Spaces:
Runtime error
Runtime error
{"env_state": {"polygon": [{"position": {"0": 2.5, "1": -4.800000190734863}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 0.0, "inverse_inertia": 0.0, "friction": 1.0, "restitution": 0.0, "collision_mode": 2, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 2.5, "1": 5.199999809265137}, "1": {"0": 2.5, "1": -5.199999809265137}, "2": {"0": -2.5, "1": -5.199999809265137}, "3": {"0": -2.5, "1": 5.199999809265137}}, "radius": 0.0, "role": 0, "density": 1.0, "highlighted": false}, {"position": {"0": 0.0, "1": 0.0}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 0.0, "inverse_inertia": 0.0, "friction": 1.0, "restitution": 0.0, "collision_mode": 2, "active": true, "n_vertices": 4, "vertices": {"0": {"0": -5.0, "1": 5.0}, "1": {"0": -0.05000000074505806, "1": 5.0}, "2": {"0": -0.05000000074505806, "1": 0.0}, "3": {"0": -5.0, "1": 0.0}}, "radius": 0.0, "role": 0, "density": 1.0, "highlighted": false}, {"position": {"0": 0.0, "1": 0.0}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 0.0, "inverse_inertia": 0.0, "friction": 1.0, "restitution": 0.0, "collision_mode": 2, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 5.0, "1": 5.0}, "1": {"0": 10.0, "1": 5.0}, "2": {"0": 10.0, "1": 0.0}, "3": {"0": 5.0, "1": 0.0}}, "radius": 0.0, "role": 0, "density": 1.0, "highlighted": false}, {"position": {"0": 2.5, "1": 10.199999809265137}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 0.0, "inverse_inertia": 0.0, "friction": 1.0, "restitution": 0.0, "collision_mode": 2, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 2.5, "1": 5.199999809265137}, "1": {"0": 2.5, "1": -5.199999809265137}, "2": {"0": -2.5, "1": -5.199999809265137}, "3": {"0": -2.5, "1": 5.199999809265137}}, "radius": 0.0, "role": 0, "density": 1.0, "highlighted": false}, {"position": {"0": 1.2071068286895752, "1": 0.8899999856948853}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 6.428299903869629, "inverse_inertia": 38.33823013305664, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 0.7071033120155334, "1": 0.05499979108572006}, "1": {"0": 0.7071033120155334, "1": -0.05499979108572006}, "2": {"0": -0.7071033120155334, "1": -0.05499979108572006}, "3": {"0": -0.7071033120155334, "1": 0.05499979108572006}}, "radius": 0.0, "role": 0, "density": 1.0, "highlighted": false}, {"position": {"0": 3.807105541229248, "1": 0.8899999856948853}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 6.428343296051025, "inverse_inertia": 38.33877944946289, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 0.7071006298065186, "1": 0.05499962344765663}, "1": {"0": 0.7071006298065186, "1": -0.05499962344765663}, "2": {"0": -0.7071006298065186, "1": -0.05499962344765663}, "3": {"0": -0.7071006298065186, "1": 0.05499962344765663}}, "radius": 0.0, "role": 0, "density": 1.0, "highlighted": false}, {"position": {"0": 0.5799999833106995, "1": 1.0225000381469727}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 43.0107536315918, "inverse_inertia": 11093.583984375, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 0.07499998807907104, "1": 0.07750001549720764}, "1": {"0": 0.07499998807907104, "1": -0.07750001549720764}, "2": {"0": -0.07499998807907104, "1": -0.07750001549720764}, "3": {"0": -0.07499998807907104, "1": 0.07750001549720764}}, "radius": 0.0, "role": 2, "density": 1.0, "highlighted": false}, {"position": {"0": 0.6775000095367432, "1": 0.6174999475479126}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 6.513596057891846, "inverse_inertia": 246.5325164794922, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 0.17249999940395355, "1": 0.2225000262260437}, "1": {"0": 0.17249999940395355, "1": -0.2225000262260437}, "2": {"0": -0.17249999940395355, "1": -0.2225000262260437}, "3": {"0": -0.17249999940395355, "1": 0.2225000262260437}}, "radius": 0.10000000149011612, "role": 0, "density": 1.0, "highlighted": false}, {"position": {"0": 2.429999828338623, "1": 1.092106819152832}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 0.0, "inverse_inertia": 0.0, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 0.1299998164176941, "1": 0.7071060538291931}, "1": {"0": 0.1299998164176941, "1": -0.7071060538291931}, "2": {"0": -0.1299998164176941, "1": -0.7071060538291931}, "3": {"0": -0.1299998164176941, "1": 0.7071060538291931}}, "radius": 0.10000000149011612, "role": 1, "density": 1.0, "highlighted": false}, {"position": {"0": 4.329999923706055, "1": 0.6174999475479126}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 6.513596057891846, "inverse_inertia": 246.5325164794922, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 0.17249999940395355, "1": 0.2225000262260437}, "1": {"0": 0.17249999940395355, "1": -0.2225000262260437}, "2": {"0": -0.17249999940395355, "1": -0.2225000262260437}, "3": {"0": -0.17249999940395355, "1": 0.2225000262260437}}, "radius": 0.10000000149011612, "role": 0, "density": 1.0, "highlighted": false}, {"position": {"0": 4.440000057220459, "1": 1.0225000381469727}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 43.0107536315918, "inverse_inertia": 11093.583984375, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 0.07499998807907104, "1": 0.07750001549720764}, "1": {"0": 0.07499998807907104, "1": -0.07750001549720764}, "2": {"0": -0.07499998807907104, "1": -0.07750001549720764}, "3": {"0": -0.07499998807907104, "1": 0.07750001549720764}}, "radius": 0.0, "role": 3, "density": 1.0, "highlighted": false}, {"position": {"0": 2.2571067810058594, "1": 3.652893304824829}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 0.5000000596046448, "inverse_inertia": 1.500000238418579, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": false, "n_vertices": 4, "vertices": {"0": {"0": 0.7071067690849304, "1": 0.7071067690849304}, "1": {"0": 0.7071067690849304, "1": -0.7071067690849304}, "2": {"0": -0.7071067690849304, "1": -0.7071067690849304}, "3": {"0": -0.7071067690849304, "1": 0.7071067690849304}}, "radius": 0.0, "role": 0, "density": 1.0, "highlighted": false}], "circle": [{"position": {"0": 1.2100000381469727, "1": 0.8899999856948853}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 0.0, "inverse_inertia": 0.0, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 0, "vertices": {"0": {"0": 0.0, "1": 0.0}, "1": {"0": 0.0, "1": 0.0}, "2": {"0": 0.0, "1": 0.0}, "3": {"0": 0.0, "1": 0.0}}, "radius": 0.16224978864192963, "role": 0, "density": 1.0, "highlighted": false}, {"position": {"0": 3.8099985122680664, "1": 0.8899999856948853}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 0.0, "inverse_inertia": 0.0, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 0, "vertices": {"0": {"0": 0.0, "1": 0.0}, "1": {"0": 0.0, "1": 0.0}, "2": {"0": 0.0, "1": 0.0}, "3": {"0": 0.0, "1": 0.0}}, "radius": 0.16224978864192963, "role": 0, "density": 1.0, "highlighted": false}, {"position": {"0": 2.424999952316284, "1": 1.96999990940094}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 8.545234680175781, "inverse_inertia": 917.6092529296875, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 0.05000000074505806, "1": 0.05000000074505806}, "1": {"0": 0.05000000074505806, "1": -0.05000000074505806}, "2": {"0": -0.05000000074505806, "1": -0.05000000074505806}, "3": {"0": -0.05000000074505806, "1": 0.05000000074505806}}, "radius": 0.19300256669521332, "role": 0, "density": 1.0, "highlighted": false}, {"position": {"0": 0.0, "1": 0.0}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 0.0, "inverse_inertia": 0.0, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": false, "n_vertices": 0, "vertices": {"0": {"0": 0.0, "1": 0.0}, "1": {"0": 0.0, "1": 0.0}, "2": {"0": 0.0, "1": 0.0}, "3": {"0": 0.0, "1": 0.0}}, "radius": 0.0, "role": 0, "density": 1.0, "highlighted": false}], "joint": [{"a_index": 4, "b_index": 12, "a_relative_pos": {"0": 0.002893209457397461, "1": 0.0}, "b_relative_pos": {"0": 0.0, "1": 0.0}, "global_position": {"0": 1.2100000381469727, "1": 0.8899999856948853}, "active": true, "acc_impulse": {"0": 0.0, "1": 0.0}, "acc_r_impulse": 0.0, "motor_speed": 1.0, "motor_power": 1.0, "motor_on": false, "motor_has_joint_limits": false, "min_rotation": 0.0, "max_rotation": 0.0, "is_fixed_joint": false, "rotation": 0.0, "motor_binding": 0}, {"a_index": 5, "b_index": 13, "a_relative_pos": {"0": 0.0028929710388183594, "1": 0.0}, "b_relative_pos": {"0": 0.0, "1": 0.0}, "global_position": {"0": 3.8099985122680664, "1": 0.8899999856948853}, "active": true, "acc_impulse": {"0": 0.0, "1": 0.0}, "acc_r_impulse": 0.0, "motor_speed": 1.0, "motor_power": 1.0, "motor_on": false, "motor_has_joint_limits": false, "min_rotation": 0.0, "max_rotation": 0.0, "is_fixed_joint": false, "rotation": 0.0, "motor_binding": 0}, {"a_index": 0, "b_index": 0, "a_relative_pos": {"0": 0.0, "1": 0.0}, "b_relative_pos": {"0": 0.0, "1": 0.0}, "global_position": {"0": 2.5, "1": -4.800000190734863}, "active": false, "acc_impulse": {"0": 0.0, "1": 0.0}, "acc_r_impulse": 0.0, "motor_speed": 0.0, "motor_power": 0.0, "motor_on": false, "motor_has_joint_limits": false, "min_rotation": 0.0, "max_rotation": 0.0, "is_fixed_joint": false, "rotation": 0.0, "motor_binding": 0}, {"a_index": 9, "b_index": 13, "a_relative_pos": {"0": 0.014305956661701202, "1": 0.025829315185546875}, "b_relative_pos": {"0": 0.0, "1": 0.0}, "global_position": {"0": 4.344305992126465, "1": 0.6433292627334595}, "active": false, "acc_impulse": {"0": 0.0, "1": 0.0}, "acc_r_impulse": 0.0, "motor_speed": 1.363639235496521, "motor_power": 1.0, "motor_on": true, "motor_has_joint_limits": false, "min_rotation": 0.0, "max_rotation": 0.0, "is_fixed_joint": false, "rotation": 0.0, "motor_binding": 3}, {"a_index": 0, "b_index": 0, "a_relative_pos": {"0": 0.0, "1": 0.0}, "b_relative_pos": {"0": 0.0, "1": 0.0}, "global_position": {"0": 2.5, "1": -4.800000190734863}, "active": false, "acc_impulse": {"0": 0.0, "1": 0.0}, "acc_r_impulse": 0.0, "motor_speed": 0.0, "motor_power": 0.0, "motor_on": false, "motor_has_joint_limits": false, "min_rotation": 0.0, "max_rotation": 0.0, "is_fixed_joint": false, "rotation": 0.0, "motor_binding": 0}, {"a_index": 0, "b_index": 0, "a_relative_pos": {"0": 0.0, "1": 0.0}, "b_relative_pos": {"0": 0.0, "1": 0.0}, "global_position": {"0": 2.5, "1": -4.800000190734863}, "active": false, "acc_impulse": {"0": 0.0, "1": 0.0}, "acc_r_impulse": 0.0, "motor_speed": 0.0, "motor_power": 0.0, "motor_on": false, "motor_has_joint_limits": false, "min_rotation": 0.0, "max_rotation": 0.0, "is_fixed_joint": false, "rotation": 0.0, "motor_binding": 0}], "thruster": [{"object_index": 14, "relative_position": {"0": 0.1926882266998291, "1": -0.01101076602935791}, "rotation": 3.1986734867095947, "power": 0.11702428758144379, "global_position": {"0": 2.6176881790161133, "1": 1.958989143371582}, "active": true, "thruster_binding": 1}, {"object_index": 14, "relative_position": {"0": -0.19300246238708496, "1": 0.0}, "rotation": 6.283185005187988, "power": 0.11702428758144379, "global_position": {"0": 2.231997489929199, "1": 1.96999990940094}, "active": true, "thruster_binding": 0}], "collision_matrix": {"0": {"0": false, "1": true, "2": true, "3": true, "4": true, "5": true, "6": true, "7": true, "8": true, "9": true, "10": true, "11": true, "12": true, "13": true, "14": true, "15": true}, "1": {"0": true, "1": false, "2": true, "3": true, "4": true, "5": true, "6": true, "7": true, "8": true, "9": true, "10": true, "11": true, "12": true, "13": true, "14": true, "15": true}, "2": {"0": true, "1": true, "2": false, "3": true, "4": true, "5": true, "6": true, "7": true, "8": true, "9": true, "10": true, "11": true, "12": true, "13": true, "14": true, "15": true}, "3": {"0": true, "1": true, "2": true, "3": false, "4": true, "5": true, "6": true, "7": true, "8": true, "9": true, "10": true, "11": true, "12": true, "13": true, "14": true, "15": true}, "4": {"0": true, "1": true, "2": true, "3": true, "4": false, "5": true, "6": true, "7": true, "8": true, "9": true, "10": true, "11": true, "12": false, "13": true, "14": true, "15": true}, "5": {"0": true, "1": true, "2": true, "3": true, "4": true, "5": false, "6": true, "7": true, "8": true, "9": true, "10": true, "11": true, "12": true, "13": false, "14": true, "15": true}, "6": {"0": true, "1": true, "2": true, "3": true, "4": true, "5": true, "6": false, "7": true, "8": true, "9": true, "10": true, "11": true, "12": true, "13": true, "14": true, "15": true}, "7": {"0": true, "1": true, "2": true, "3": true, "4": true, "5": true, "6": true, "7": false, "8": true, "9": true, "10": true, "11": true, "12": true, "13": true, "14": true, "15": true}, "8": {"0": true, "1": true, "2": true, "3": true, "4": true, "5": true, "6": true, "7": true, "8": false, "9": true, "10": true, "11": true, "12": true, "13": true, "14": true, "15": true}, "9": {"0": true, "1": true, "2": true, "3": true, "4": true, "5": true, "6": true, "7": true, "8": true, "9": false, "10": true, "11": true, "12": true, "13": true, "14": true, "15": true}, "10": {"0": true, "1": true, "2": true, "3": true, "4": true, "5": true, "6": true, "7": true, "8": true, "9": true, "10": false, "11": true, "12": true, "13": true, "14": true, "15": true}, "11": {"0": true, "1": true, "2": true, "3": true, "4": true, "5": true, "6": true, "7": true, "8": true, "9": true, "10": true, "11": false, "12": true, "13": true, "14": true, "15": true}, "12": {"0": true, "1": true, "2": true, "3": true, "4": false, "5": true, "6": true, "7": true, "8": true, "9": true, "10": true, "11": true, "12": false, "13": true, "14": true, "15": true}, "13": {"0": true, "1": true, "2": true, "3": true, "4": true, "5": false, "6": true, "7": true, "8": true, "9": true, "10": true, "11": true, "12": true, "13": false, "14": true, "15": true}, "14": {"0": true, "1": true, "2": true, "3": true, "4": true, "5": true, "6": true, "7": true, "8": true, "9": true, "10": true, "11": true, "12": true, "13": true, "14": false, "15": true}, "15": {"0": true, "1": true, "2": true, "3": true, "4": true, "5": true, "6": true, "7": true, "8": true, "9": true, "10": true, "11": true, "12": true, "13": true, "14": true, "15": false}}, "acc_rr_manifolds": [{"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}], "acc_cr_manifolds": [{"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}], "acc_cc_manifolds": [{"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}, {"normal": {"0": 0.0, "1": 0.0}, "penetration": 0.0, "collision_point": {"0": 0.0, "1": 0.0}, "active": false, "acc_impulse_normal": 0.0, "acc_impulse_tangent": 0.0, "restitution_velocity_target": 0.0}], "gravity": {"0": 0.0, "1": -9.8100004196167}}, "env_params": {"dt": 0.016666666666666666, "slop": 0.01, "baumgarte_coefficient_joints_v": 2.0, "baumgarte_coefficient_joints_p": 0.7, "baumgarte_coefficient_fjoint_av": 2.0, "baumgarte_coefficient_rjoint_limit_av": 5.0, "baumgarte_coefficient_collision": 0.2, "joint_stiffness": 0.6, "clip_position": 15, "clip_velocity": 100, "clip_angular_velocity": 50, "base_motor_speed": 6.0, "base_motor_power": 900.0, "base_thruster_power": 10.0, "motor_decay_coefficient": 0.1, "motor_joint_limit": 0.1, "base_friction": 0.4, "max_timesteps": 256, "pixels_per_unit": 100, "dense_reward_scale": 0.1, "num_shape_roles": 4}, "static_env_params": {"num_polygons": 12, "num_circles": 4, "num_joints": 6, "num_thrusters": 2, "max_polygon_vertices": 4, "num_solver_iterations": 10, "solver_batch_size": 16, "do_warm_starting": true, "num_static_fixated_polys": 4, "screen_dim": {"0": 500, "1": 500}, "downscale": 4, "frame_skip": 2, "max_shape_size": 2, "num_motor_bindings": 4, "num_thruster_bindings": 2}} |