Errors, Costs, and Sensitivity Analysis
Sensitivity analysis support is under development. API patterns described in this page may still change across solver families and future releases.
In trajectory optimization (e.g., iLQR) and reinforcement learning, we need a scalar metric to evaluate system performance. Rible uses the AbstractObjective framework to aggregate physical observations (Gauges) and execution costs (Actions) into a unified mathematical objective. Sensitivity analysis then computes gradients of this objective with respect to parameters, enabling gradient-based optimization.
From Error to Cost
In Rible, the Error is a local scalar defined at the gauge level, while the Cost is a weighted global indicator defined at the system level.
Error Gauge
As mentioned in the Control Hub, ErrorGauge computes the deviation in a single dimension — e.g., the Euclidean distance from an end effector to a target, or the angle of a rod deviating from vertical. Each ErrorGauge yields a differentiable scalar error.
Objective
Objective performs weighted summation over all active gauges and actuators. The total cost
A typical Objective object contains:
Trajectory error weights — applied at every time step.
Terminal error weights — applied only at the final step, emphasizing goal achievement.
Actuator weights — penalties on control input magnitude
(energy cost). Time scaling factor (
) — handles weight adjustments under variable step sizes.
The core evaluation interface is:
cost!(bot, objt, inst_state, u; mode=:trajectory)— single-step instantaneous cost.cost!(bot, objt, solver, dt)— total cost over the entire trajectory.
Differentiation Interface
For gradient-based algorithms, Rible provides buffer-free differentiation:
cost_gradient!— gradient of the cost with respect to, , , and parameters . cost_hessian!— second-order derivatives for local quadratic approximation (used by iLQR).
These interfaces internally leverage `measure_jacobian!`.
Sensitivity Analysis Overview
Sensitivity analysis measures how system output responds to changes in inputs and parameters. Rible provides two methods, both compatible with the Zhong06 discrete integration framework:
| Feature | Adjoint | Direct |
|---|---|---|
| Computation direction | Reverse Mode | Forward Mode |
| Best for | Many parameters, few outputs | Few parameters, high state dimension |
| Complexity | ||
| Memory | High (stores forward trajectory) | Low (online progression) |
| Typical use | Large-scale optimization, policy training | Real-time control, online monitoring |
If parameter dimension is high (e.g., neural networks) but the objective is scalar, prefer the Adjoint method.
If parameters are few and online sensitivity trajectories are needed, prefer the Direct method.
Adjoint Sensitivity Analysis
The adjoint method constructs backward-propagating variables and obtains the gradient of the objective with respect to many parameters in a single backward sweep.
Theory
Consider a discrete-time system:
with objective:
Introduce adjoint variable
The parameter gradient is then:
Direct Sensitivity Analysis
The direct method advances both the state and sensitivity equations forward in time.
Theory
Define the sensitivity matrix
This integrates forward concurrently with the original equations, yielding full trajectories
Sensitivity Analysis API
This page focuses on the public workflow first: evaluate the objective, construct the sensitivity solver, run solve!, then inspect sim.solver_cache. Cache type names are solver-family internals and should only matter if you are extending the implementation.
The sensitivity solvers are thin wrappers around an existing dynamics solver and an objective.
Adjoint —
adj_solver = DiscreteAdjointDynamicsSolver(dyn_solver, objt)followed byadj_sen_solver = AdjointDynamicsSensitivitySolver(dyn_solver, adj_solver).Direct —
drc_sen_solver = DirectDynamicsSensitivitySolver(dyn_solver, objt).Execution —
solve!(prob, sensitivity_solver; ...)returns a simulation result whose sensitivity outputs live insim.solver_cache.
This keeps the public entry point consistent with the rest of the dynamics API: the model stays in DynamicsProblem, the numerical method stays in DynamicsSolver, and the sensitivity method is added as an outer wrapper.
After the solve finishes, inspect sim.solver_cache instead of relying on solver-family-specific cache type names.
Adjoint gradients —
∂J∂x₀ᵀ,∂J∂θᵀ,∂J∂cᵀDirect Jacobians —
Jac_state,Jac_action,Jac_control_params
The adjoint fields summarize how the scalar objective changes with respect to the initial state and parameter groups. The direct fields describe how the propagated state changes with respect to initial state, actions, and control parameters.
Example: Cost and Sensitivity Workflow
Step 1: Build a Minimal System
Create a single-body structure with an error gauge and control hub.
julia
using Rible
using StaticArrays
using LinearAlgebra
import TypeSortedCollections as TSC
mass_locus = Locus(SVector(0.0, 0.0, 0.0))
loci = [Locus(SVector(0.0, 0.0, 0.0), SVector(1.0, 0.0, 0.0))]
inertia = SMatrix{3,3,Float64}(I)
prop = RigidBodyProperty(1, true, 1.0, inertia, mass_locus, loci; visible = false)
r0 = SVector(0.0, 0.0, 0.0)
R0 = SMatrix{3,3,Float64}(I)
state = RigidBodyState(prop, r0, R0, zero(r0), zero(r0))
coords = NCF.NC1P3V(r0, r0, R0)
body = RigidBody(prop, state, coords, nothing)
bodies = TSC.TypeSortedCollection([body])
apparatuses = TSC.TypeSortedCollection(Int[])
st = Structure(bodies, apparatuses, Connectivity(bodies, apparatuses))
update!(st)Step 2: Define Gauge, Hub, and Objective
Wire up an error gauge, add an external force actuator, and construct the objective.
julia
error_gauge = ErrorGauge(
1,
Signifier(body, 1),
PositionCaptum(),
[0.1, 0.0, 0.0],
)
capta_gauges = TSC.TypeSortedCollection(Int[])
error_gauges = TSC.TypeSortedCollection([error_gauge])
force_actuator = ExternalForceActuator(
1,
Signifier(body, 1),
NaiveOperator(2),
[1.0 0.0; 0.0 1.0; 0.0 0.0],
[0.0, 0.0],
)
actuators = TSC.TypeSortedCollection([force_actuator])
coalition = Coalition(st, capta_gauges, error_gauges, actuators)
hub = ControlHub(st, capta_gauges, error_gauges, actuators, coalition)
bot = Robot(st, hub)
prob = DynamicsProblem(bot; env=GravityEnv())
objt = Objective(
[10.0], # trajectory_error_gauges_weights
[1.0], # trajectory_actuators_weights
[100.0], # terminal_error_gauges_weights
[5.0], # terminal_actuators_weights
t -> 1 / (1 + t),
)Objective{Vector{Float64}, Main.var"#2#3"}([10.0], [1.0], [100.0], [5.0], Main.var"#2#3"())Step 3: Compute Cost
julia
inst = bot.structure.state.system
u = [0.2, -0.1]
ϕ_traj = cost!(bot, objt, inst, u; mode = :trajectory)
ϕ_term = cost!(bot, objt, inst, u; mode = :terminal)
ϕ_traj, ϕ_term(0.07500000000000001, 0.6250000000000001)Step 4: Adjoint Sensitivity Solve
julia
dyn_solver = DynamicsSolver(Zhong06())
adj_solver = DiscreteAdjointDynamicsSolver(dyn_solver, objt)
adj_sen_solver = AdjointDynamicsSensitivitySolver(dyn_solver, adj_solver)
adj_sim = solve!(prob, adj_sen_solver; tspan = (0.0, 0.01), dt = 1e-3)Rible.SimulationResult{Simulator{DynamicsProblem{Robot{Structure{TypeSortedCollections.TypeSortedCollection{Tuple{Vector{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}}, 1}, TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}, Connectivity{Vector{Vector{Int64}}}, Rible.StructureState{CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, Vector{CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, Vector{Float64}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}}}}, @NamedTuple{activated_bits::BitVector, persistent_bits::BitVector, friction_coefficients::Vector{Float64}, restitution_coefficients::Vector{Float64}, gaps::Vector{Float64}}, Rible.StructureCache{InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseVector{Float64, Int64}}}}, ControlHub{TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}}}, 1}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, 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Int64}}, Rible.Adjoint_Sensitivity_Zhong06_Constant_Mass_Cache{AdjointDynamicsSensitivitySolver{DynamicsSolver{Zhong06, Rible.NoBodySolver, Rible.NoApparatusSolver, Rible.NoContactSolver, @NamedTuple{}}, DiscreteAdjointDynamicsSolver{Zhong06, Rible.NoBodySolver, Rible.NoApparatusSolver, Rible.NoContactSolver, @NamedTuple{}, Objective{Vector{Float64}, Main.var"#2#3"}}}, Rible.Zhong06JacobianWorkspace{Float64}, Vector{ComponentArrays.ComponentVector{Float64, Vector{Float64}, Tuple{ComponentArrays.Axis{(a = ViewAxis(1:12, Shaped1DAxis((12,))), b = ViewAxis(13:24, Shaped1DAxis((12,))), μ = ViewAxis(25:30, Shaped1DAxis((6,))), τ = ViewAxis(31:30, Shaped1DAxis((0,))))}}}}, Vector{Float64}, Rible.NewtonWorkspace{Vector{Float64}, Matrix{Float64}}, Rible.Zhong06JacobianBlocks{Matrix{Float64}, Matrix{Float64}, Matrix{Float64}}, CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, Rible.CostGradient{Vector{Float64}}, Rible.CostGradient{Vector{Float64}}, Vector{Float64}, Vector{Vector{Float64}}, Vector{Vector{Float64}}, Vector{Vector{Float64}}, Vector{Vector{Float64}}, Vector{Vector{Float64}}}}(Simulator{DynamicsProblem{Robot{Structure{TypeSortedCollections.TypeSortedCollection{Tuple{Vector{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}}, 1}, TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}, Connectivity{Vector{Vector{Int64}}}, Rible.StructureState{CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, Vector{CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, Vector{Float64}, SubArray{Float64, 1, 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Vector{@NamedTuple{na::Int64, bodyid2act_idx::Vector{Vector{Int64}}, persistent_idx::Vector{Int64}, activated_bits::BitVector, H::LinearAlgebra.Diagonal{Float64, Vector{Float64}}, activated_restitution_coefficients::Vector{Float64}, D::Matrix{Float64}, Dper::Matrix{Float64}, Dimp::Matrix{Float64}, ∂Dq̇∂q::Matrix{Float64}, ∂DᵀΛ∂q::Matrix{Float64}, ŕ::Vector{Float64}, L::Matrix{Float64}, Lv::Matrix{Float64}, Λ::Vector{Float64}, Γ::Vector{Float64}}}, StructArrays.StructVector{@NamedTuple{c::Vector{Float64}, e::Vector{Float64}, u::Vector{Float64}}, @NamedTuple{c::Vector{Vector{Float64}}, e::Vector{Vector{Float64}}, u::Vector{Vector{Float64}}}, Int64}}, Rible.NoPolicy, Rible.StaticEnvironment{Rible.NoGeometry, Rible.Gravity{Float64}}, Objective{Vector{Int64}, Rible.var"#default_objective##0#default_objective##1"}, Rible.Contactless, Rible.Naive, @NamedTuple{}}, Rible.var"#solve!##6#solve!##7", Float64, StructArrays.StructVector{@NamedTuple{residual::Float64, iteration::Int64, 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InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}[RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}(RigidBodyProperty{3, Float64, 9}(true, false, 1, :generic, 1.0, [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], Locus{3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.0, 0.0), Locus{3, Float64, 9}[Locus{3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.0, 0.0)]), RigidBodyState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}[Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0])]), NC{3, 3, Float64, 9, 12, 144}(1, 3, LNCData{3, 3, Float64, 9}([0.0, 0.0, 0.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [1 0 … 0 0; 0 1 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], LinearAlgebra.Symmetric{Int64, SparseArrays.SparseMatrixCSC{Int64, Int64}}[[0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 2 0; 0 0 … 0 2], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0]], 6, [1, 2, 3, 4, 5, 6]), RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}([1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], StaticArraysCore.SMatrix{3, 12, Float64, 36}[[1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]], InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], false), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]), nothing)],), ([1],)), TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}((), ()), Connectivity{Vector{Vector{Int64}}}(1, 0, 0, 0, 12, 6, 0, 6, 6, 6, 0, [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]], [[1, 2, 3, 4, 5, 6]], [[1, 2, 3, 4, 5, 6]], Vector{Int64}[], Vector{Int64}[], [[1]], Signifier{Int64}[Signifier{Int64}(1, 1)], [[1, 2, 3]], [[1, 2, 3]], 2, 3, 3, 0, 3, Vector{Int64}[], Vector{Int64}[]), Rible.StructureState{CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, Vector{CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, Vector{Float64}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}}}}(CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.0, [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, Vector{Float64}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}}[CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, Vector{Float64}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}}(0.0, [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0])]), (activated_bits = Bool[0], persistent_bits = Bool[0], friction_coefficients = [0.0], restitution_coefficients = [0.0], gaps = [Inf]), Rible.StructureCache{InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseVector{Float64, Int64}}}(InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseVector{Float64, Int64}}(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparsevec(Int64[], Float64[], 12), sparsevec(Int64[], Float64[], 12), true))), ControlHub{TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}}}, 1}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, NaiveOperator, Matrix{Float64}, Float64}}}, 1}, Coalition, @NamedTuple{c::Vector{Float64}, e::Vector{Float64}, u::Vector{Float64}}}(TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}((), ()), TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}}}, 1}((ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}[ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}(1, Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}(RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}(RigidBodyProperty{3, Float64, 9}(true, false, 1, :generic, 1.0, [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], Locus{3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.0, 0.0), Locus{3, Float64, 9}[Locus{3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.0, 0.0)]), RigidBodyState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}[Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0])]), NC{3, 3, Float64, 9, 12, 144}(1, 3, LNCData{3, 3, Float64, 9}([0.0, 0.0, 0.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [1 0 … 0 0; 0 1 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], LinearAlgebra.Symmetric{Int64, SparseArrays.SparseMatrixCSC{Int64, Int64}}[[0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 2 0; 0 0 … 0 2], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0]], 6, [1, 2, 3, 4, 5, 6]), RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}([1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], StaticArraysCore.SMatrix{3, 12, Float64, 36}[[1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]], InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], false), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]), nothing), 1), PositionCaptum(), [0.1, 0.0, 0.0])],), ([1],)), TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, NaiveOperator, Matrix{Float64}, Float64}}}, 1}((ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, NaiveOperator, Matrix{Float64}, Float64}[ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, NaiveOperator, Matrix{Float64}, Float64}(1, Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}(RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}(RigidBodyProperty{3, Float64, 9}(true, false, 1, :generic, 1.0, [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], Locus{3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.0, 0.0), Locus{3, Float64, 9}[Locus{3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.0, 0.0)]), RigidBodyState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}[Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0])]), NC{3, 3, Float64, 9, 12, 144}(1, 3, LNCData{3, 3, Float64, 9}([0.0, 0.0, 0.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [1 0 … 0 0; 0 1 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], LinearAlgebra.Symmetric{Int64, SparseArrays.SparseMatrixCSC{Int64, Int64}}[[0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 2 0; 0 0 … 0 2], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0]], 6, [1, 2, 3, 4, 5, 6]), RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}([1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], StaticArraysCore.SMatrix{3, 12, Float64, 36}[[1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]], InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], false), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]), nothing), 1), NaiveOperator(2), [1.0 0.0; 0.0 1.0; 0.0 0.0], [0.0, 0.0])],), ([1],)), Coalition(1, 0, 1, 0, 1, Vector{Int64}[], [[1]], 2, [[1, 2]]), (c = Float64[], e = [Inf], u = [0.0, 0.0])), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}[CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.0, [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.001, [0.0, 0.0, -4.905e-6, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.00981, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.00981, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.002, [0.0, 0.0, -1.962e-5, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.01962, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.01962, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.003, [0.0, 0.0, -4.4145e-5, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.029429999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.029429999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.004, [0.0, 0.0, -7.848e-5, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.03924, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.03924, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.005, [0.0, 0.0, -0.00012262499999999999, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.04904999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.04904999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.006, [0.0, 0.0, -0.00017657999999999997, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.05885999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.05885999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.007, [0.0, 0.0, -0.00024034499999999994, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.06866999999999997, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.06866999999999997, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.008, [0.0, 0.0, -0.00031391999999999987, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.0784799999999999, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.0784799999999999, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.009, [0.0, 0.0, -0.00039730499999999976, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.08828999999999988, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.08828999999999988, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.01, [0.0, 0.0, -0.0004904999999999996, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.09809999999999984, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.09809999999999984, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0])], Vector{Rible.Contact{Float64}}[[Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))]], @NamedTuple{na::Int64, bodyid2act_idx::Vector{Vector{Int64}}, persistent_idx::Vector{Int64}, activated_bits::BitVector, H::LinearAlgebra.Diagonal{Float64, Vector{Float64}}, activated_restitution_coefficients::Vector{Float64}, D::Matrix{Float64}, Dper::Matrix{Float64}, Dimp::Matrix{Float64}, ∂Dq̇∂q::Matrix{Float64}, ∂DᵀΛ∂q::Matrix{Float64}, ŕ::Vector{Float64}, L::Matrix{Float64}, Lv::Matrix{Float64}, Λ::Vector{Float64}, Γ::Vector{Float64}}[(na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = [])], [(c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0])]), Rible.NoPolicy(), Rible.StaticEnvironment{Rible.NoGeometry, Rible.Gravity{Float64}}(Rible.NoGeometry(), Rible.Gravity{Float64}(9.81)), Objective{Vector{Int64}, Rible.var"#default_objective##0#default_objective##1"}([0], [0], [0], [0], Rible.var"#default_objective##0#default_objective##1"()), Rible.Contactless(), Rible.Naive(), NamedTuple()), Rible.var"#solve!##6#solve!##7"(), (0.0, 0.01), true, 10, Rible.SolverHistory{StructArrays.StructVector{@NamedTuple{residual::Float64, iteration::Int64, walltime::Float64, num_of_contacts::Int64}, @NamedTuple{residual::Vector{Float64}, iteration::Vector{Int64}, walltime::Vector{Float64}, num_of_contacts::Vector{Int64}}, Int64}}([(residual = 6.90071851667924e-310, iteration = 139672332124176, walltime = 0.0, num_of_contacts = 139674062422024), (residual = 6.90071851668003e-310, iteration = 139672332126832, walltime = 0.0, num_of_contacts = 139674203464816), (residual = 6.90072041063997e-310, iteration = 139672332129360, walltime = 5.0e-324, num_of_contacts = 139672215967008), (residual = 6.9007327105141e-310, iteration = 139672286504368, walltime = 5.0e-324, num_of_contacts = 139674156462240), (residual = 6.9007185166808e-310, iteration = 139672286477072, walltime = 0.0, num_of_contacts = 139674204258544), (residual = 6.90072783081033e-310, iteration = 139672286241776, walltime = 5.0e-324, num_of_contacts = 139674062428112), (residual = 6.90082410627526e-310, iteration = 139674200070864, walltime = 0.0, num_of_contacts = 139674062428560), (residual = 0.0, iteration = 0, walltime = 0.0, num_of_contacts = 139674062422024), (residual = 0.0, iteration = 0, walltime = 0.0, num_of_contacts = 139674062429456), (residual = 0.0, iteration = 0, walltime = 0.0, num_of_contacts = 139674062429904)]), true), Rible.Adjoint_Sensitivity_Zhong06_Constant_Mass_Cache{AdjointDynamicsSensitivitySolver{DynamicsSolver{Zhong06, Rible.NoBodySolver, Rible.NoApparatusSolver, Rible.NoContactSolver, @NamedTuple{}}, DiscreteAdjointDynamicsSolver{Zhong06, Rible.NoBodySolver, Rible.NoApparatusSolver, Rible.NoContactSolver, @NamedTuple{}, Objective{Vector{Float64}, Main.var"#2#3"}}}, Rible.Zhong06JacobianWorkspace{Float64}, Vector{ComponentArrays.ComponentVector{Float64, Vector{Float64}, Tuple{ComponentArrays.Axis{(a = ViewAxis(1:12, Shaped1DAxis((12,))), b = ViewAxis(13:24, Shaped1DAxis((12,))), μ = ViewAxis(25:30, Shaped1DAxis((6,))), τ = ViewAxis(31:30, Shaped1DAxis((0,))))}}}}, Vector{Float64}, Rible.NewtonWorkspace{Vector{Float64}, Matrix{Float64}}, Rible.Zhong06JacobianBlocks{Matrix{Float64}, Matrix{Float64}, Matrix{Float64}}, CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, Rible.CostGradient{Vector{Float64}}, Rible.CostGradient{Vector{Float64}}, Vector{Float64}, Vector{Vector{Float64}}, Vector{Vector{Float64}}, Vector{Vector{Float64}}, Vector{Vector{Float64}}, Vector{Vector{Float64}}}(AdjointDynamicsSensitivitySolver{DynamicsSolver{Zhong06, Rible.NoBodySolver, Rible.NoApparatusSolver, Rible.NoContactSolver, @NamedTuple{}}, DiscreteAdjointDynamicsSolver{Zhong06, Rible.NoBodySolver, Rible.NoApparatusSolver, Rible.NoContactSolver, @NamedTuple{}, Objective{Vector{Float64}, Main.var"#2#3"}}}(DynamicsSolver{Zhong06, Rible.NoBodySolver, Rible.NoApparatusSolver, Rible.NoContactSolver, @NamedTuple{}}(Zhong06(), Rible.NoBodySolver(), Rible.NoApparatusSolver(), Rible.NoContactSolver(), NamedTuple()), DiscreteAdjointDynamicsSolver{Zhong06, Rible.NoBodySolver, Rible.NoApparatusSolver, Rible.NoContactSolver, @NamedTuple{}, Objective{Vector{Float64}, Main.var"#2#3"}}(DynamicsSolver{Zhong06, Rible.NoBodySolver, Rible.NoApparatusSolver, Rible.NoContactSolver, @NamedTuple{}}(Zhong06(), Rible.NoBodySolver(), Rible.NoApparatusSolver(), Rible.NoContactSolver(), NamedTuple()), Objective{Vector{Float64}, Main.var"#2#3"}([10.0], [1.0], [100.0], [5.0], Main.var"#2#3"()))), Rible.Zhong06JacobianWorkspace{Float64}([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0; 0.0 0.0; … ; 0.0 0.0; 0.0 0.0], [0.0 0.0 0.0; 0.0 0.0 0.0; … ; 0.0 0.0 0.0; 0.0 0.0 0.0], Matrix{Float64}(undef, 12, 0), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], Matrix{Float64}(undef, 12, 0), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 0), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Matrix{Float64}(undef, 0, 12), Matrix{Float64}(undef, 0, 0), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0], Float64[], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0], Float64[], [-0.1 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0], Matrix{Float64}(undef, 1, 0), [0.0 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Rible.GaugeWorkspace{Float64}[Rible.GaugeWorkspace{Float64}([-0.1, 0.0, 0.0], [1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], Matrix{Float64}(undef, 3, 0), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[])]), ComponentArrays.ComponentVector{Float64, Vector{Float64}, Tuple{ComponentArrays.Axis{(a = ViewAxis(1:12, Shaped1DAxis((12,))), b = ViewAxis(13:24, Shaped1DAxis((12,))), μ = ViewAxis(25:30, Shaped1DAxis((6,))), τ = ViewAxis(31:30, Shaped1DAxis((0,))))}}}[(a = [100.04471700978681, 0.0, 0.4905985800452181, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], b = [90.03576172679661, 0.0, 0.4415346993752634, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], μ = [-0.0, -0.0, -0.0, -0.0, -0.0, -0.0], τ = Float64[]), (a = [90.03576172679661, 0.0, 0.4415346993752634, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], b = [80.02780544480541, 0.0, 0.3924708677063077, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], μ = [-0.0, -0.0, -0.0, -0.0, -0.0, -0.0], τ = Float64[]), (a = [80.02780544480541, 0.0, 0.3924708677063077, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], b = [70.02084716680622, 0.0, 0.3434072318457352, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], μ = [-0.0, -0.0, -0.0, -0.0, -0.0, -0.0], τ = Float64[]), (a = [70.02084716680622, 0.0, 0.3434072318457352, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], b = [60.014885897780104, 0.0, 0.29434403611477383, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], μ = [-0.0, -0.0, -0.0, -0.0, -0.0, -0.0], τ = Float64[]), (a = [60.014885897780104, 0.0, 0.29434403611477383, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], b = [50.00992064469025, 0.0, 0.24528162205711926, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], μ = [-0.0, -0.0, -0.0, -0.0, -0.0, -0.0], τ = Float64[]), (a = [50.00992064469025, 0.0, 0.2452816220571193, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], b = [40.00595041647601, 0.0, 0.19622042814871843, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], μ = [-0.0, -0.0, -0.0, -0.0, -0.0, -0.0], τ = Float64[]), (a = [40.00595041647601, 0.0, 0.19622042814871843, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], b = [30.002974224047065, 0.0, 0.14716098950870724, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], μ = [-0.0, -0.0, -0.0, -0.0, -0.0, -0.0], τ = Float64[]), (a = [30.002974224047065, 0.0, 0.14716098950870724, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], b = [20.0009910802775, 0.0, 0.09810393761149645, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], μ = [-0.0, -0.0, -0.0, -0.0, -0.0, -0.0], τ = Float64[]), (a = [20.0009910802775, 0.0, 0.09810393761149645, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], b = [10.0, 0.0, 0.04904999999999996, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], μ = [-0.0, -0.0, -0.0, -0.0, -0.0, -0.0], τ = Float64[]), (a = [10.0, 0.0, 0.04904999999999996, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], b = [0.0, 0.0, 0.0, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0, 0.0, -0.0], μ = [-0.0, -0.0, -0.0, -0.0, -0.0, -0.0], τ = Float64[])], [0.001, 0.0009990009990009992, 0.000998003992015968, 0.0009970089730807579, 0.00099601593625498, 0.0009950248756218907, 0.0009940357852882705, 0.00099304865938431, 0.000992063492063492, 0.000991080277502478], Rible.NewtonWorkspace{Vector{Float64}, Matrix{Float64}}([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-10.008955282990199, 0.0, -0.04906388066995473, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [1.0 0.0 … -0.0 -0.0; 0.0 1.0 … -0.0 -0.0; … ; -0.0 -0.0 … 0.0 0.0; -0.0 -0.0 … 0.0 0.0], [100.04471700978681, 0.0, 0.4905985800452181, -0.0, -0.0, -0.0, 0.0, -0.0, -0.0, 0.0 … -0.0, 0.0, 0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0, -0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], Matrix{Float64}(undef, 0, 0), [1.0 0.0 … -0.0 -0.0; 0.0 1.0 … -0.0 -0.0; … ; -0.0 0.0 … -0.002 0.0; -0.0 0.0 … -0.0 -0.002], [1, 2, 3, 25, 30, 29, 7, 26, 28, 10 … 28, 22, 23, 27, 25, 26, 27, 28, 29, 30]), Rible.Zhong06JacobianBlocks{Matrix{Float64}, Matrix{Float64}, Matrix{Float64}}([1.0 0.0 … -0.0 -0.0; 0.0 1.0 … -0.0 -0.0; … ; -0.0 -0.0 … 0.0 0.0; -0.0 -0.0 … 0.0 0.0], [-1.0 0.0 … 0.0 0.0; 0.0 -1.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [-1.0 0.0 … 0.0 0.0; 0.0 -1.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [-0.0 -0.0; -0.0 -0.0; … ; 0.0 0.0; 0.0 0.0], [-0.0 -0.0 -0.0; -0.0 -0.0 -0.0; … ; 0.0 0.0 0.0; 0.0 0.0 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.0005, [0.0, 0.0, -2.4525e-6, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.004905, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.004905, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), Rible.CostGradient{Vector{Float64}}([-10.0, 0.0, -0.04904999999999996, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0], Float64[], Float64[], Float64[]), Rible.CostGradient{Vector{Float64}}([-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0], Float64[], Float64[], Float64[]), [-10.0099552829902, 0.0, -0.04906388066995471, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [Float64[], Float64[], Float64[], Float64[], Float64[], Float64[], Float64[], Float64[], Float64[], Float64[]], [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]], [Float64[], Float64[], Float64[], Float64[], Float64[], Float64[], Float64[], Float64[], Float64[], Float64[]], [[-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-1.0, 0.0, -4.905e-5, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-1.0, 0.0, -0.0001962, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-1.0, 0.0, -0.00044144999999999997, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-1.0, 0.0, -0.0007848, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-1.0, 0.0, -0.00122625, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-1.0, 0.0, -0.0017657999999999997, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-1.0, 0.0, -0.0024034499999999993, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-1.0, 0.0, -0.0031391999999999987, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-1.0, 0.0, -0.003973049999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]], [[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]))Step 5: Direct Sensitivity Solve
Both methods reuse the same dyn_solver and objt — only the outer solver type changes:
julia
drc_sen_solver = DirectDynamicsSensitivitySolver(dyn_solver, objt)
drc_sim = solve!(prob, drc_sen_solver; tspan = (0.0, 0.01), dt = 1e-3)Rible.SimulationResult{Simulator{DynamicsProblem{Robot{Structure{TypeSortedCollections.TypeSortedCollection{Tuple{Vector{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}}, 1}, TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}, Connectivity{Vector{Vector{Int64}}}, Rible.StructureState{CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, Vector{CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, Vector{Float64}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}}}}, @NamedTuple{activated_bits::BitVector, persistent_bits::BitVector, friction_coefficients::Vector{Float64}, restitution_coefficients::Vector{Float64}, gaps::Vector{Float64}}, Rible.StructureCache{InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseVector{Float64, Int64}}}}, ControlHub{TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}}}, 1}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, NaiveOperator, Matrix{Float64}, Float64}}}, 1}, Coalition, @NamedTuple{c::Vector{Float64}, e::Vector{Float64}, u::Vector{Float64}}}, StructArrays.StructVector{CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, @NamedTuple{t::Vector{Float64}, q::Vector{Vector{Float64}}, q̇::Vector{Vector{Float64}}, q̈::Vector{Vector{Float64}}, F::Vector{Vector{Float64}}, λ::Vector{Vector{Float64}}, s::Vector{Vector{Float64}}, p::Vector{Vector{Float64}}, c::Vector{Vector{Float64}}}, Int64}, Vector{Vector{Rible.Contact{Float64}}}, Vector{@NamedTuple{na::Int64, bodyid2act_idx::Vector{Vector{Int64}}, persistent_idx::Vector{Int64}, activated_bits::BitVector, H::LinearAlgebra.Diagonal{Float64, Vector{Float64}}, activated_restitution_coefficients::Vector{Float64}, D::Matrix{Float64}, Dper::Matrix{Float64}, Dimp::Matrix{Float64}, ∂Dq̇∂q::Matrix{Float64}, ∂DᵀΛ∂q::Matrix{Float64}, ŕ::Vector{Float64}, L::Matrix{Float64}, Lv::Matrix{Float64}, Λ::Vector{Float64}, Γ::Vector{Float64}}}, StructArrays.StructVector{@NamedTuple{c::Vector{Float64}, e::Vector{Float64}, u::Vector{Float64}}, @NamedTuple{c::Vector{Vector{Float64}}, e::Vector{Vector{Float64}}, u::Vector{Vector{Float64}}}, Int64}}, Rible.NoPolicy, Rible.StaticEnvironment{Rible.NoGeometry, Rible.Gravity{Float64}}, Objective{Vector{Int64}, Rible.var"#default_objective##0#default_objective##1"}, Rible.Contactless, Rible.Naive, @NamedTuple{}}, Rible.var"#solve!##6#solve!##7", Float64, StructArrays.StructVector{@NamedTuple{residual::Float64, iteration::Int64, walltime::Float64, num_of_contacts::Int64}, @NamedTuple{residual::Vector{Float64}, iteration::Vector{Int64}, walltime::Vector{Float64}, num_of_contacts::Vector{Int64}}, Int64}}, Rible.Direct_Sensitivity_Zhong06_Constant_Mass_Cache{DirectDynamicsSensitivitySolver{DynamicsSolver{Zhong06, Rible.NoBodySolver, Rible.NoApparatusSolver, Rible.NoContactSolver, @NamedTuple{}}, Objective{Vector{Float64}, Main.var"#2#3"}}, Robot{Structure{TypeSortedCollections.TypeSortedCollection{Tuple{Vector{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}}, 1}, TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}, Connectivity{Vector{Vector{Int64}}}, Rible.StructureState{CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, Vector{CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, 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TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, NaiveOperator, Matrix{Float64}, Float64}}}, 1}, Coalition, @NamedTuple{c::Vector{Float64}, e::Vector{Float64}, u::Vector{Float64}}}, StructArrays.StructVector{CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, @NamedTuple{t::Vector{Float64}, q::Vector{Vector{Float64}}, q̇::Vector{Vector{Float64}}, q̈::Vector{Vector{Float64}}, F::Vector{Vector{Float64}}, λ::Vector{Vector{Float64}}, s::Vector{Vector{Float64}}, p::Vector{Vector{Float64}}, c::Vector{Vector{Float64}}}, Int64}, Vector{Vector{Rible.Contact{Float64}}}, Vector{@NamedTuple{na::Int64, bodyid2act_idx::Vector{Vector{Int64}}, persistent_idx::Vector{Int64}, activated_bits::BitVector, H::LinearAlgebra.Diagonal{Float64, Vector{Float64}}, activated_restitution_coefficients::Vector{Float64}, D::Matrix{Float64}, Dper::Matrix{Float64}, Dimp::Matrix{Float64}, ∂Dq̇∂q::Matrix{Float64}, ∂DᵀΛ∂q::Matrix{Float64}, ŕ::Vector{Float64}, L::Matrix{Float64}, Lv::Matrix{Float64}, Λ::Vector{Float64}, Γ::Vector{Float64}}}, StructArrays.StructVector{@NamedTuple{c::Vector{Float64}, e::Vector{Float64}, u::Vector{Float64}}, @NamedTuple{c::Vector{Vector{Float64}}, e::Vector{Vector{Float64}}, u::Vector{Vector{Float64}}}, Int64}}, Rible.NoPolicy, Rible.StaticEnvironment{Rible.NoGeometry, Rible.Gravity{Float64}}, Rible.Zhong06Constants{Float64}, Rible.Zhong06JacobianWorkspace{Float64}, Vector{Float64}, Vector{Matrix{Float64}}, Vector{Matrix{Float64}}, Vector{Matrix{Float64}}, Vector{Vector{Float64}}, Vector{Matrix{Float64}}, Vector{Vector{Float64}}, 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@NamedTuple{activated_bits::BitVector, persistent_bits::BitVector, friction_coefficients::Vector{Float64}, restitution_coefficients::Vector{Float64}, gaps::Vector{Float64}}, Rible.StructureCache{InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseVector{Float64, Int64}}}}, ControlHub{TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}}}, 1}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, 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restitution_coefficients::Vector{Float64}, gaps::Vector{Float64}}, Rible.StructureCache{InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseVector{Float64, Int64}}}}, ControlHub{TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}}}, 1}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, 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StructArrays.StructVector{CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, @NamedTuple{t::Vector{Float64}, q::Vector{Vector{Float64}}, q̇::Vector{Vector{Float64}}, q̈::Vector{Vector{Float64}}, F::Vector{Vector{Float64}}, λ::Vector{Vector{Float64}}, s::Vector{Vector{Float64}}, p::Vector{Vector{Float64}}, c::Vector{Vector{Float64}}}, Int64}, Vector{Vector{Rible.Contact{Float64}}}, Vector{@NamedTuple{na::Int64, bodyid2act_idx::Vector{Vector{Int64}}, persistent_idx::Vector{Int64}, activated_bits::BitVector, H::LinearAlgebra.Diagonal{Float64, Vector{Float64}}, activated_restitution_coefficients::Vector{Float64}, D::Matrix{Float64}, Dper::Matrix{Float64}, Dimp::Matrix{Float64}, ∂Dq̇∂q::Matrix{Float64}, ∂DᵀΛ∂q::Matrix{Float64}, ŕ::Vector{Float64}, L::Matrix{Float64}, Lv::Matrix{Float64}, Λ::Vector{Float64}, Γ::Vector{Float64}}}, StructArrays.StructVector{@NamedTuple{c::Vector{Float64}, e::Vector{Float64}, u::Vector{Float64}}, @NamedTuple{c::Vector{Vector{Float64}}, e::Vector{Vector{Float64}}, u::Vector{Vector{Float64}}}, Int64}}(Structure{TypeSortedCollections.TypeSortedCollection{Tuple{Vector{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}}, 1}, TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}, Connectivity{Vector{Vector{Int64}}}, Rible.StructureState{CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, Vector{CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, Vector{Float64}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}}}}, @NamedTuple{activated_bits::BitVector, persistent_bits::BitVector, friction_coefficients::Vector{Float64}, restitution_coefficients::Vector{Float64}, gaps::Vector{Float64}}, Rible.StructureCache{InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseVector{Float64, Int64}}}}(3, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}}, 1}((RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, 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9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}[Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0])]), NC{3, 3, Float64, 9, 12, 144}(1, 3, LNCData{3, 3, Float64, 9}([0.0, 0.0, 0.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [1 0 … 0 0; 0 1 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], LinearAlgebra.Symmetric{Int64, SparseArrays.SparseMatrixCSC{Int64, Int64}}[[0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 2 0; 0 0 … 0 2], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0]], 6, [1, 2, 3, 4, 5, 6]), RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}([1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], StaticArraysCore.SMatrix{3, 12, Float64, 36}[[1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]], InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], false), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]), nothing)],), ([1],)), TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}((), ()), Connectivity{Vector{Vector{Int64}}}(1, 0, 0, 0, 12, 6, 0, 6, 6, 6, 0, [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]], [[1, 2, 3, 4, 5, 6]], [[1, 2, 3, 4, 5, 6]], Vector{Int64}[], Vector{Int64}[], [[1]], Signifier{Int64}[Signifier{Int64}(1, 1)], [[1, 2, 3]], [[1, 2, 3]], 2, 3, 3, 0, 3, Vector{Int64}[], Vector{Int64}[]), Rible.StructureState{CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, Vector{CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, Vector{Float64}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}}}}(CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.0, [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, Vector{Float64}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}}[CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, Vector{Float64}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}}(0.0, [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0])]), (activated_bits = Bool[0], persistent_bits = Bool[0], friction_coefficients = [0.0], restitution_coefficients = [0.0], gaps = [Inf]), Rible.StructureCache{InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseVector{Float64, Int64}}}(InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseVector{Float64, Int64}}(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparsevec(Int64[], Float64[], 12), sparsevec(Int64[], Float64[], 12), true))), ControlHub{TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}}}, 1}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, NaiveOperator, Matrix{Float64}, Float64}}}, 1}, Coalition, @NamedTuple{c::Vector{Float64}, e::Vector{Float64}, u::Vector{Float64}}}(TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}((), ()), TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}}}, 1}((ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}[ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}(1, Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}(RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}(RigidBodyProperty{3, Float64, 9}(true, false, 1, :generic, 1.0, [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], Locus{3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.0, 0.0), Locus{3, Float64, 9}[Locus{3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.0, 0.0)]), RigidBodyState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}[Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0])]), NC{3, 3, Float64, 9, 12, 144}(1, 3, LNCData{3, 3, Float64, 9}([0.0, 0.0, 0.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [1 0 … 0 0; 0 1 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], LinearAlgebra.Symmetric{Int64, SparseArrays.SparseMatrixCSC{Int64, Int64}}[[0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 2 0; 0 0 … 0 2], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0]], 6, [1, 2, 3, 4, 5, 6]), RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}([1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], StaticArraysCore.SMatrix{3, 12, Float64, 36}[[1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]], InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], false), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]), nothing), 1), PositionCaptum(), [0.1, 0.0, 0.0])],), ([1],)), TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, NaiveOperator, Matrix{Float64}, Float64}}}, 1}((ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, NaiveOperator, Matrix{Float64}, Float64}[ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, NaiveOperator, Matrix{Float64}, Float64}(1, Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}(RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}(RigidBodyProperty{3, Float64, 9}(true, false, 1, :generic, 1.0, [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], Locus{3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.0, 0.0), Locus{3, Float64, 9}[Locus{3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.0, 0.0)]), RigidBodyState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}[Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0])]), NC{3, 3, Float64, 9, 12, 144}(1, 3, LNCData{3, 3, Float64, 9}([0.0, 0.0, 0.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [1 0 … 0 0; 0 1 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], LinearAlgebra.Symmetric{Int64, SparseArrays.SparseMatrixCSC{Int64, Int64}}[[0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 2 0; 0 0 … 0 2], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0]], 6, [1, 2, 3, 4, 5, 6]), RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}([1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], StaticArraysCore.SMatrix{3, 12, Float64, 36}[[1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]], InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], false), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]), nothing), 1), NaiveOperator(2), [1.0 0.0; 0.0 1.0; 0.0 0.0], [0.0, 0.0])],), ([1],)), Coalition(1, 0, 1, 0, 1, Vector{Int64}[], [[1]], 2, [[1, 2]]), (c = Float64[], e = [Inf], u = [0.0, 0.0])), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}[CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.0, [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.001, [0.0, 0.0, -4.905e-6, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.00981, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.00981, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.002, [0.0, 0.0, -1.962e-5, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.01962, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.01962, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.003, [0.0, 0.0, -4.4145e-5, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.029429999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.029429999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.004, [0.0, 0.0, -7.848e-5, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.03924, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.03924, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.005, [0.0, 0.0, -0.00012262499999999999, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.04904999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.04904999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.006, [0.0, 0.0, -0.00017657999999999997, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.05885999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.05885999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.007, [0.0, 0.0, -0.00024034499999999994, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.06866999999999997, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.06866999999999997, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.008, [0.0, 0.0, -0.00031391999999999987, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.0784799999999999, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.0784799999999999, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.009, [0.0, 0.0, -0.00039730499999999976, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.08828999999999988, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.08828999999999988, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.01, [0.0, 0.0, -0.0004904999999999996, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.09809999999999984, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.09809999999999984, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0])], Vector{Rible.Contact{Float64}}[[Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))]], @NamedTuple{na::Int64, bodyid2act_idx::Vector{Vector{Int64}}, persistent_idx::Vector{Int64}, activated_bits::BitVector, H::LinearAlgebra.Diagonal{Float64, Vector{Float64}}, activated_restitution_coefficients::Vector{Float64}, D::Matrix{Float64}, Dper::Matrix{Float64}, Dimp::Matrix{Float64}, ∂Dq̇∂q::Matrix{Float64}, ∂DᵀΛ∂q::Matrix{Float64}, ŕ::Vector{Float64}, L::Matrix{Float64}, Lv::Matrix{Float64}, Λ::Vector{Float64}, Γ::Vector{Float64}}[(na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = [])], [(c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0])]), Rible.NoPolicy(), Rible.StaticEnvironment{Rible.NoGeometry, Rible.Gravity{Float64}}(Rible.NoGeometry(), Rible.Gravity{Float64}(9.81)), Objective{Vector{Int64}, Rible.var"#default_objective##0#default_objective##1"}([0], [0], [0], [0], Rible.var"#default_objective##0#default_objective##1"()), Rible.Contactless(), Rible.Naive(), NamedTuple()), Rible.var"#solve!##6#solve!##7"(), (0.0, 0.01), true, 10, Rible.SolverHistory{StructArrays.StructVector{@NamedTuple{residual::Float64, iteration::Int64, walltime::Float64, num_of_contacts::Int64}, @NamedTuple{residual::Vector{Float64}, iteration::Vector{Int64}, walltime::Vector{Float64}, num_of_contacts::Vector{Int64}}, Int64}}([(residual = 6.9007196704174e-310, iteration = 139674062422024, walltime = 6.9007196704174e-310, num_of_contacts = 139674200070864), (residual = 6.9008241058128e-310, iteration = 139673302187056, walltime = 6.9008241058128e-310, num_of_contacts = 139673302182960), (residual = 6.90081988605347e-310, iteration = 139673302187120, walltime = 6.90081988605347e-310, num_of_contacts = 139674200070864), (residual = 6.90071967043714e-310, iteration = 139674233526608, walltime = 6.90071967043714e-310, num_of_contacts = 139674200070864), (residual = 6.90071967043794e-310, iteration = 139674156471648, walltime = 6.90071967043794e-310, num_of_contacts = 139674200070864), (residual = 6.9008226419872e-310, iteration = 139673302187184, walltime = 6.9008226419872e-310, num_of_contacts = 139672366852112), (residual = 6.90071967044426e-310, iteration = 139674156471648, walltime = 6.90071967044426e-310, num_of_contacts = 139674200070864), (residual = 6.90081988605347e-310, iteration = 139673302187248, walltime = 6.90081988605347e-310, num_of_contacts = 139672366852512), (residual = 6.90081988605347e-310, iteration = 139673302187312, walltime = 6.90081988605347e-310, num_of_contacts = 139672366852672), (residual = 6.9008227683787e-310, iteration = 139673302187376, walltime = 6.9008227683787e-310, num_of_contacts = 139672121074640)]), true), Rible.Direct_Sensitivity_Zhong06_Constant_Mass_Cache{DirectDynamicsSensitivitySolver{DynamicsSolver{Zhong06, Rible.NoBodySolver, Rible.NoApparatusSolver, Rible.NoContactSolver, @NamedTuple{}}, Objective{Vector{Float64}, Main.var"#2#3"}}, Robot{Structure{TypeSortedCollections.TypeSortedCollection{Tuple{Vector{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}}, 1}, TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}, Connectivity{Vector{Vector{Int64}}}, Rible.StructureState{CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, Vector{CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, Vector{Float64}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}}}}, @NamedTuple{activated_bits::BitVector, persistent_bits::BitVector, friction_coefficients::Vector{Float64}, restitution_coefficients::Vector{Float64}, gaps::Vector{Float64}}, Rible.StructureCache{InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseVector{Float64, Int64}}}}, ControlHub{TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, 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q::Vector{Vector{Float64}}, q̇::Vector{Vector{Float64}}, q̈::Vector{Vector{Float64}}, F::Vector{Vector{Float64}}, λ::Vector{Vector{Float64}}, s::Vector{Vector{Float64}}, p::Vector{Vector{Float64}}, c::Vector{Vector{Float64}}}, Int64}, Vector{Vector{Rible.Contact{Float64}}}, Vector{@NamedTuple{na::Int64, bodyid2act_idx::Vector{Vector{Int64}}, persistent_idx::Vector{Int64}, activated_bits::BitVector, H::LinearAlgebra.Diagonal{Float64, Vector{Float64}}, activated_restitution_coefficients::Vector{Float64}, D::Matrix{Float64}, Dper::Matrix{Float64}, Dimp::Matrix{Float64}, ∂Dq̇∂q::Matrix{Float64}, ∂DᵀΛ∂q::Matrix{Float64}, ŕ::Vector{Float64}, L::Matrix{Float64}, Lv::Matrix{Float64}, Λ::Vector{Float64}, Γ::Vector{Float64}}}, StructArrays.StructVector{@NamedTuple{c::Vector{Float64}, e::Vector{Float64}, u::Vector{Float64}}, @NamedTuple{c::Vector{Vector{Float64}}, e::Vector{Vector{Float64}}, u::Vector{Vector{Float64}}}, Int64}}, Rible.NoPolicy, Rible.StaticEnvironment{Rible.NoGeometry, 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Float64, 9}([1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}[Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0])]), NC{3, 3, Float64, 9, 12, 144}(1, 3, LNCData{3, 3, Float64, 9}([0.0, 0.0, 0.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [1 0 … 0 0; 0 1 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], LinearAlgebra.Symmetric{Int64, SparseArrays.SparseMatrixCSC{Int64, Int64}}[[0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 2 0; 0 0 … 0 2], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0]], 6, [1, 2, 3, 4, 5, 6]), RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}([1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], StaticArraysCore.SMatrix{3, 12, Float64, 36}[[1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]], InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], false), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]), nothing)],), ([1],)), TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}((), ()), Connectivity{Vector{Vector{Int64}}}(1, 0, 0, 0, 12, 6, 0, 6, 6, 6, 0, [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]], [[1, 2, 3, 4, 5, 6]], [[1, 2, 3, 4, 5, 6]], Vector{Int64}[], Vector{Int64}[], [[1]], Signifier{Int64}[Signifier{Int64}(1, 1)], [[1, 2, 3]], [[1, 2, 3]], 2, 3, 3, 0, 3, Vector{Int64}[], Vector{Int64}[]), Rible.StructureState{CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, Vector{CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, Vector{Float64}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}}}}(CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.0, [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, Vector{Float64}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}}[CoordinatesState{Float64, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}, Vector{Float64}, SubArray{Float64, 1, Vector{Float64}, Tuple{Vector{Int64}}, false}}(0.0, [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0])]), (activated_bits = Bool[0], persistent_bits = Bool[0], friction_coefficients = [0.0], restitution_coefficients = [0.0], gaps = [Inf]), Rible.StructureCache{InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseVector{Float64, Int64}}}(InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseVector{Float64, Int64}}(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparsevec(Int64[], Float64[], 12), sparsevec(Int64[], Float64[], 12), true))), ControlHub{TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}}}, 1}, TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, NaiveOperator, Matrix{Float64}, Float64}}}, 1}, Coalition, @NamedTuple{c::Vector{Float64}, e::Vector{Float64}, u::Vector{Float64}}}(TypeSortedCollections.TypeSortedCollection{Tuple{}, 0}((), ()), TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}}}, 1}((ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}[ErrorGauge{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, PositionCaptum, Vector{Float64}}(1, Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}(RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}(RigidBodyProperty{3, Float64, 9}(true, false, 1, :generic, 1.0, [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], Locus{3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.0, 0.0), Locus{3, Float64, 9}[Locus{3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.0, 0.0)]), RigidBodyState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}[Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0])]), NC{3, 3, Float64, 9, 12, 144}(1, 3, LNCData{3, 3, Float64, 9}([0.0, 0.0, 0.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [1 0 … 0 0; 0 1 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], LinearAlgebra.Symmetric{Int64, SparseArrays.SparseMatrixCSC{Int64, Int64}}[[0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 2 0; 0 0 … 0 2], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0]], 6, [1, 2, 3, 4, 5, 6]), RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}([1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], StaticArraysCore.SMatrix{3, 12, Float64, 36}[[1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]], InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], false), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]), nothing), 1), PositionCaptum(), [0.1, 0.0, 0.0])],), ([1],)), TypeSortedCollections.TypeSortedCollection{Tuple{Vector{ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, NaiveOperator, Matrix{Float64}, Float64}}}, 1}((ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, NaiveOperator, Matrix{Float64}, Float64}[ExternalForceActuator{Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}, NaiveOperator, Matrix{Float64}, Float64}(1, Signifier{RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}}(RigidBody{3, 3, Float64, 9, NC{3, 3, Float64, 9, 12, 144}, RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}, Nothing}(RigidBodyProperty{3, Float64, 9}(true, false, 1, :generic, 1.0, [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], Locus{3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.0, 0.0), Locus{3, Float64, 9}[Locus{3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.0, 0.0)]), RigidBodyState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0]), Rible.LocusState{3, 3, Float64, 9}[Rible.LocusState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.0, 0.0, 0.0], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 0.0 0.0; 0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, Inf, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), [1.0, 0.0, 0.0])]), NC{3, 3, Float64, 9, 12, 144}(1, 3, LNCData{3, 3, Float64, 9}([0.0, 0.0, 0.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0], [1.0 0.0 0.0; 0.0 1.0 0.0; 0.0 0.0 1.0]), [1 0 … 0 0; 0 1 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 1 0; 0 0 … 0 1], LinearAlgebra.Symmetric{Int64, SparseArrays.SparseMatrixCSC{Int64, Int64}}[[0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 2 0; 0 0 … 0 2], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0], [0 0 … 0 0; 0 0 … 0 0; … ; 0 0 … 0 0; 0 0 … 0 0]], 6, [1, 2, 3, 4, 5, 6]), RigidBodyCache{StaticArraysCore.SMatrix{3, 12, Float64, 36}, InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}, StaticArraysCore.MMatrix{6, 12, Float64, 72}}([1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], StaticArraysCore.SMatrix{3, 12, Float64, 36}[[1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]], InertiaCache{SparseArrays.SparseMatrixCSC{Float64, Int64}, SparseArrays.SparseMatrixCSC{Float64, Int64}, StaticArraysCore.MVector{12, Float64}}(sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], false), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]), nothing), 1), NaiveOperator(2), [1.0 0.0; 0.0 1.0; 0.0 0.0], [0.0, 0.0])],), ([1],)), Coalition(1, 0, 1, 0, 1, Vector{Int64}[], [[1]], 2, [[1, 2]]), (c = Float64[], e = [Inf], u = [0.0, 0.0])), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}[CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.0, [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.001, [0.0, 0.0, -4.905e-6, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.00981, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.00981, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.002, [0.0, 0.0, -1.962e-5, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.01962, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.01962, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.003, [0.0, 0.0, -4.4145e-5, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.029429999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.029429999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.004, [0.0, 0.0, -7.848e-5, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.03924, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.03924, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.005, [0.0, 0.0, -0.00012262499999999999, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.04904999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.04904999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.006, [0.0, 0.0, -0.00017657999999999997, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.05885999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.05885999999999998, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.007, [0.0, 0.0, -0.00024034499999999994, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.06866999999999997, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.06866999999999997, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.008, [0.0, 0.0, -0.00031391999999999987, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.0784799999999999, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.0784799999999999, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.009, [0.0, 0.0, -0.00039730499999999976, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.08828999999999988, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.08828999999999988, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0]), CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}(0.01, [0.0, 0.0, -0.0004904999999999996, 1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0], [0.0, 0.0, -0.09809999999999984, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, -9.81, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[], [0.0, 0.0, -0.09809999999999984, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0])], Vector{Rible.Contact{Float64}}[[Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.0, 0.0, Rible.ContactState{3, Float64, 9}(false, true, 1.0, Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))]], @NamedTuple{na::Int64, bodyid2act_idx::Vector{Vector{Int64}}, persistent_idx::Vector{Int64}, activated_bits::BitVector, H::LinearAlgebra.Diagonal{Float64, Vector{Float64}}, activated_restitution_coefficients::Vector{Float64}, D::Matrix{Float64}, Dper::Matrix{Float64}, Dimp::Matrix{Float64}, ∂Dq̇∂q::Matrix{Float64}, ∂DᵀΛ∂q::Matrix{Float64}, ŕ::Vector{Float64}, L::Matrix{Float64}, Lv::Matrix{Float64}, Λ::Vector{Float64}, Γ::Vector{Float64}}[(na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = []), (na = 0, bodyid2act_idx = [[0]], persistent_idx = [], activated_bits = [0], H = Diagonal(Float64[]), activated_restitution_coefficients = [], D = Matrix{Float64}(undef, 0, 12), Dper = Matrix{Float64}(undef, 0, 12), Dimp = Matrix{Float64}(undef, 0, 12), ∂Dq̇∂q = Matrix{Float64}(undef, 0, 12), ∂DᵀΛ∂q = [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], ŕ = [], L = Matrix{Float64}(undef, 0, 0), Lv = Matrix{Float64}(undef, 0, 0), Λ = [], Γ = [])], [(c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0]), (c = Float64[], e = [0.005000000000000001], u = [0.0, 0.0])]), Rible.NoPolicy(), Rible.StaticEnvironment{Rible.NoGeometry, Rible.Gravity{Float64}}(Rible.NoGeometry(), Rible.Gravity{Float64}(9.81)), Rible.Zhong06Constants{Float64}(0.001, 1.0, 12, 12, 6, 2, 3, 0, 0, 12, 24, 30), Rible.Zhong06JacobianWorkspace{Float64}([0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0; 0.0 0.0; … ; 0.0 0.0; 0.0 0.0], [0.0 0.0 0.0; 0.0 0.0 0.0; … ; 0.0 0.0 0.0; 0.0 0.0 0.0], Matrix{Float64}(undef, 12, 0), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], Matrix{Float64}(undef, 12, 0), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5, 0.5], 12, 12), sparse(Int64[], Int64[], Float64[], 12, 0), sparse([1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12], [1.0, 1.0, 1.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0], 12, 12), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Matrix{Float64}(undef, 0, 12), Matrix{Float64}(undef, 0, 0), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0], Float64[], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0], Float64[], [-0.1 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0], Matrix{Float64}(undef, 1, 0), [0.0 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Rible.GaugeWorkspace{Float64}[Rible.GaugeWorkspace{Float64}([-0.1, 0.0, 0.0], [1.0 0.0 … 0.0 0.0; 0.0 1.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], Matrix{Float64}(undef, 3, 0), [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], Float64[])]), [0.001, 0.0009990009990009992, 0.000998003992015968, 0.0009970089730807579, 0.00099601593625498, 0.0009950248756218907, 0.0009940357852882705, 0.00099304865938431, 0.000992063492063492, 0.000991080277502478], [[1.0 -0.0 … -0.0 -0.0; -0.0 1.0 … -0.0 -0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 -0.0 … -0.0 -0.0; -0.0 1.0 … -0.0 -0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 -0.0 … -0.0 -0.0; -0.0 1.0 … -0.0 -0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 -0.0 … -0.0 -0.0; -0.0 1.0 … -0.0 -0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 -0.0 … -0.0 -0.0; -0.0 1.0 … -0.0 -0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 -0.0 … -0.0 -0.0; -0.0 1.0 … -0.0 -0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 -0.0 … -0.0 -0.0; -0.0 1.0 … -0.0 -0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 -0.0 … -0.0 -0.0; -0.0 1.0 … -0.0 -0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 -0.0 … -0.0 -0.0; -0.0 1.0 … -0.0 -0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [1.0 -0.0 … -0.0 -0.0; -0.0 1.0 … -0.0 -0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]], [[-0.0 -0.0; -0.0 -0.0; … ; -0.0 -0.0; 0.0 0.0], [-0.0 -0.0; -0.0 -0.0; … ; -0.0 -0.0; 0.0 0.0], [-0.0 -0.0; -0.0 -0.0; … ; -0.0 -0.0; 0.0 0.0], [-0.0 -0.0; -0.0 -0.0; … ; -0.0 -0.0; 0.0 0.0], [-0.0 -0.0; -0.0 -0.0; … ; -0.0 -0.0; 0.0 0.0], [-0.0 -0.0; -0.0 -0.0; … ; -0.0 -0.0; 0.0 0.0], [-0.0 -0.0; -0.0 -0.0; … ; -0.0 -0.0; 0.0 0.0], [-0.0 -0.0; -0.0 -0.0; … ; -0.0 -0.0; 0.0 0.0], [-0.0 -0.0; -0.0 -0.0; … ; -0.0 -0.0; 0.0 0.0], [-0.0 -0.0; -0.0 -0.0; … ; -0.0 -0.0; 0.0 0.0]], [Matrix{Float64}(undef, 30, 0), Matrix{Float64}(undef, 30, 0), Matrix{Float64}(undef, 30, 0), Matrix{Float64}(undef, 30, 0), Matrix{Float64}(undef, 30, 0), Matrix{Float64}(undef, 30, 0), Matrix{Float64}(undef, 30, 0), Matrix{Float64}(undef, 30, 0), Matrix{Float64}(undef, 30, 0), Matrix{Float64}(undef, 30, 0)], [[-0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-0.0009990009990009992, 0.0, -4.900099900099901e-8, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-0.000998003992015968, 0.0, -1.9580838323353293e-7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-0.0009970089730807579, 0.0, -4.4012961116650055e-7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-0.00099601593625498, 0.0, -7.816733067729084e-7, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-0.0009950248756218907, 0.0, -1.2201492537313433e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-0.0009940357852882705, 0.0, -1.7552683896620278e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-0.00099304865938431, 0.0, -2.3867428003972193e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-0.000992063492063492, 0.0, -3.1142857142857127e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [-0.000991080277502478, 0.0, -3.937611496531218e-6, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]], [[0.01 0.0 … 0.0 0.0; 0.0 0.01 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.009990009990009992 0.0 … 0.0 0.0; 0.0 0.009990009990009992 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.00998003992015968 0.0 … 0.0 0.0; 0.0 0.00998003992015968 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.009970089730807579 0.0 … 0.0 0.0; 0.0 0.009970089730807579 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0099601593625498 0.0 … 0.0 0.0; 0.0 0.0099601593625498 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.009950248756218907 0.0 … 0.0 0.0; 0.0 0.009950248756218907 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.009940357852882706 0.0 … 0.0 0.0; 0.0 0.009940357852882706 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0099304865938431 0.0 … 0.0 0.0; 0.0 0.0099304865938431 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.00992063492063492 0.0 … 0.0 0.0; 0.0 0.00992063492063492 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.009910802775024779 0.0 … 0.0 0.0; 0.0 0.009910802775024779 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0]], [[0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0], [0.0, 0.0]], [[0.001 0.0; 0.0 0.001], [0.0009990009990009992 0.0; 0.0 0.0009990009990009992], [0.000998003992015968 0.0; 0.0 0.000998003992015968], [0.0009970089730807579 0.0; 0.0 0.0009970089730807579], [0.00099601593625498 0.0; 0.0 0.00099601593625498], [0.0009950248756218907 0.0; 0.0 0.0009950248756218907], [0.0009940357852882705 0.0; 0.0 0.0009940357852882705], [0.00099304865938431 0.0; 0.0 0.00099304865938431], [0.000992063492063492 0.0; 0.0 0.000992063492063492], [0.000991080277502478 0.0; 0.0 0.000991080277502478]], [-10.0, 0.0, -0.04904999999999996, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [100.0 0.0 … 0.0 0.0; 0.0 100.0 … 0.0 0.0; … ; 0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0], [0.0, 0.0], [5.0 0.0; 0.0 5.0]))Extract Gradients and Jacobians
The examples below show how to read results directly from sim.solver_cache.
Adjoint Result
julia
∂J∂x0 = adj_sim.solver_cache.∂J∂x₀ᵀ
∂J∂θ = adj_sim.solver_cache.∂J∂θᵀ
∂J∂c = adj_sim.solver_cache.∂J∂cᵀ
∂J∂x0, ∂J∂θ, ∂J∂c([-10.0099552829902, 0.0, -0.04906388066995471, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 … 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [Float64[], Float64[], Float64[], Float64[], Float64[], Float64[], Float64[], Float64[], Float64[], Float64[]], [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]])∂J∂x0 is the gradient with respect to the initial state, while ∂J∂θ and ∂J∂c collect the sensitivity trajectories with respect to control and structural parameters.
Direct Result
The direct solver exposes the state Jacobian blocks directly from drc_sim.solver_cache:
julia
Jac_state = drc_sim.solver_cache.Jac_state
Jac_action = drc_sim.solver_cache.Jac_action
Jac_control_params = drc_sim.solver_cache.Jac_control_params
state_sample = Jac_state[end][1:3, 1:3]
action_sample = Jac_action[end][1:3, :]
control_param_total = sum(sum(abs, block) for block in Jac_control_params)
(; state_sample, action_sample, control_param_total)(state_sample = [1.0 -0.0 -0.0; -0.0 1.0 -0.0; -0.0 -0.0 1.0], action_sample = [-0.0 -0.0; -0.0 -0.0; -0.0 -0.0], control_param_total = 0.0)These Jacobians describe sensitivity of the propagated state with respect to the initial state, actions, and control parameters. In this example, control_param_total stays zero because the setup does not introduce a parameterized controller.