You can not select more than 25 topics Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
 
 
 
 
 

705 lines
26 KiB

{
"scene_type": "distance_barrier_rb_problem",
"timestep": 0.01,
"distance_barrier_constraint": {
"initial_barrier_activation_distance": 0.001
},
"rigid_body_problem": {
"gravity": [0.0, 0.0],
"coefficient_restitution": 1,
"rigid_bodies": [{
"vertices": [
[0.99, -0.495],
[-0.99, -0.495],
[-0.99, 0.495],
[0.99, 0.495],
[0.9919, 0.4969],
[-0.9919, 0.4969],
[-0.9919, -0.4969],
[0.9919, -0.4969]
],
"polygons": [
[
[0.9919, 0.4969],
[-0.9919, 0.4969],
[-0.99, 0.495],
[0.99, 0.495]
],
[
[-0.9919, 0.4969],
[-0.9919, -0.4969],
[-0.99, -0.495],
[-0.99, 0.495]
],
[
[-0.9919, -0.4969],
[0.9919, -0.4969],
[0.99, -0.495],
[-0.99, -0.495]
],
[
[0.9919, -0.4969],
[0.9919, 0.4969],
[0.99, 0.495],
[0.99, -0.495]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 0],
[4, 5],
[5, 6],
[6, 7],
[7, 4]
],
"oriented": true,
"position": [0.0, 0.0],
"rotation": [0.0],
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [true, true, true]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.495, -0.0],
"rotation": [24.696607676729613]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.552, -0.032775],
"rotation": [32.18352148675888]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.552, 0.032775],
"rotation": [27.124351923223973]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.6090000000000001, -0.06555],
"rotation": [24.51974323486036]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.6090000000000001, 0.0],
"rotation": [19.064465970250712]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.6090000000000001, 0.06555],
"rotation": [29.065235087999525]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.6660000000000001, -0.098325],
"rotation": [19.691424506821164]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.6660000000000001, -0.032775],
"rotation": [40.12978503519359]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.6660000000000001, 0.032775],
"rotation": [43.36482422254632]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.6660000000000001, 0.098325],
"rotation": [17.254868347159995]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.7230000000000002, -0.1311],
"rotation": [35.627626713719906]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.7230000000000002, -0.06555],
"rotation": [23.800271388880702]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.7230000000000002, 0.0],
"rotation": [25.562005249226953]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.7230000000000002, 0.06555],
"rotation": [41.65184872316975]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [0.0, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [0.7230000000000002, 0.1311],
"rotation": [3.1966226189049123]
}, {
"vertices": [
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
],
"polygons": [
[
[0.0285, 0.0],
[0.020152543263816606, 0.020152543263816602],
[1.7451216887849783e-18, 0.0285],
[-0.020152543263816602, 0.020152543263816606],
[-0.0285, 3.490243377569957e-18],
[-0.02015254326381661, -0.020152543263816602],
[-5.235365066354935e-18, -0.0285],
[0.020152543263816602, -0.02015254326381661]
]
],
"edges": [
[0, 1],
[1, 2],
[2, 3],
[3, 4],
[4, 5],
[5, 6],
[6, 7],
[7, 0]
],
"oriented": true,
"linear_velocity": [10.729, 0.0],
"angular_velocity": [0.0],
"is_dof_fixed": [false, false, false],
"density": 73.99701619065137,
"position": [-0.495, 0],
"rotation": [0]
}]
}
}