.0, 0.0 ], "angular_velocity": [ 0.0 ] } ] } }