Kinetix/worlds/s/h5_rotate_fall.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": 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": 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": 3.534998655319214, "1": 0.5924999713897705}, "rotation": 0.0, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 4.364907264709473, "inverse_inertia": 106.36929321289062, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 0.28999996185302734, "1": 0.19749999046325684}, "1": {"0": 0.28999996185302734, "1": -0.19749999046325684}, "2": {"0": -0.28999996185302734, "1": -0.19749999046325684}, "3": {"0": -0.28999996185302734, "1": 0.19749999046325684}}, "radius": 0.20000000298023224, "role": 0, "density": 1.0, "highlighted": false}], "circle": [{"position": {"0": 1.4299999475479126, "1": 4.650000095367432}, "rotation": 4.029953479766846, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 5.611451148986816, "inverse_inertia": 395.6947021484375, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 0.20000000298023224, "1": 0.20000000298023224}, "1": {"0": 0.20000000298023224, "1": -0.20000000298023224}, "2": {"0": -0.20000000298023224, "1": -0.20000000298023224}, "3": {"0": -0.20000000298023224, "1": 0.20000000298023224}}, "radius": 0.23817022144794464, "role": 2, "density": 1.0, "highlighted": false}, {"position": {"0": 1.4649999141693115, "1": 4.339999675750732}, "rotation": 5.578516006469727, "velocity": {"0": 0.0, "1": 0.0}, "angular_velocity": 0.0, "inverse_mass": 7.987701416015625, "inverse_inertia": 801.7769165039062, "friction": 1.0, "restitution": 0.0, "collision_mode": 1, "active": true, "n_vertices": 4, "vertices": {"0": {"0": 0.20000000298023224, "1": 0.20000000298023224}, "1": {"0": 0.20000000298023224, "1": -0.20000000298023224}, "2": {"0": -0.20000000298023224, "1": -0.20000000298023224}, "3": {"0": -0.20000000298023224, "1": 0.20000000298023224}}, "radius": 0.19962464272975922, "role": 3, "density": 1.0, "highlighted": false}], "joint": [{"a_index": 5, "b_index": 6, "a_relative_pos": {"0": 0.12780043482780457, "1": 0.13607794046401978}, "b_relative_pos": {"0": -0.08859099447727203, "1": 0.08875042200088501}, "global_position": {"0": 1.4549999237060547, "1": 4.464999675750732}, "active": true, "acc_impulse": {"0": 0.0, "1": 0.0}, "acc_r_impulse": 0.0, "motor_speed": 1.9500000476837158, "motor_power": 1.0, "motor_on": true, "motor_has_joint_limits": false, "min_rotation": 0.0, "max_rotation": 1.5707963705062866, "is_fixed_joint": false, "rotation": 1.5485625267028809, "motor_binding": 0}], "thruster": [{"object_index": 4, "relative_position": {"0": 0.0, "1": 0.0}, "rotation": 3.1415927410125732, "power": 0.25155019760131836, "global_position": {"0": 3.534998655319214, "1": 0.5924999713897705}, "active": false, "thruster_binding": 0}], "collision_matrix": {"0": {"0": false, "1": true, "2": true, "3": true, "4": true, "5": true, "6": true}, "1": {"0": true, "1": false, "2": true, "3": true, "4": true, "5": true, "6": true}, "2": {"0": true, "1": true, "2": false, "3": true, "4": true, "5": true, "6": true}, "3": {"0": true, "1": true, "2": true, "3": false, "4": true, "5": true, "6": true}, "4": {"0": true, "1": true, "2": true, "3": true, "4": false, "5": true, "6": true}, "5": {"0": true, "1": true, "2": true, "3": true, "4": true, "5": false, "6": false}, "6": {"0": true, "1": true, "2": true, "3": true, "4": true, "5": false, "6": 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}], "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}], "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}], "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": 5, "num_circles": 2, "num_joints": 1, "num_thrusters": 1, "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}}