Visualization
Rible.jl provides a visualization toolkit built on Makie's plotting ecosystem. This toolkit reads trajectories generated by the solver directly, supports 2D and 3D rendering, and offers out-of-the-box interactive playback capabilities.
Core Architecture: The visualization module is an independent post-processing stage that relies only on the static structure of the
Robotobject and the trajectories recorded within it. Through the underlying drawing recipes (Recipes), the module can automatically identify and render various physical components and external force constraints.
Core Recipe
The visualization layer is built on a Makie recipe named Vis, Makie.@recipe Vis (object,). User-facing calls such as vis and vis! effectively send objects into this recipe system, and the next rendering path is specialized from the type of object stored inside the recipe.
Structure-level visualization is achieved by specializing
julia
Makie.plot!(::Vis{Tuple{<:Structure}})This method does not generate primitives directly. It first wraps the input as VizStructure, then hands that internal object back to vis!. The method for VizStructure performs the actual graph traversal: it iterates through the contained apparatuses and bodies, then redispatches each one to a more specific plotting method.
The visualization for the rigid-body layer is achieved by specializing
julia
Makie.plot!(::Vis{Tuple{<:AbstractRigidBody}})When dispatch reaches the rigid-body method, it first computes the mass-center state, then forwards the mass center and each LocusState back into vis!. If mesh rendering is enabled, it also calls build_mesh and passes the result to Makie.poly!. The rigid-body method therefore acts as a coordinator that decomposes one mechanics object into several smaller visual targets.
The visualization for the apparatus layer is achieved by specializing
julia
Makie.plot!(::Vis{Tuple{<:Apparatus}})In Rible, the default plot method for Apparatus does not draw content; it only serves as a placeholder entry. Real apparatus rendering is usually provided by extension packages. For example, RibleTensegrity adds specialized Makie.plot! methods for Apparatus{<:CableJoint} and Apparatus{<:ClusterJoint} and uses line segments and labels to render cable structures. This keeps the top-level API stable while allowing concrete mechanics packages to extend their own visualization branches.
The locus-level visualization is responsible for points, labels, and optional local axes:
julia
Makie.plot!(::Vis{Tuple{<:LocusState}})At the lowest level, the recipe stops dispatching on system components and directly calls standard Makie drawing commands such as scatter!, text!, arrows3d!, linesegments!, and poly!.
Other Core Components
Besides the full set of object rendering rules provided by recipe.jl, the visualization module also includes the following core components to boost practicality:
Interactive Trajectory Rendering
plot_traj.jl: provides the top-level interfaceplot_traj!. It can directly read the execution results ofSimulatorand generate an interactive timeline interface with a time slider, making it easy to observe the system's evolution over time.Data Analysis & Comparison
plot.jl: encapsulates trajectory extraction and error analysis functions, such as extracting velocityget_velocity!or computing comparison errorget_err_avg. These tools are suitable for quickly plotting convergence curves during algorithm performance testing or benchmarking.3D Mesh Processing
mesh.jl: uses GeometryBasics.jl to generate and update surface mesh mappings for 3D rigid bodies.
Typical Visualization Workflows
Below we construct a spinning top using the bundled model and perform a short integration. This ensures that all subsequent visualization examples on the page can reuse the same top and sim_result.
julia
include(joinpath(pathof(Rible), "../../examples/robots/spinningtop.jl"))
origin_position = [0.0, 0.0, 0.3]
R = RotX(0.0)
origin_velocity = [0.5, 0.0, 0.0]
Ω = [0.0, 0.0, 100.0]
top = make_top(origin_position, R, origin_velocity, Ω, :NCF; μ = 0.5, e = 0.5, loadmesh = true)
top.structure.connectivity.num_of_bodies11. Static Rendering of the Structure
If you need to verify the initial pose or assembly topology during modeling, you can directly call the general vis! entry point. Thanks to multiple dispatch, it can accept the top-level Structure and render the full system recursively.
julia
fig_static = Figure()
ax_static = Axis3(fig_static[1, 1], aspect = :data)
Rible.vis!(ax_static, top.structure; show_loci = false, show_labels = false)
fig_static
2. Interactive Trajectory Playback
julia
planes = StaticContactSurfaces([
HalfSpace([0.0, 0.0, 1.0], [0.0, 0.0, 0.0]),
])
contact_model = RestitutionFrictionCombined(
NewtonRestitution(),
CoulombFriction(),
)
prob = DynamicsProblem(top; env=planes, contact_model)
solver = DynamicsSolver(
Zhong06(),
InnerLayerContactSolver(InteriorPointMethod()),
)
sim_result = solve!(prob, solver; tspan = (0.0, 0.2), dt = 5e-4, ftol = 1e-14, maxiters = 50, exception = false)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}}, GeometryBasics.Mesh{3, Float64, GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}, (:position, :normal, :color), Tuple{Vector{GeometryBasics.Point{3, Float64}}, Vector{GeometryBasics.Vec{3, Float32}}, Vector{ColorTypes.RGB{Float32}}}, Vector{GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}}}}}}, 1}, Vector{Int64}, 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{Vector{Int64}, 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}}, GeometryBasics.Mesh{3, Float64, GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}, (:position, :normal, :color), Tuple{Vector{GeometryBasics.Point{3, Float64}}, Vector{GeometryBasics.Vec{3, Float32}}, Vector{ColorTypes.RGB{Float32}}}, Vector{GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}}}}}, 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}}, GeometryBasics.Mesh{3, Float64, GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}, (:position, :normal, :color), Tuple{Vector{GeometryBasics.Point{3, Float64}}, Vector{GeometryBasics.Vec{3, Float32}}, Vector{ColorTypes.RGB{Float32}}}, Vector{GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}}}}}, NaiveOperator, Vector{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{Vector{HalfSpace{Float64, 3}}, Rible.Gravity{Float64}}, Objective{Vector{Int64}, Rible.var"#default_objective##0#default_objective##1"}, RestitutionFrictionCombined{NewtonRestitution, CoulombFriction}, Rible.Naive, @NamedTuple{}}, Rible.var"#solve!##2#solve!##3", 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.Zhong06_CCP_Constant_Mass_Inner_Cache{Float64, 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}}, GeometryBasics.Mesh{3, Float64, GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}, (:position, :normal, :color), Tuple{Vector{GeometryBasics.Point{3, Float64}}, Vector{GeometryBasics.Vec{3, Float32}}, Vector{ColorTypes.RGB{Float32}}}, Vector{GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}}}}}}, 1}, Vector{Int64}, Connectivity{Vector{Vector{Int64}}}, Rible.StructureState{CoordinatesState{Float64, Vector{Float64}, Vector{Float64}, Vector{Float64}, Vector{Float64}}, Vector{CoordinatesState{Float64, SubArray{Float64, 1, 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Vector{GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}}}}}, NaiveOperator, Vector{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}, 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ControlHub{Vector{Int64}, 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}}, GeometryBasics.Mesh{3, Float64, GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}, (:position, :normal, :color), Tuple{Vector{GeometryBasics.Point{3, Float64}}, Vector{GeometryBasics.Vec{3, Float32}}, Vector{ColorTypes.RGB{Float32}}}, Vector{GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}}}}}, 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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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{Vector{HalfSpace{Float64, 3}}, Rible.Gravity{Float64}}, Objective{Vector{Int64}, Rible.var"#default_objective##0#default_objective##1"}, RestitutionFrictionCombined{NewtonRestitution, CoulombFriction}, Rible.Naive, @NamedTuple{}}(Robot{Structure{TypeSortedCollections.TypeSortedCollection{Tuple{Vector{RigidBody{3, 3, Float64, 9, 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Vector{Float64}, Tuple{Vector{Int64}}, false}}(0.0, [0.099999999999999, 0.0, 0.10380000000155996, 0.40045150007497765, 0.9163179557815618, 0.0, -0.9163179557815617, 0.4004515000749776, 0.0, 0.0, 0.0, 1.0], [0.5000000000000004, 0.0, -1.9595474999908602, -90.63004033914834, 42.337378436244855, 0.0, -42.337378436244634, -90.63004033914845, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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], [0.03111269837220809, 0.03111269837220809, 0.0, 0.03111269837220809, 0.03111269837220809, 0.0, 0.03111269837220809, 0.03111269837220809, 0.0, 0.03111269837220809, 0.03111269837220809, 0.0, 0.0, 0.0, -0.03795882, 0.0, 0.0, 0.0])]), (activated_bits = Bool[0, 0, 0, 0, 0, 0], persistent_bits = Bool[0, 0, 0, 0, 0, 0], friction_coefficients = [0.5, 0.5, 0.5, 0.5, 0.5, 0.5], restitution_coefficients = [0.5, 0.5, 0.5, 0.5, 0.5, 0.5], gaps = [Inf, Inf, Inf, Inf, Inf, 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], [0.5838707, 0.5838707, 0.5838707, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 7.025499999999997e-5, 7.025499999999997e-5, 7.025499999999997e-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], [1.7127079677058636, 1.7127079677058636, 1.7127079677058636, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 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9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.08485924636168249, 0.0413438796616451, 0.10428988687655769], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 -0.0 0.0; 0.0 1.0 0.0]), [-3.6369751936898798, -1.5025150233760642, -1.9595474999908602], [0.0, 0.0, 100.0], [0.0, 100.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, 0.10429050000155768, 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.CartesianFrame{3, 3, Float64, 9}([0.08485924636168249, 0.0413438796616451, 0.10428988687655769], Rible.Axes{3, Float64, 9}([0.0 0.0 1.0; 1.0 -0.0 0.0; 0.0 1.0 0.0]), [-3.6369751936898798, -1.5025150233760642, -1.9595474999908602], [0.0, 0.0, 100.0], [0.0, 100.0, 0.0]), [0.0, 0.0, 0.0], [0.0, 0.0, 0.0], Rible.ContactState{3, Float64, 9}(false, true, 0.10429050000155768, 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, 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[0.0, 0.0, 0.0], [0.0, 0.0, 0.0]))], [Rible.Contact{Float64}(1, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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]))] … 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Rible.Contact{Float64}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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 = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]) … (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0])]), Rible.NoPolicy(), Rible.StaticEnvironment{Vector{HalfSpace{Float64, 3}}, Rible.Gravity{Float64}}(HalfSpace{Float64, 3}[HalfSpace{Float64, 3}([0.0, 0.0, 1.0], -0.0, [0.0, 0.0, 0.0])], 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"()), RestitutionFrictionCombined{NewtonRestitution, CoulombFriction}(NewtonRestitution(), CoulombFriction()), Rible.Naive(), NamedTuple()), Rible.var"#solve!##2#solve!##3"(), (0.0, 0.2), true, 400, 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 = 1.48240587e-315, iteration = 542772656, walltime = 2.074924173e-315, num_of_contacts = 549019728), (residual = 2.323686304e-315, iteration = 470319344, walltime = 2.323686304e-315, num_of_contacts = 470319344), (residual = 0.0, iteration = 0, walltime = 0.0, num_of_contacts = 0), (residual = 0.0, iteration = 0, walltime = 0.0, num_of_contacts = 0), (residual = 1.572116727e-315, iteration = 430424144, walltime = 2.126577827e-315, num_of_contacts = 482038704), (residual = 1.572116727e-315, iteration = 482038768, walltime = 1.801583066e-315, num_of_contacts = 0), (residual = 0.0, iteration = 482038768, walltime = 2.38158795e-315, num_of_contacts = 482038864), (residual = 1.572116727e-315, iteration = 482038928, walltime = 1.80158587e-315, num_of_contacts = 0), (residual = 1.572116885e-315, iteration = 482038928, walltime = 2.381588743e-315, num_of_contacts = 482040080), (residual = 1.572116885e-315, iteration = 482040112, walltime = 1.801587137e-315, num_of_contacts = 0) … (residual = 0.0, iteration = 534261072, walltime = 2.63959599e-315, num_of_contacts = 534263120), (residual = 1.572131905e-315, iteration = 534263184, walltime = 1.686229765e-315, num_of_contacts = 0), (residual = 2.03466707e-315, iteration = 534263184, walltime = 2.63959694e-315, num_of_contacts = 0), (residual = 2.03466707e-315, iteration = 408909440, walltime = 1.68623103e-315, num_of_contacts = 0), (residual = 5.0e-324, iteration = 408909440, walltime = 2.639600416e-315, num_of_contacts = 408909504), (residual = 2.03466707e-315, iteration = 408909568, walltime = 1.686232294e-315, num_of_contacts = 0), (residual = 1.57213222e-315, iteration = 408909568, walltime = 2.63961085e-315, num_of_contacts = 0), (residual = 1.57213222e-315, iteration = 408910272, walltime = 1.68623356e-315, num_of_contacts = 0), (residual = 0.0, iteration = 408910272, walltime = 2.020281066e-315, num_of_contacts = 408910336), (residual = 1.57213222e-315, iteration = 408910400, walltime = 1.686234824e-315, num_of_contacts = 0)]), true), Rible.Zhong06_CCP_Constant_Mass_Inner_Cache{Float64, 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}}, GeometryBasics.Mesh{3, Float64, GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}, (:position, :normal, :color), Tuple{Vector{GeometryBasics.Point{3, Float64}}, Vector{GeometryBasics.Vec{3, Float32}}, 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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}}, GeometryBasics.Mesh{3, Float64, GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}, (:position, :normal, :color), Tuple{Vector{GeometryBasics.Point{3, Float64}}, Vector{GeometryBasics.Vec{3, Float32}}, Vector{ColorTypes.RGB{Float32}}}, Vector{GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}}}}}, 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}}, GeometryBasics.Mesh{3, Float64, GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}, (:position, :normal, :color), Tuple{Vector{GeometryBasics.Point{3, Float64}}, Vector{GeometryBasics.Vec{3, Float32}}, Vector{ColorTypes.RGB{Float32}}}, Vector{GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}}}}}, NaiveOperator, Vector{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.Gravity{Float64}, Rible.StaticEnvironment{Vector{HalfSpace{Float64, 3}}, Rible.Gravity{Float64}}, @NamedTuple{checkpersist::Bool}}(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}}, GeometryBasics.Mesh{3, Float64, GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}, (:position, :normal, :color), Tuple{Vector{GeometryBasics.Point{3, Float64}}, Vector{GeometryBasics.Vec{3, Float32}}, Vector{ColorTypes.RGB{Float32}}}, Vector{GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}}}}}}, 1}, Vector{Int64}, 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{Vector{Int64}, 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}}, GeometryBasics.Mesh{3, Float64, GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}, (:position, :normal, :color), Tuple{Vector{GeometryBasics.Point{3, 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@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}}(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}}, GeometryBasics.Mesh{3, Float64, GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}, (:position, :normal, :color), Tuple{Vector{GeometryBasics.Point{3, Float64}}, Vector{GeometryBasics.Vec{3, Float32}}, Vector{ColorTypes.RGB{Float32}}}, Vector{GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}}}}}}, 1}, Vector{Int64}, 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, 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Vector{GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}}}}[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}}, GeometryBasics.Mesh{3, Float64, GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}, (:position, :normal, :color), Tuple{Vector{GeometryBasics.Point{3, Float64}}, Vector{GeometryBasics.Vec{3, Float32}}, Vector{ColorTypes.RGB{Float32}}}, Vector{GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}}}}(RigidBodyProperty{3, Float64, 9}(true, true, 1, :generic, 0.5838707, [0.00022129 0.0 0.0; 0.0 0.00022129 0.0; 0.0 0.0 0.00030207], 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}([0.03111269837220809, 0.03111269837220809, 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]), 0.5, 0.5), Locus{3, Float64, 9}([0.03111269837220809, 0.03111269837220809, 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]), 0.5, 0.5), Locus{3, Float64, 9}([0.03111269837220809, 0.03111269837220809, 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]), 0.5, 0.5), Locus{3, Float64, 9}([0.03111269837220809, 0.03111269837220809, 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]), 0.5, 0.5), Locus{3, Float64, 9}([0.0, 0.0, -0.03795882], Rible.Axes{3, Float64, 9}([-0.0 -0.0 1.0; 1.0 -0.0 0.0; -0.0 1.0 0.0]), 0.5, 0.5), 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]), 0.5, 0.5)]), RigidBodyState{3, 3, Float64, 9}(Rible.CartesianFrame{3, 3, Float64, 9}([0.099874999999999, 0.0, 0.10428988687655769], Rible.Axes{3, 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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 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1.7127079677058636, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 14233.862358551, 14233.862358551, 14233.862358551], 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 … 0.9163179557815618 0.0; 0.0 0.0 … 0.0 0.0]), Mesh{3, Float64, GeometryBasics.NgonFace{3, GeometryBasics.OffsetInteger{-1, UInt32}}}(...))],), ([1],)), Int64[], 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, 2, 3, 4, 5, 6]], Signifier{Int64}[Signifier{Int64}(1, 1), Signifier{Int64}(1, 2), Signifier{Int64}(1, 3), Signifier{Int64}(1, 4), Signifier{Int64}(1, 5), Signifier{Int64}(1, 6)], [[1, 2, 3], [4, 5, 6], [7, 8, 9], [10, 11, 12], [13, 14, 15], [16, 17, 18]], [[1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18]], 7, 18, 18, 0, 18, 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, [0.099999999999999, 0.0, 0.10380000000155996, 0.40045150007497765, 0.9163179557815618, 0.0, -0.9163179557815617, 0.4004515000749776, 0.0, 0.0, 0.0, 1.0], [0.5000000000000004, 0.0, -1.9595474999908602, -90.63004033914834, 42.337378436244855, 0.0, -42.337378436244634, 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Vector{Float64}, Tuple{Vector{Int64}}, false}}(0.0, [0.099999999999999, 0.0, 0.10380000000155996, 0.40045150007497765, 0.9163179557815618, 0.0, -0.9163179557815617, 0.4004515000749776, 0.0, 0.0, 0.0, 1.0], [0.5000000000000004, 0.0, -1.9595474999908602, -90.63004033914834, 42.337378436244855, 0.0, -42.337378436244634, -90.63004033914845, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 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], [0.03111269837220809, 0.03111269837220809, 0.0, 0.03111269837220809, 0.03111269837220809, 0.0, 0.03111269837220809, 0.03111269837220809, 0.0, 0.03111269837220809, 0.03111269837220809, 0.0, 0.0, 0.0, -0.03795882, 0.0, 0.0, 0.0])]), (activated_bits = Bool[0, 0, 0, 0, 0, 0], persistent_bits = Bool[0, 0, 0, 0, 0, 0], friction_coefficients = [0.5, 0.5, 0.5, 0.5, 0.5, 0.5], restitution_coefficients = [0.5, 0.5, 0.5, 0.5, 0.5, 0.5], gaps = [Inf, Inf, Inf, Inf, Inf, 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], [0.5838707, 0.5838707, 0.5838707, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 7.025499999999997e-5, 7.025499999999997e-5, 7.025499999999997e-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], [1.7127079677058636, 1.7127079677058636, 1.7127079677058636, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 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Rible.Contact{Float64}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0.5, 0.5, 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}(2, 0.5, 0.5, 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}(3, 0.5, 0.5, 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}(4, 0.5, 0.5, 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}(5, 0.5, 0.5, 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}(6, 0.5, 0.5, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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, 0, 0, 0, 0, 0]], persistent_idx = [], activated_bits = [0, 0, 0, 0, 0, 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 = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]) … (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0]), (c = Float64[], e = [0.13], u = [0.0])]), Rible.NoPolicy(), Rible.Gravity{Float64}(9.81), Rible.StaticEnvironment{Vector{HalfSpace{Float64, 3}}, Rible.Gravity{Float64}}(HalfSpace{Float64, 3}[HalfSpace{Float64, 3}([0.0, 0.0, 1.0], -0.0, [0.0, 0.0, 0.0])], Rible.Gravity{Float64}(9.81)), 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], [0.5838707, 0.5838707, 0.5838707, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 7.025499999999997e-5, 7.025499999999997e-5, 7.025499999999997e-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], [1.7127079677058636, 1.7127079677058636, 1.7127079677058636, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 14233.862358551, 14233.862358551, 14233.862358551], 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], [0.5838707, 0.5838707, 0.5838707, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 7.025499999999997e-5, 7.025499999999997e-5, 7.025499999999997e-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], [0.5838707, 0.5838707, 0.5838707, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 7.025499999999997e-5, 7.025499999999997e-5, 7.025499999999997e-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], [0.5838707, 0.5838707, 0.5838707, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 0.00015103499999999997, 7.025499999999997e-5, 7.025499999999997e-5, 7.025499999999997e-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], [1.7127079677058636, 1.7127079677058636, 1.7127079677058636, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 6620.981891614528, 14233.862358551, 14233.862358551, 14233.862358551], 12, 12), [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.9163179557815618 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 0.8951492665634394 0.0; 0.0 0.0 … 0.0 0.0], [0.0 0.0 … 0.0 0.0; 0.0 0.0 … 0.0 0.0; … ; 0.0 0.0 … 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], 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], Float64[], [0.0 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], Rible.GaugeWorkspace{Float64}[Rible.GaugeWorkspace{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], 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[])]), Rible.Zhong06Constants{Float64}(0.0005, 0.5838707, 12, 12, 6, 1, 18, 0, 0, 12, 24, 30), (checkpersist = true,)))After finishing the dynamic integration, the most intuitive way to inspect the results is to call plot_traj!. It automatically extracts the state sequence and builds an interactive time-progressing interface.
With a trajectory in hand, plot_traj! can also display several time slices simultaneously. On a static documentation page, a small grid is often more useful than a slider for comparing poses across time.
julia
key_steps = round.(Int, range(1, length(top.traj.t), length = 4))
fig_traj = plot_traj!(
top;
do_slide = false,
show_info = false,
show_background = false,
show_loci = false,
show_labels = false,
show_ground = false,
gridsize = (2, 2),
at_steps = key_steps,
)
Performance and Customization
Rible keeps playback and multi-view rendering responsive by updating Makie Compute Pipeline instead of recreating plot objects at every time step. The plotting layer also stays close to standard Makie usage, so you can apply your own Theme, axis settings, and figure layouts without rewriting the underlying visualization workflow.