Kinetix/worlds/l/hard_lunar_lander.json

{"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": 3, "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": 3.7699999809265137, "1": 0.36500000953674316}, "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": 0.47499990463256836, "1": 0.06000000238418579}, "1": {"0": 0.47499990463256836, "1": -0.06000000238418579}, "2": {"0": -0.47499990463256836, "1": -0.06000000238418579}, "3": {"0": -0.47499990463256836, "1": 0.06000000238418579}}, "radius": 0.0, "role": 2, "density": 1.0, "highlighted": false}, {"position": {"0": 0.5799999237060547, "1": 3.802499771118164}, "rotation": 2.356194496154785, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 27.397258758544922, "inverse_inertia": 2295.458740234375, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 0.05000000074505806, "1": 0.18250000476837158}, "1": {"0": 0.05000000074505806, "1": -0.18250000476837158}, "2": {"0": -0.05000000074505806, "1": -0.18250000476837158}, "3": {"0": -0.05000000074505806, "1": 0.18250000476837158}}, "radius": 0.0, "role": 0, "density": 1.0, "highlighted": false}, {"position": {"0": 0.9800000190734863, "1": 3.802499771118164}, "rotation": 0.7853981852531433, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 27.397258758544922, "inverse_inertia": 2295.458740234375, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 0.05000000074505806, "1": 0.18250000476837158}, "1": {"0": 0.05000000074505806, "1": -0.18250000476837158}, "2": {"0": -0.05000000074505806, "1": -0.18250000476837158}, "3": {"0": -0.05000000074505806, "1": 0.18250000476837158}}, "radius": 0.0, "role": 0, "density": 1.0, "highlighted": false}, {"position": {"0": 0.5799999237060547, "1": 3.802499771118164}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 27.397258758544922, "inverse_inertia": 2295.458740234375, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": false, "n_vertices": 4, "vertices": {"0": {"0": 0.05000000074505806, "1": 0.18250000476837158}, "1": {"0": 0.05000000074505806, "1": -0.18250000476837158}, "2": {"0": -0.05000000074505806, "1": -0.18250000476837158}, "3": {"0": -0.05000000074505806, "1": 0.18250000476837158}}, "radius": 0.0, "role": 0, "density": 1.0, "highlighted": false}, {"position": {"0": 0.7875000238418579, "1": 3.819999933242798}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 9.962638854980469, "inverse_inertia": 572.4282836914062, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 0.13750001788139343, "1": 0.18250000476837158}, "1": {"0": 0.13750001788139343, "1": -0.18250000476837158}, "2": {"0": -0.13750001788139343, "1": -0.18250000476837158}, "3": {"0": -0.13750001788139343, "1": 0.18250000476837158}}, "radius": 0.0, "role": 1, "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": 4, "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}, {"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": 4, "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}, {"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": 4, "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}], "circle": [{"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}, {"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}, {"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}, {"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": 5, "b_index": 8, "a_relative_pos": {"0": -0.008838744834065437, "1": -0.16793803870677948}, "b_relative_pos": {"0": -0.08250004053115845, "1": 0.09500002861022949}, "global_position": {"0": 0.7049999833106995, "1": 3.9149999618530273}, "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": true, "motor_has_joint_limits": false, "min_rotation": 0.0, "max_rotation": 0.0, "is_fixed_joint": true, "rotation": -2.356194496154785, "motor_binding": 0}, {"a_index": 6, "b_index": 8, "a_relative_pos": {"0": 0.012374568730592728, "1": 0.12551170587539673}, "b_relative_pos": {"0": 0.11249995231628418, "1": 0.08000016212463379}, "global_position": {"0": 0.8999999761581421, "1": 3.9000000953674316}, "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": true, "motor_has_joint_limits": false, "min_rotation": 0.0, "max_rotation": 0.8726646304130554, "is_fixed_joint": true, "rotation": -0.7853981852531433, "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": 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}, {"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": 8, "relative_position": {"0": -0.10250002145767212, "1": -0.125}, "rotation": 1.2454358339309692, "power": 0.15000000596046448, "global_position": {"0": 0.6850000023841858, "1": 3.694999933242798}, "active": true, "thruster_binding": 0}, {"object_index": 8, "relative_position": {"0": 0.10749995708465576, "1": -0.11999988555908203}, "rotation": 1.858579397201538, "power": 0.15000000596046448, "global_position": {"0": 0.8949999809265137, "1": 3.700000047683716}, "active": true, "thruster_binding": 1}], "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": true, "13": true, "14": true, "15": true}, "5": {"0": true, "1": true, "2": true, "3": true, "4": true, "5": false, "6": false, "7": true, "8": false, "9": true, "10": true, "11": true, "12": true, "13": true, "14": true, "15": true}, "6": {"0": true, "1": true, "2": true, "3": true, "4": true, "5": false, "6": false, "7": true, "8": false, "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": false, "6": false, "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": true, "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": true, "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}}