{"abstract":"Spinning bodies with no linear motion fall asleep and freeze.","category":"Physics integrator stability","checks":8,"contract":"solve(v, omega, lin_damp, ang_damp, dt, max_speed, sleep_lin, sleep_ang, sleep_time, kicks): per frame, a sleeping body wakes (timer reset) only when that frame's kick is nonzero, else it is skipped. Add the kick [dvx,dvy,domega], damp with 1/(1+dt*c) (linear and angular coefficients), clamp speed magnitude, then accumulate sleep time while |v|<sleep_lin and |omega|<sleep_ang (else reset). When timer>=sleep_time the body sleeps and velocities are zeroed. Return [vx, vy, omega, timer, asleep, frame index slept or -1].","evaluation_group":"w2-physics_integrator_stability-damping-clamp-sleep","failed_approach":"Comparing signed omega lets fast negative spin count as resting.","family":"w2-physics_integrator_stability-damping-clamp-sleep-sleep-condition-conjunction","id":"FA-87256","implementations":{"attempt":{"sha256":"c0b4f5caa505d9b65ab2840ed4ef68a9c40b123190ba17ba9be4da5fde229a3e","source":"\"\"\"Failure Map reference implementation. Python standard library only.\"\"\"\nimport json\nimport math\nN = 1\nobservations = []\ndef solve(v, omega, lin_damp, ang_damp, dt, max_speed, sleep_lin, sleep_ang, sleep_time, kicks):\n    vx, vy = v\n    w = omega\n    timer = 0.0\n    asleep = False\n    slept_at = -1\n    for f, (ax, ay, aw) in enumerate(kicks):\n        if asleep:\n            if ax or ay or aw:\n                asleep = False\n                timer = 0.0\n            else:\n                continue\n        vx += ax\n        vy += ay\n        w += aw\n        dl = 1.0 / (1.0 + dt * lin_damp)\n        vx *= dl\n        vy *= dl\n        w *= 1.0 / (1.0 + dt * ang_damp)\n        sp = math.hypot(vx, vy)\n        if sp > max_speed:\n            s = max_speed / sp\n            vx *= s\n            vy *= s\n        if math.hypot(vx, vy) < sleep_lin and w < sleep_ang:\n            timer += dt\n        else:\n            timer = 0.0\n        if timer >= sleep_time:\n            asleep = True\n            slept_at = f\n            vx = vy = w = 0.0\n    return [round(vx, 6), round(vy, 6), round(w, 6), round(timer, 6), asleep, slept_at]\ndef check(label, actual, expected):\n    observations.append({\"check\": label, \"actual\": actual, \"expected\": expected, \"passed\": actual == expected})\nfixtures = [[[[[-1.03, -4.82], -0.81, 20.0, 5.0, 0.0625, 3.0, 2.0, 0.3, 0.125, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 1, 0]]], [0.0, 0.0, 0.0, 0.125, True, 4]], [[[0.06, 0.07], 0.0, 0.5, 0.5, 0.015625, 8.0, 0.5, 0.3, 0.046875, [[0, 0, -1.5], [0, 0, 1.5], [0, 0, 1.5], [0, 0, 0], [0, 0, 0], [0, 0, -1.5]]], [0.057263, 0.066807, -0.023162, 0.015625, False, -1]], [[[0.04, -0.04], 0.63, 2.0, 5.0, 0.0625, 3.0, 2.0, 1.0, 0.0625, [[-2, 0, 2], [0, 0, 0], [0, 0, 0], [0, 0, 0], [1, 0, 0.5]]], [0.0, 0.0, 0.0, 0.0625, True, 4]], [[[1.53, -3.53], 1.25, 20.0, 40.0, 0.015625, 8.0, 2.0, 0.3, 0.046875, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.515578, -1.189536, 0.179265, 0.03125, False, -1]], [[[0.42, -5.21], -1.72, 80.0, 40.0, 0.03125, 3.0, 2.0, 0.3, 0.0625, [[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, 0, 0]]], [0.0, 0.0, 0.175583, 0.03125, False, 3]], [[[-0.05, 0.04], 0.79, 2.0, 40.0, 0.03125, 8.0, 2.0, 1.0, 0.03125, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [5, 0, 0.5], [0, 0, 0]]], [4.429066, 0.0, 0.098765, 0.0, False, 0]], [[[-3.54, -2.83], 1.95, 80.0, 5.0, 0.03125, 3.0, 2.0, 0.3, 0.09375, [[0, -3, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [-0.00674, -0.0111, 0.45969, 0.0, False, -1]], [[[0.03, 0.07], 0.0, 0.5, 0.5, 0.0625, 8.0, 0.5, 1.0, 0.1875, [[0, 0, 0], [0, 0, 0.5], [0, 0, 0.5], [0, 0, 0], [0, 0, -0.5], [0, 0, -0.5]]], [0.0, 0.0, -0.955005, 0.125, False, 2]]], [[[[3.71, -5.39], 0.21, 0.5, 5.0, 0.0625, 3.0, 0.5, 0.3, 0.125, [[0, 0, 0], [0, 1, 0.5], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [5, 1, 0], [1, 1, 2]]], [2.924827, 0.667375, 1.580911, 0.0, False, -1]], [[[-1.82, -3.97], -1.03, 0.5, 40.0, 0.0625, 3.0, 2.0, 0.3, 0.1875, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 8, 0.5], [0, 0, 0]]], [-0.541146, 2.858316, 0.040771, 0.0, False, -1]], [[[-0.03, 0.03], 0.0, 0.5, 0.5, 0.015625, 8.0, 0.5, 0.3, 0.03125, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.03125, True, 1]], [[[0.01, 0.01], 1.94, 0.5, 5.0, 0.015625, 8.0, 2.0, 1.0, 0.015625, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [1, 0, -1]]], [0.0, 0.0, 0.0, 0.015625, True, 8]], [[[-5.42, -3.46], -1.79, 20.0, 5.0, 0.0625, 8.0, 0.5, 0.3, 0.0625, [[0, 0, 0], [0, 0, 0], [1, 0, 0.5], [1, 8, 2], [1, 8, 0], [0, 0, 0], [1, 8, -1], [0, 0, 0], [0, 0, 0]]], [0.112598, 0.900382, -0.1314, 0.0, False, -1]], [[[0.04, -0.01], 0.0, 2.0, 0.5, 0.0625, 8.0, 0.5, 0.3, 0.125, [[0, 0, 0], [0, 0, 0], [0, 0, -1.5], [0, 0, 0], [0, 0, -1.5], [0, 0, -1.5], [0, 0, 1.5]]], [0.0, 0.0, -2.60974, 0.0, False, 1]], [[[0.02, 0.02], 1.76, 80.0, 40.0, 0.03125, 8.0, 0.5, 1.0, 0.03125, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.03125, True, 0]], [[[-0.04, -0.09], 0.0, 2.0, 0.5, 0.03125, 8.0, 0.5, 1.0, 0.0625, [[0, 0, -1.5], [0, 0, -1.5], [0, 0, 0], [0, 0, -1.5], [0, 0, -1.5]]], [-0.02954, -0.066466, -5.729036, 0.0, False, -1]]], [[[[0.02, -0.03], 0.0, 2.0, 5.0, 0.0625, 8.0, 0.5, 1.0, 0.1875, [[0, 0, -1.5], [0, 0, -1.5], [0, 0, -1.5], [0, 0, -1.5], [0, 0, 0], [0, 0, 1.5], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.1875, True, 7]], [[[0.01, -0.0], 0.7, 0.5, 0.5, 0.0625, 8.0, 2.0, 1.0, 0.1875, [[0, 0, 0], [0, 0, 0], [1, 8, 0.5], [5, -3, 2]]], [5.797639, 4.613407, 3.028481, 0.0, False, -1]], [[[0.04, 0.1], 0.0, 2.0, 5.0, 0.015625, 8.0, 0.5, 1.0, 0.03125, [[0, 0, 0.5], [0, 0, 0.5], [0, 0, -0.5], [0, 0, 0.5], [0, 0, -0.5], [0, 0, -0.5], [0, 0, 0.5]]], [0.0, 0.0, 0.463768, 0.015625, False, 5]], [[[-0.05, -0.07], 0.0, 2.0, 0.5, 0.015625, 8.0, 0.5, 0.3, 0.03125, [[0, 0, -0.5], [0, 0, 0], [0, 0, 0], [0, 0, 0.5], [0, 0, -0.5], [0, 0, 0], [0, 0, 0.5], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.03125, True, 7]], [[[0.05, -0.02], 0.0, 2.0, 0.5, 0.015625, 8.0, 0.5, 1.0, 0.046875, [[0, 0, -1.5], [0, 0, 1.5], [0, 0, -1.5], [0, 0, 1.5], [0, 0, 0], [0, 0, 0], [0, 0, -1.5], [0, 0, 1.5]]], [0.0, 0.0, 0.011538, 0.015625, False, 5]], [[[0.18, 0.67], -0.31, 0.5, 5.0, 0.03125, 3.0, 2.0, 0.3, 0.0625, [[0, 0, 0], [0, 0, -1], [0, -3, 2], [0, 0, 0], [1, 1, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.0625, True, 5]], [[[1.3, 3.51], 1.97, 80.0, 0.5, 0.015625, 3.0, 2.0, 1.0, 0.046875, [[5, -3, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.046875, True, 3]], [[[0.01, 0.06], 0.0, 2.0, 0.5, 0.03125, 8.0, 0.5, 1.0, 0.09375, [[0, 0, 1.5], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, -1.5], [0, 0, 0], [0, 0, 0], [0, 0, -1.5], [0, 0, 1.5]]], [0.0, 0.0, 0.022722, 0.03125, False, 6]]], [[[[0.0, -0.03], 0.5, 80.0, 0.5, 0.0625, 3.0, 0.5, 1.0, 0.0625, [[0, 0, 0], [-2, 0, -1], [0, 0, 0], [5, 1, -1], [1, 0, 2], [0, 0, 0], [0, 0, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.0625, True, 6]], [[[-1.17, -2.61], 0.84, 80.0, 0.5, 0.03125, 8.0, 0.5, 0.3, 0.09375, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [-0.002228, -0.004969, 0.777342, 0.0, False, -1]], [[[-0.04, 0.03], -0.91, 20.0, 5.0, 0.0625, 3.0, 2.0, 0.3, 0.0625, [[5, 8, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [5, 8, 2], [0, 0, 0]]], [0.706665, 1.130664, 1.160998, 0.0, False, 6]], [[[0.03, 0.01], -0.32, 2.0, 5.0, 0.03125, 8.0, 2.0, 0.3, 0.09375, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.09375, True, 2]], [[[-0.03, -0.0], 0.97, 2.0, 5.0, 0.015625, 8.0, 0.5, 1.0, 0.015625, [[0, 0, 0], [0, 0, 0], [0, 1, 0.5], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [5, 8, 0]]], [3.941435, 6.961687, 0.295315, 0.0, False, 0]], [[[3.82, 5.03], 0.39, 2.0, 5.0, 0.03125, 3.0, 2.0, 1.0, 0.03125, [[0, 0, 0], [0, 0, 0], [0, -3, 0], [0, 0, 0], [-2, -3, 0.5], [0, 0, 0]]], [-1.566212, -2.349318, 0.373996, 0.0, False, 2]], [[[0.04, -0.08], 0.0, 2.0, 5.0, 0.015625, 8.0, 0.5, 1.0, 0.046875, [[0, 0, 0], [0, 0, 0], [0, 0, -0.5], [0, 0, -0.5], [0, 0, 0.5], [0, 0, -0.5], [0, 0, 0], [0, 0, 0.5], [0, 0, -0.5]]], [0.0, 0.0, -0.033606, 0.03125, False, 5]], [[[0.05, -0.02], 0.0, 0.5, 5.0, 0.03125, 8.0, 0.5, 0.3, 0.09375, [[0, 0, 0], [0, 0, -1.5], [0, 0, -1.5], [0, 0, 1.5], [0, 0, 0], [0, 0, -1.5], [0, 0, 0], [0, 0, 1.5], [0, 0, 1.5]]], [0.043488, -0.017395, 1.195333, 0.0, False, -1]]], [[[[0.07, -0.09], 0.0, 0.5, 0.5, 0.03125, 8.0, 0.5, 1.0, 0.09375, [[0, 0, -3.0], [0, 0, 3.0], [0, 0, 0], [0, 0, 3.0], [0, 0, 0]]], [0.064779, -0.083287, 2.951781, 0.0, False, -1]], [[[-0.03, -0.02], 0.88, 2.0, 5.0, 0.015625, 8.0, 2.0, 0.3, 0.03125, [[0, 0, 0], [0, 8, 0], [5, 1, -1], [0, 0, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [1, -3, 0.5], [5, 0, 0], [0, 0, 0]]], [7.375353, 2.405025, -0.324717, 0.0, False, -1]], [[[0.04, -0.02], -0.56, 20.0, 5.0, 0.03125, 3.0, 2.0, 0.3, 0.0625, [[0, 0, 0], [-2, 8, 0], [1, -3, 2], [0, 0, 0], [0, 1, 0.5]]], [0.065203, 0.594939, 1.45528, 0.0, False, -1]], [[[0.02, -0.01], -1.91, 2.0, 40.0, 0.0625, 8.0, 2.0, 0.3, 0.125, [[-2, 1, 0], [0, 0, 0], [-2, -3, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [-2.225265, -1.384548, -0.007703, 0.0, False, -1]], [[[-0.04, -0.02], 1.89, 20.0, 40.0, 0.0625, 3.0, 0.5, 1.0, 0.125, [[0, 0, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [-2, -3, -1], [-2, 0, 0.5]]], [-1.283951, -0.592593, 0.061224, 0.0, False, 1]], [[[-5.17, -2.18], 1.53, 0.5, 40.0, 0.015625, 8.0, 2.0, 0.3, 0.015625, [[0, 0, 0], [1, 8, 2], [1, 8, 2], [5, -3, -1], [0, 0, 0], [0, -3, -1]]], [3.17179, 1.717873, -0.302003, 0.0, False, -1]], [[[-0.08, 0.04], 0.0, 0.5, 0.5, 0.03125, 8.0, 0.5, 1.0, 0.0625, [[0, 0, -3.0], [0, 0, 0], [0, 0, 3.0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.0625, True, 3]], [[[-0.36, 5.34], -0.71, 2.0, 40.0, 0.015625, 3.0, 2.0, 0.3, 0.03125, [[0, 0, 0], [1, 1, 0], [1, 8, 2], [0, 0, 0], [5, 1, 0], [1, 8, 0.5], [0, 0, 0], [-2, 0, -1], [0, 0, 0], [0, 0, 0]]], [-0.940955, 2.501391, -0.153314, 0.0, False, -1]]]]\nfor i, (args, expected) in enumerate(fixtures[N-1]):\n    check(\"case %d\" % i, solve(*args), expected)\nprint(json.dumps({\"observations\": observations, \"passed\": all(x[\"passed\"] for x in observations)}, ensure_ascii=False))\nraise SystemExit(0 if all(x[\"passed\"] for x in observations) else 1)\n"},"broken":{"sha256":"6e8c9665662fe071e647fcced3225c320c3d4f41d23829cb299f9c86689a929e","source":"\"\"\"Failure Map reference implementation. Python standard library only.\"\"\"\nimport json\nimport math\nN = 1\nobservations = []\ndef solve(v, omega, lin_damp, ang_damp, dt, max_speed, sleep_lin, sleep_ang, sleep_time, kicks):\n    vx, vy = v\n    w = omega\n    timer = 0.0\n    asleep = False\n    slept_at = -1\n    for f, (ax, ay, aw) in enumerate(kicks):\n        if asleep:\n            if ax or ay or aw:\n                asleep = False\n                timer = 0.0\n            else:\n                continue\n        vx += ax\n        vy += ay\n        w += aw\n        dl = 1.0 / (1.0 + dt * lin_damp)\n        vx *= dl\n        vy *= dl\n        w *= 1.0 / (1.0 + dt * ang_damp)\n        sp = math.hypot(vx, vy)\n        if sp > max_speed:\n            s = max_speed / sp\n            vx *= s\n            vy *= s\n        if math.hypot(vx, vy) < sleep_lin or abs(w) < sleep_ang:\n            timer += dt\n        else:\n            timer = 0.0\n        if timer >= sleep_time:\n            asleep = True\n            slept_at = f\n            vx = vy = w = 0.0\n    return [round(vx, 6), round(vy, 6), round(w, 6), round(timer, 6), asleep, slept_at]\ndef check(label, actual, expected):\n    observations.append({\"check\": label, \"actual\": actual, \"expected\": expected, \"passed\": actual == expected})\nfixtures = [[[[[-1.03, -4.82], -0.81, 20.0, 5.0, 0.0625, 3.0, 2.0, 0.3, 0.125, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 1, 0]]], [0.0, 0.0, 0.0, 0.125, True, 4]], [[[0.06, 0.07], 0.0, 0.5, 0.5, 0.015625, 8.0, 0.5, 0.3, 0.046875, [[0, 0, -1.5], [0, 0, 1.5], [0, 0, 1.5], [0, 0, 0], [0, 0, 0], [0, 0, -1.5]]], [0.057263, 0.066807, -0.023162, 0.015625, False, -1]], [[[0.04, -0.04], 0.63, 2.0, 5.0, 0.0625, 3.0, 2.0, 1.0, 0.0625, [[-2, 0, 2], [0, 0, 0], [0, 0, 0], [0, 0, 0], [1, 0, 0.5]]], [0.0, 0.0, 0.0, 0.0625, True, 4]], [[[1.53, -3.53], 1.25, 20.0, 40.0, 0.015625, 8.0, 2.0, 0.3, 0.046875, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.515578, -1.189536, 0.179265, 0.03125, False, -1]], [[[0.42, -5.21], -1.72, 80.0, 40.0, 0.03125, 3.0, 2.0, 0.3, 0.0625, [[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, 0, 0]]], [0.0, 0.0, 0.175583, 0.03125, False, 3]], [[[-0.05, 0.04], 0.79, 2.0, 40.0, 0.03125, 8.0, 2.0, 1.0, 0.03125, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [5, 0, 0.5], [0, 0, 0]]], [4.429066, 0.0, 0.098765, 0.0, False, 0]], [[[-3.54, -2.83], 1.95, 80.0, 5.0, 0.03125, 3.0, 2.0, 0.3, 0.09375, [[0, -3, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [-0.00674, -0.0111, 0.45969, 0.0, False, -1]], [[[0.03, 0.07], 0.0, 0.5, 0.5, 0.0625, 8.0, 0.5, 1.0, 0.1875, [[0, 0, 0], [0, 0, 0.5], [0, 0, 0.5], [0, 0, 0], [0, 0, -0.5], [0, 0, -0.5]]], [0.0, 0.0, -0.955005, 0.125, False, 2]]], [[[[3.71, -5.39], 0.21, 0.5, 5.0, 0.0625, 3.0, 0.5, 0.3, 0.125, [[0, 0, 0], [0, 1, 0.5], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [5, 1, 0], [1, 1, 2]]], [2.924827, 0.667375, 1.580911, 0.0, False, -1]], [[[-1.82, -3.97], -1.03, 0.5, 40.0, 0.0625, 3.0, 2.0, 0.3, 0.1875, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 8, 0.5], [0, 0, 0]]], [-0.541146, 2.858316, 0.040771, 0.0, False, -1]], [[[-0.03, 0.03], 0.0, 0.5, 0.5, 0.015625, 8.0, 0.5, 0.3, 0.03125, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.03125, True, 1]], [[[0.01, 0.01], 1.94, 0.5, 5.0, 0.015625, 8.0, 2.0, 1.0, 0.015625, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [1, 0, -1]]], [0.0, 0.0, 0.0, 0.015625, True, 8]], [[[-5.42, -3.46], -1.79, 20.0, 5.0, 0.0625, 8.0, 0.5, 0.3, 0.0625, [[0, 0, 0], [0, 0, 0], [1, 0, 0.5], [1, 8, 2], [1, 8, 0], [0, 0, 0], [1, 8, -1], [0, 0, 0], [0, 0, 0]]], [0.112598, 0.900382, -0.1314, 0.0, False, -1]], [[[0.04, -0.01], 0.0, 2.0, 0.5, 0.0625, 8.0, 0.5, 0.3, 0.125, [[0, 0, 0], [0, 0, 0], [0, 0, -1.5], [0, 0, 0], [0, 0, -1.5], [0, 0, -1.5], [0, 0, 1.5]]], [0.0, 0.0, -2.60974, 0.0, False, 1]], [[[0.02, 0.02], 1.76, 80.0, 40.0, 0.03125, 8.0, 0.5, 1.0, 0.03125, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.03125, True, 0]], [[[-0.04, -0.09], 0.0, 2.0, 0.5, 0.03125, 8.0, 0.5, 1.0, 0.0625, [[0, 0, -1.5], [0, 0, -1.5], [0, 0, 0], [0, 0, -1.5], [0, 0, -1.5]]], [-0.02954, -0.066466, -5.729036, 0.0, False, -1]]], [[[[0.02, -0.03], 0.0, 2.0, 5.0, 0.0625, 8.0, 0.5, 1.0, 0.1875, [[0, 0, -1.5], [0, 0, -1.5], [0, 0, -1.5], [0, 0, -1.5], [0, 0, 0], [0, 0, 1.5], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.1875, True, 7]], [[[0.01, -0.0], 0.7, 0.5, 0.5, 0.0625, 8.0, 2.0, 1.0, 0.1875, [[0, 0, 0], [0, 0, 0], [1, 8, 0.5], [5, -3, 2]]], [5.797639, 4.613407, 3.028481, 0.0, False, -1]], [[[0.04, 0.1], 0.0, 2.0, 5.0, 0.015625, 8.0, 0.5, 1.0, 0.03125, [[0, 0, 0.5], [0, 0, 0.5], [0, 0, -0.5], [0, 0, 0.5], [0, 0, -0.5], [0, 0, -0.5], [0, 0, 0.5]]], [0.0, 0.0, 0.463768, 0.015625, False, 5]], [[[-0.05, -0.07], 0.0, 2.0, 0.5, 0.015625, 8.0, 0.5, 0.3, 0.03125, [[0, 0, -0.5], [0, 0, 0], [0, 0, 0], [0, 0, 0.5], [0, 0, -0.5], [0, 0, 0], [0, 0, 0.5], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.03125, True, 7]], [[[0.05, -0.02], 0.0, 2.0, 0.5, 0.015625, 8.0, 0.5, 1.0, 0.046875, [[0, 0, -1.5], [0, 0, 1.5], [0, 0, -1.5], [0, 0, 1.5], [0, 0, 0], [0, 0, 0], [0, 0, -1.5], [0, 0, 1.5]]], [0.0, 0.0, 0.011538, 0.015625, False, 5]], [[[0.18, 0.67], -0.31, 0.5, 5.0, 0.03125, 3.0, 2.0, 0.3, 0.0625, [[0, 0, 0], [0, 0, -1], [0, -3, 2], [0, 0, 0], [1, 1, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.0625, True, 5]], [[[1.3, 3.51], 1.97, 80.0, 0.5, 0.015625, 3.0, 2.0, 1.0, 0.046875, [[5, -3, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.046875, True, 3]], [[[0.01, 0.06], 0.0, 2.0, 0.5, 0.03125, 8.0, 0.5, 1.0, 0.09375, [[0, 0, 1.5], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, -1.5], [0, 0, 0], [0, 0, 0], [0, 0, -1.5], [0, 0, 1.5]]], [0.0, 0.0, 0.022722, 0.03125, False, 6]]], [[[[0.0, -0.03], 0.5, 80.0, 0.5, 0.0625, 3.0, 0.5, 1.0, 0.0625, [[0, 0, 0], [-2, 0, -1], [0, 0, 0], [5, 1, -1], [1, 0, 2], [0, 0, 0], [0, 0, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.0625, True, 6]], [[[-1.17, -2.61], 0.84, 80.0, 0.5, 0.03125, 8.0, 0.5, 0.3, 0.09375, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [-0.002228, -0.004969, 0.777342, 0.0, False, -1]], [[[-0.04, 0.03], -0.91, 20.0, 5.0, 0.0625, 3.0, 2.0, 0.3, 0.0625, [[5, 8, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [5, 8, 2], [0, 0, 0]]], [0.706665, 1.130664, 1.160998, 0.0, False, 6]], [[[0.03, 0.01], -0.32, 2.0, 5.0, 0.03125, 8.0, 2.0, 0.3, 0.09375, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.09375, True, 2]], [[[-0.03, -0.0], 0.97, 2.0, 5.0, 0.015625, 8.0, 0.5, 1.0, 0.015625, [[0, 0, 0], [0, 0, 0], [0, 1, 0.5], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [5, 8, 0]]], [3.941435, 6.961687, 0.295315, 0.0, False, 0]], [[[3.82, 5.03], 0.39, 2.0, 5.0, 0.03125, 3.0, 2.0, 1.0, 0.03125, [[0, 0, 0], [0, 0, 0], [0, -3, 0], [0, 0, 0], [-2, -3, 0.5], [0, 0, 0]]], [-1.566212, -2.349318, 0.373996, 0.0, False, 2]], [[[0.04, -0.08], 0.0, 2.0, 5.0, 0.015625, 8.0, 0.5, 1.0, 0.046875, [[0, 0, 0], [0, 0, 0], [0, 0, -0.5], [0, 0, -0.5], [0, 0, 0.5], [0, 0, -0.5], [0, 0, 0], [0, 0, 0.5], [0, 0, -0.5]]], [0.0, 0.0, -0.033606, 0.03125, False, 5]], [[[0.05, -0.02], 0.0, 0.5, 5.0, 0.03125, 8.0, 0.5, 0.3, 0.09375, [[0, 0, 0], [0, 0, -1.5], [0, 0, -1.5], [0, 0, 1.5], [0, 0, 0], [0, 0, -1.5], [0, 0, 0], [0, 0, 1.5], [0, 0, 1.5]]], [0.043488, -0.017395, 1.195333, 0.0, False, -1]]], [[[[0.07, -0.09], 0.0, 0.5, 0.5, 0.03125, 8.0, 0.5, 1.0, 0.09375, [[0, 0, -3.0], [0, 0, 3.0], [0, 0, 0], [0, 0, 3.0], [0, 0, 0]]], [0.064779, -0.083287, 2.951781, 0.0, False, -1]], [[[-0.03, -0.02], 0.88, 2.0, 5.0, 0.015625, 8.0, 2.0, 0.3, 0.03125, [[0, 0, 0], [0, 8, 0], [5, 1, -1], [0, 0, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [1, -3, 0.5], [5, 0, 0], [0, 0, 0]]], [7.375353, 2.405025, -0.324717, 0.0, False, -1]], [[[0.04, -0.02], -0.56, 20.0, 5.0, 0.03125, 3.0, 2.0, 0.3, 0.0625, [[0, 0, 0], [-2, 8, 0], [1, -3, 2], [0, 0, 0], [0, 1, 0.5]]], [0.065203, 0.594939, 1.45528, 0.0, False, -1]], [[[0.02, -0.01], -1.91, 2.0, 40.0, 0.0625, 8.0, 2.0, 0.3, 0.125, [[-2, 1, 0], [0, 0, 0], [-2, -3, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [-2.225265, -1.384548, -0.007703, 0.0, False, -1]], [[[-0.04, -0.02], 1.89, 20.0, 40.0, 0.0625, 3.0, 0.5, 1.0, 0.125, [[0, 0, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [-2, -3, -1], [-2, 0, 0.5]]], [-1.283951, -0.592593, 0.061224, 0.0, False, 1]], [[[-5.17, -2.18], 1.53, 0.5, 40.0, 0.015625, 8.0, 2.0, 0.3, 0.015625, [[0, 0, 0], [1, 8, 2], [1, 8, 2], [5, -3, -1], [0, 0, 0], [0, -3, -1]]], [3.17179, 1.717873, -0.302003, 0.0, False, -1]], [[[-0.08, 0.04], 0.0, 0.5, 0.5, 0.03125, 8.0, 0.5, 1.0, 0.0625, [[0, 0, -3.0], [0, 0, 0], [0, 0, 3.0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.0625, True, 3]], [[[-0.36, 5.34], -0.71, 2.0, 40.0, 0.015625, 3.0, 2.0, 0.3, 0.03125, [[0, 0, 0], [1, 1, 0], [1, 8, 2], [0, 0, 0], [5, 1, 0], [1, 8, 0.5], [0, 0, 0], [-2, 0, -1], [0, 0, 0], [0, 0, 0]]], [-0.940955, 2.501391, -0.153314, 0.0, False, -1]]]]\nfor i, (args, expected) in enumerate(fixtures[N-1]):\n    check(\"case %d\" % i, solve(*args), expected)\nprint(json.dumps({\"observations\": observations, \"passed\": all(x[\"passed\"] for x in observations)}, ensure_ascii=False))\nraise SystemExit(0 if all(x[\"passed\"] for x in observations) else 1)\n"},"fixed":{"sha256":"17c51e18ac341c962f7d83702e2b638c5a7e39b7a247bdca1c3983d8de825ea0","source":"\"\"\"Failure Map reference implementation. Python standard library only.\"\"\"\nimport json\nimport math\nN = 1\nobservations = []\ndef solve(v, omega, lin_damp, ang_damp, dt, max_speed, sleep_lin, sleep_ang, sleep_time, kicks):\n    vx, vy = v\n    w = omega\n    timer = 0.0\n    asleep = False\n    slept_at = -1\n    for f, (ax, ay, aw) in enumerate(kicks):\n        if asleep:\n            if ax or ay or aw:\n                asleep = False\n                timer = 0.0\n            else:\n                continue\n        vx += ax\n        vy += ay\n        w += aw\n        dl = 1.0 / (1.0 + dt * lin_damp)\n        vx *= dl\n        vy *= dl\n        w *= 1.0 / (1.0 + dt * ang_damp)\n        sp = math.hypot(vx, vy)\n        if sp > max_speed:\n            s = max_speed / sp\n            vx *= s\n            vy *= s\n        if math.hypot(vx, vy) < sleep_lin and abs(w) < sleep_ang:\n            timer += dt\n        else:\n            timer = 0.0\n        if timer >= sleep_time:\n            asleep = True\n            slept_at = f\n            vx = vy = w = 0.0\n    return [round(vx, 6), round(vy, 6), round(w, 6), round(timer, 6), asleep, slept_at]\ndef check(label, actual, expected):\n    observations.append({\"check\": label, \"actual\": actual, \"expected\": expected, \"passed\": actual == expected})\nfixtures = [[[[[-1.03, -4.82], -0.81, 20.0, 5.0, 0.0625, 3.0, 2.0, 0.3, 0.125, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 1, 0]]], [0.0, 0.0, 0.0, 0.125, True, 4]], [[[0.06, 0.07], 0.0, 0.5, 0.5, 0.015625, 8.0, 0.5, 0.3, 0.046875, [[0, 0, -1.5], [0, 0, 1.5], [0, 0, 1.5], [0, 0, 0], [0, 0, 0], [0, 0, -1.5]]], [0.057263, 0.066807, -0.023162, 0.015625, False, -1]], [[[0.04, -0.04], 0.63, 2.0, 5.0, 0.0625, 3.0, 2.0, 1.0, 0.0625, [[-2, 0, 2], [0, 0, 0], [0, 0, 0], [0, 0, 0], [1, 0, 0.5]]], [0.0, 0.0, 0.0, 0.0625, True, 4]], [[[1.53, -3.53], 1.25, 20.0, 40.0, 0.015625, 8.0, 2.0, 0.3, 0.046875, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.515578, -1.189536, 0.179265, 0.03125, False, -1]], [[[0.42, -5.21], -1.72, 80.0, 40.0, 0.03125, 3.0, 2.0, 0.3, 0.0625, [[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, 0, 0]]], [0.0, 0.0, 0.175583, 0.03125, False, 3]], [[[-0.05, 0.04], 0.79, 2.0, 40.0, 0.03125, 8.0, 2.0, 1.0, 0.03125, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [5, 0, 0.5], [0, 0, 0]]], [4.429066, 0.0, 0.098765, 0.0, False, 0]], [[[-3.54, -2.83], 1.95, 80.0, 5.0, 0.03125, 3.0, 2.0, 0.3, 0.09375, [[0, -3, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [-0.00674, -0.0111, 0.45969, 0.0, False, -1]], [[[0.03, 0.07], 0.0, 0.5, 0.5, 0.0625, 8.0, 0.5, 1.0, 0.1875, [[0, 0, 0], [0, 0, 0.5], [0, 0, 0.5], [0, 0, 0], [0, 0, -0.5], [0, 0, -0.5]]], [0.0, 0.0, -0.955005, 0.125, False, 2]]], [[[[3.71, -5.39], 0.21, 0.5, 5.0, 0.0625, 3.0, 0.5, 0.3, 0.125, [[0, 0, 0], [0, 1, 0.5], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [5, 1, 0], [1, 1, 2]]], [2.924827, 0.667375, 1.580911, 0.0, False, -1]], [[[-1.82, -3.97], -1.03, 0.5, 40.0, 0.0625, 3.0, 2.0, 0.3, 0.1875, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 8, 0.5], [0, 0, 0]]], [-0.541146, 2.858316, 0.040771, 0.0, False, -1]], [[[-0.03, 0.03], 0.0, 0.5, 0.5, 0.015625, 8.0, 0.5, 0.3, 0.03125, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.03125, True, 1]], [[[0.01, 0.01], 1.94, 0.5, 5.0, 0.015625, 8.0, 2.0, 1.0, 0.015625, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [1, 0, -1]]], [0.0, 0.0, 0.0, 0.015625, True, 8]], [[[-5.42, -3.46], -1.79, 20.0, 5.0, 0.0625, 8.0, 0.5, 0.3, 0.0625, [[0, 0, 0], [0, 0, 0], [1, 0, 0.5], [1, 8, 2], [1, 8, 0], [0, 0, 0], [1, 8, -1], [0, 0, 0], [0, 0, 0]]], [0.112598, 0.900382, -0.1314, 0.0, False, -1]], [[[0.04, -0.01], 0.0, 2.0, 0.5, 0.0625, 8.0, 0.5, 0.3, 0.125, [[0, 0, 0], [0, 0, 0], [0, 0, -1.5], [0, 0, 0], [0, 0, -1.5], [0, 0, -1.5], [0, 0, 1.5]]], [0.0, 0.0, -2.60974, 0.0, False, 1]], [[[0.02, 0.02], 1.76, 80.0, 40.0, 0.03125, 8.0, 0.5, 1.0, 0.03125, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.03125, True, 0]], [[[-0.04, -0.09], 0.0, 2.0, 0.5, 0.03125, 8.0, 0.5, 1.0, 0.0625, [[0, 0, -1.5], [0, 0, -1.5], [0, 0, 0], [0, 0, -1.5], [0, 0, -1.5]]], [-0.02954, -0.066466, -5.729036, 0.0, False, -1]]], [[[[0.02, -0.03], 0.0, 2.0, 5.0, 0.0625, 8.0, 0.5, 1.0, 0.1875, [[0, 0, -1.5], [0, 0, -1.5], [0, 0, -1.5], [0, 0, -1.5], [0, 0, 0], [0, 0, 1.5], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.1875, True, 7]], [[[0.01, -0.0], 0.7, 0.5, 0.5, 0.0625, 8.0, 2.0, 1.0, 0.1875, [[0, 0, 0], [0, 0, 0], [1, 8, 0.5], [5, -3, 2]]], [5.797639, 4.613407, 3.028481, 0.0, False, -1]], [[[0.04, 0.1], 0.0, 2.0, 5.0, 0.015625, 8.0, 0.5, 1.0, 0.03125, [[0, 0, 0.5], [0, 0, 0.5], [0, 0, -0.5], [0, 0, 0.5], [0, 0, -0.5], [0, 0, -0.5], [0, 0, 0.5]]], [0.0, 0.0, 0.463768, 0.015625, False, 5]], [[[-0.05, -0.07], 0.0, 2.0, 0.5, 0.015625, 8.0, 0.5, 0.3, 0.03125, [[0, 0, -0.5], [0, 0, 0], [0, 0, 0], [0, 0, 0.5], [0, 0, -0.5], [0, 0, 0], [0, 0, 0.5], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.03125, True, 7]], [[[0.05, -0.02], 0.0, 2.0, 0.5, 0.015625, 8.0, 0.5, 1.0, 0.046875, [[0, 0, -1.5], [0, 0, 1.5], [0, 0, -1.5], [0, 0, 1.5], [0, 0, 0], [0, 0, 0], [0, 0, -1.5], [0, 0, 1.5]]], [0.0, 0.0, 0.011538, 0.015625, False, 5]], [[[0.18, 0.67], -0.31, 0.5, 5.0, 0.03125, 3.0, 2.0, 0.3, 0.0625, [[0, 0, 0], [0, 0, -1], [0, -3, 2], [0, 0, 0], [1, 1, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.0625, True, 5]], [[[1.3, 3.51], 1.97, 80.0, 0.5, 0.015625, 3.0, 2.0, 1.0, 0.046875, [[5, -3, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.046875, True, 3]], [[[0.01, 0.06], 0.0, 2.0, 0.5, 0.03125, 8.0, 0.5, 1.0, 0.09375, [[0, 0, 1.5], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, -1.5], [0, 0, 0], [0, 0, 0], [0, 0, -1.5], [0, 0, 1.5]]], [0.0, 0.0, 0.022722, 0.03125, False, 6]]], [[[[0.0, -0.03], 0.5, 80.0, 0.5, 0.0625, 3.0, 0.5, 1.0, 0.0625, [[0, 0, 0], [-2, 0, -1], [0, 0, 0], [5, 1, -1], [1, 0, 2], [0, 0, 0], [0, 0, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.0625, True, 6]], [[[-1.17, -2.61], 0.84, 80.0, 0.5, 0.03125, 8.0, 0.5, 0.3, 0.09375, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [-0.002228, -0.004969, 0.777342, 0.0, False, -1]], [[[-0.04, 0.03], -0.91, 20.0, 5.0, 0.0625, 3.0, 2.0, 0.3, 0.0625, [[5, 8, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [5, 8, 2], [0, 0, 0]]], [0.706665, 1.130664, 1.160998, 0.0, False, 6]], [[[0.03, 0.01], -0.32, 2.0, 5.0, 0.03125, 8.0, 2.0, 0.3, 0.09375, [[0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.09375, True, 2]], [[[-0.03, -0.0], 0.97, 2.0, 5.0, 0.015625, 8.0, 0.5, 1.0, 0.015625, [[0, 0, 0], [0, 0, 0], [0, 1, 0.5], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [0, 0, 0], [5, 8, 0]]], [3.941435, 6.961687, 0.295315, 0.0, False, 0]], [[[3.82, 5.03], 0.39, 2.0, 5.0, 0.03125, 3.0, 2.0, 1.0, 0.03125, [[0, 0, 0], [0, 0, 0], [0, -3, 0], [0, 0, 0], [-2, -3, 0.5], [0, 0, 0]]], [-1.566212, -2.349318, 0.373996, 0.0, False, 2]], [[[0.04, -0.08], 0.0, 2.0, 5.0, 0.015625, 8.0, 0.5, 1.0, 0.046875, [[0, 0, 0], [0, 0, 0], [0, 0, -0.5], [0, 0, -0.5], [0, 0, 0.5], [0, 0, -0.5], [0, 0, 0], [0, 0, 0.5], [0, 0, -0.5]]], [0.0, 0.0, -0.033606, 0.03125, False, 5]], [[[0.05, -0.02], 0.0, 0.5, 5.0, 0.03125, 8.0, 0.5, 0.3, 0.09375, [[0, 0, 0], [0, 0, -1.5], [0, 0, -1.5], [0, 0, 1.5], [0, 0, 0], [0, 0, -1.5], [0, 0, 0], [0, 0, 1.5], [0, 0, 1.5]]], [0.043488, -0.017395, 1.195333, 0.0, False, -1]]], [[[[0.07, -0.09], 0.0, 0.5, 0.5, 0.03125, 8.0, 0.5, 1.0, 0.09375, [[0, 0, -3.0], [0, 0, 3.0], [0, 0, 0], [0, 0, 3.0], [0, 0, 0]]], [0.064779, -0.083287, 2.951781, 0.0, False, -1]], [[[-0.03, -0.02], 0.88, 2.0, 5.0, 0.015625, 8.0, 2.0, 0.3, 0.03125, [[0, 0, 0], [0, 8, 0], [5, 1, -1], [0, 0, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [1, -3, 0.5], [5, 0, 0], [0, 0, 0]]], [7.375353, 2.405025, -0.324717, 0.0, False, -1]], [[[0.04, -0.02], -0.56, 20.0, 5.0, 0.03125, 3.0, 2.0, 0.3, 0.0625, [[0, 0, 0], [-2, 8, 0], [1, -3, 2], [0, 0, 0], [0, 1, 0.5]]], [0.065203, 0.594939, 1.45528, 0.0, False, -1]], [[[0.02, -0.01], -1.91, 2.0, 40.0, 0.0625, 8.0, 2.0, 0.3, 0.125, [[-2, 1, 0], [0, 0, 0], [-2, -3, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0]]], [-2.225265, -1.384548, -0.007703, 0.0, False, -1]], [[[-0.04, -0.02], 1.89, 20.0, 40.0, 0.0625, 3.0, 0.5, 1.0, 0.125, [[0, 0, -1], [0, 0, 0], [0, 0, 0], [0, 0, 0], [-2, -3, -1], [-2, 0, 0.5]]], [-1.283951, -0.592593, 0.061224, 0.0, False, 1]], [[[-5.17, -2.18], 1.53, 0.5, 40.0, 0.015625, 8.0, 2.0, 0.3, 0.015625, [[0, 0, 0], [1, 8, 2], [1, 8, 2], [5, -3, -1], [0, 0, 0], [0, -3, -1]]], [3.17179, 1.717873, -0.302003, 0.0, False, -1]], [[[-0.08, 0.04], 0.0, 0.5, 0.5, 0.03125, 8.0, 0.5, 1.0, 0.0625, [[0, 0, -3.0], [0, 0, 0], [0, 0, 3.0], [0, 0, 0]]], [0.0, 0.0, 0.0, 0.0625, True, 3]], [[[-0.36, 5.34], -0.71, 2.0, 40.0, 0.015625, 3.0, 2.0, 0.3, 0.03125, [[0, 0, 0], [1, 1, 0], [1, 8, 2], [0, 0, 0], [5, 1, 0], [1, 8, 0.5], [0, 0, 0], [-2, 0, -1], [0, 0, 0], [0, 0, 0]]], [-0.940955, 2.501391, -0.153314, 0.0, False, -1]]]]\nfor i, (args, expected) in enumerate(fixtures[N-1]):\n    check(\"case %d\" % i, solve(*args), expected)\nprint(json.dumps({\"observations\": observations, \"passed\": all(x[\"passed\"] for x in observations)}, ensure_ascii=False))\nraise SystemExit(0 if all(x[\"passed\"] for x in observations) else 1)\n"}},"limitations":"A deterministic bounded teaching model with stipulated toy conventions and rounded float output; not a production physics engine or a proof of numerical stability. This reproducer isolates one failure mechanism. Results cover the supplied fixtures. Variants within a family share a test contract and should remain grouped when constructing evaluation splits. Related mechanisms with a shared evaluation_group must also remain together; these controlled models are not independent production incidents.","method":"Deterministic executable model with adversarial boundary fixtures.","provenance":{"created_by":"Failure Map","dependencies":"Python standard library","family":"w2-physics_integrator_stability-damping-clamp-sleep-sleep-condition-conjunction","generated_at":"2026-09-29T14:50:57.076916+00:00","license":"CC0-1.0","python":"3.12.14","seed":1,"split":"open-access"},"relevance":"Game and robotics physics loops depend on integrator update order, step control and stabilization terms; a wrong decision point turns a stable simulation into drifting or exploding motion.","repair":"Both linear and angular speeds must be below threshold.","root_cause":"The rest test uses or.","sha256":"a2c962f160613a203c2807d9658dd1e9603ed2857ad3694eeb54a61ac3afc853","title":"Sleep accumulates when either linear or angular speed is low · case 01","variant":1,"variant_policy":"Five numbered records share a model and may reuse boundary fixtures.","verification":{"attempt":{"elapsed_ms":40.65,"exit_code":1,"observations":[{"actual":[0.0,0.444444,0.0,0.0625,false,2],"check":"case 0","expected":[0.0,0.0,0.0,0.125,true,4],"passed":false},{"actual":[0.057263,0.066807,-0.023162,0.015625,false,-1],"check":"case 1","expected":[0.057263,0.066807,-0.023162,0.015625,false,-1],"passed":true},{"actual":[0.0,0.0,0.0,0.0625,true,4],"check":"case 2","expected":[0.0,0.0,0.0,0.0625,true,4],"passed":true},{"actual":[0.515578,-1.189536,0.179265,0.03125,false,-1],"check":"case 3","expected":[0.515578,-1.189536,0.179265,0.03125,false,-1],"passed":true},{"actual":[0.0,0.0,0.175583,0.03125,false,1],"check":"case 4","expected":[0.0,0.0,0.175583,0.03125,false,3],"passed":false},{"actual":[4.429066,0.0,0.098765,0.0,false,0],"check":"case 5","expected":[4.429066,0.0,0.098765,0.0,false,0],"passed":true},{"actual":[-0.00674,-0.0111,0.45969,0.0,false,-1],"check":"case 6","expected":[-0.00674,-0.0111,0.45969,0.0,false,-1],"passed":true},{"actual":[0.0,0.0,-0.955005,0.125,false,2],"check":"case 7","expected":[0.0,0.0,-0.955005,0.125,false,2],"passed":true}],"passed":false,"stderr":"","stdout":"{\"observations\": [{\"check\": \"case 0\", \"actual\": [0.0, 0.444444, 0.0, 0.0625, false, 2], \"expected\": [0.0, 0.0, 0.0, 0.125, true, 4], \"passed\": false}, {\"check\": \"case 1\", \"actual\": [0.057263, 0.066807, -0.023162, 0.015625, false, -1], \"expected\": [0.057263, 0.066807, -0.023162, 0.015625, false, -1], \"passed\": true}, {\"check\": \"case 2\", \"actual\": [0.0, 0.0, 0.0, 0.0625, true, 4], \"expected\": [0.0, 0.0, 0.0, 0.0625, true, 4], \"passed\": true}, {\"check\": \"case 3\", \"actual\": [0.515578, -1.189536, 0.179265, 0.03125, false, -1], \"expected\": [0.515578, -1.189536, 0.179265, 0.03125, false, -1], \"passed\": true}, {\"check\": \"case 4\", \"actual\": [0.0, 0.0, 0.175583, 0.03125, false, 1], \"expected\": [0.0, 0.0, 0.175583, 0.03125, false, 3], \"passed\": false}, {\"check\": \"case 5\", \"actual\": [4.429066, 0.0, 0.098765, 0.0, false, 0], \"expected\": [4.429066, 0.0, 0.098765, 0.0, false, 0], \"passed\": true}, {\"check\": \"case 6\", \"actual\": [-0.00674, -0.0111, 0.45969, 0.0, false, -1], \"expected\": [-0.00674, -0.0111, 0.45969, 0.0, false, -1], \"passed\": true}, {\"check\": \"case 7\", \"actual\": [0.0, 0.0, -0.955005, 0.125, false, 2], \"expected\": [0.0, 0.0, -0.955005, 0.125, false, 2], \"passed\": true}], \"passed\": false}\n"},"broken":{"elapsed_ms":43.48,"exit_code":1,"observations":[{"actual":[0.0,0.444444,0.0,0.0625,false,2],"check":"case 0","expected":[0.0,0.0,0.0,0.125,true,4],"passed":false},{"actual":[0.0,0.0,-1.488372,0.015625,false,2],"check":"case 1","expected":[0.057263,0.066807,-0.023162,0.015625,false,-1],"passed":false},{"actual":[0.0,0.0,0.0,0.0625,true,4],"check":"case 2","expected":[0.0,0.0,0.0,0.0625,true,4],"passed":true},{"actual":[0.515578,-1.189536,0.179265,0.03125,false,-1],"check":"case 3","expected":[0.515578,-1.189536,0.179265,0.03125,false,-1],"passed":true},{"actual":[0.0,0.0,0.0,0.0625,true,7],"check":"case 4","expected":[0.0,0.0,0.175583,0.03125,false,3],"passed":false},{"actual":[0.0,0.0,0.0,0.03125,true,6],"check":"case 5","expected":[4.429066,0.0,0.098765,0.0,false,0],"passed":false},{"actual":[0.0,0.0,0.0,0.09375,true,2],"check":"case 6","expected":[-0.00674,-0.0111,0.45969,0.0,false,-1],"passed":false},{"actual":[0.0,0.0,-0.955005,0.125,false,2],"check":"case 7","expected":[0.0,0.0,-0.955005,0.125,false,2],"passed":true}],"passed":false,"stderr":"","stdout":"{\"observations\": [{\"check\": \"case 0\", \"actual\": [0.0, 0.444444, 0.0, 0.0625, false, 2], \"expected\": [0.0, 0.0, 0.0, 0.125, true, 4], \"passed\": false}, {\"check\": \"case 1\", \"actual\": [0.0, 0.0, -1.488372, 0.015625, false, 2], \"expected\": [0.057263, 0.066807, -0.023162, 0.015625, false, -1], \"passed\": false}, {\"check\": \"case 2\", \"actual\": [0.0, 0.0, 0.0, 0.0625, true, 4], \"expected\": [0.0, 0.0, 0.0, 0.0625, true, 4], \"passed\": true}, {\"check\": \"case 3\", \"actual\": [0.515578, -1.189536, 0.179265, 0.03125, false, -1], \"expected\": [0.515578, -1.189536, 0.179265, 0.03125, false, -1], \"passed\": true}, {\"check\": \"case 4\", \"actual\": [0.0, 0.0, 0.0, 0.0625, true, 7], \"expected\": [0.0, 0.0, 0.175583, 0.03125, false, 3], \"passed\": false}, {\"check\": \"case 5\", \"actual\": [0.0, 0.0, 0.0, 0.03125, true, 6], \"expected\": [4.429066, 0.0, 0.098765, 0.0, false, 0], \"passed\": false}, {\"check\": \"case 6\", \"actual\": [0.0, 0.0, 0.0, 0.09375, true, 2], \"expected\": [-0.00674, -0.0111, 0.45969, 0.0, false, -1], \"passed\": false}, {\"check\": \"case 7\", \"actual\": [0.0, 0.0, -0.955005, 0.125, false, 2], \"expected\": [0.0, 0.0, -0.955005, 0.125, false, 2], \"passed\": true}], \"passed\": false}\n"},"fixed":{"elapsed_ms":40.897,"exit_code":0,"observations":[{"actual":[0.0,0.0,0.0,0.125,true,4],"check":"case 0","expected":[0.0,0.0,0.0,0.125,true,4],"passed":true},{"actual":[0.057263,0.066807,-0.023162,0.015625,false,-1],"check":"case 1","expected":[0.057263,0.066807,-0.023162,0.015625,false,-1],"passed":true},{"actual":[0.0,0.0,0.0,0.0625,true,4],"check":"case 2","expected":[0.0,0.0,0.0,0.0625,true,4],"passed":true},{"actual":[0.515578,-1.189536,0.179265,0.03125,false,-1],"check":"case 3","expected":[0.515578,-1.189536,0.179265,0.03125,false,-1],"passed":true},{"actual":[0.0,0.0,0.175583,0.03125,false,3],"check":"case 4","expected":[0.0,0.0,0.175583,0.03125,false,3],"passed":true},{"actual":[4.429066,0.0,0.098765,0.0,false,0],"check":"case 5","expected":[4.429066,0.0,0.098765,0.0,false,0],"passed":true},{"actual":[-0.00674,-0.0111,0.45969,0.0,false,-1],"check":"case 6","expected":[-0.00674,-0.0111,0.45969,0.0,false,-1],"passed":true},{"actual":[0.0,0.0,-0.955005,0.125,false,2],"check":"case 7","expected":[0.0,0.0,-0.955005,0.125,false,2],"passed":true}],"passed":true,"stderr":"","stdout":"{\"observations\": [{\"check\": \"case 0\", \"actual\": [0.0, 0.0, 0.0, 0.125, true, 4], \"expected\": [0.0, 0.0, 0.0, 0.125, true, 4], \"passed\": true}, {\"check\": \"case 1\", \"actual\": [0.057263, 0.066807, -0.023162, 0.015625, false, -1], \"expected\": [0.057263, 0.066807, -0.023162, 0.015625, false, -1], \"passed\": true}, {\"check\": \"case 2\", \"actual\": [0.0, 0.0, 0.0, 0.0625, true, 4], \"expected\": [0.0, 0.0, 0.0, 0.0625, true, 4], \"passed\": true}, {\"check\": \"case 3\", \"actual\": [0.515578, -1.189536, 0.179265, 0.03125, false, -1], \"expected\": [0.515578, -1.189536, 0.179265, 0.03125, false, -1], \"passed\": true}, {\"check\": \"case 4\", \"actual\": [0.0, 0.0, 0.175583, 0.03125, false, 3], \"expected\": [0.0, 0.0, 0.175583, 0.03125, false, 3], \"passed\": true}, {\"check\": \"case 5\", \"actual\": [4.429066, 0.0, 0.098765, 0.0, false, 0], \"expected\": [4.429066, 0.0, 0.098765, 0.0, false, 0], \"passed\": true}, {\"check\": \"case 6\", \"actual\": [-0.00674, -0.0111, 0.45969, 0.0, false, -1], \"expected\": [-0.00674, -0.0111, 0.45969, 0.0, false, -1], \"passed\": true}, {\"check\": \"case 7\", \"actual\": [0.0, 0.0, -0.955005, 0.125, false, 2], \"expected\": [0.0, 0.0, -0.955005, 0.125, false, 2], \"passed\": true}], \"passed\": true}\n"}},"verified":true,"visibility":"public"}