| MuJoCo version 2.3.3 | |
| model name example | |
| nq 15 | |
| nv 13 | |
| nbody 5 | |
| nbvh 4 | |
| njnt 6 | |
| ngeom 4 | |
| nsite 2 | |
| nlight 1 | |
| ntex 1 | |
| ntexdata 1179648 | |
| ntendon 1 | |
| nwrap 2 | |
| nnames 41 | |
| nnames_map 40 | |
| nM 49 | |
| nD 85 | |
| nB 40 | |
| njmax -1 | |
| nconmax -1 | |
| nstack 1835008 | |
| nbuffer 1191840 | |
| timestep 0.002 | |
| apirate 1e+02 | |
| impratio 1 | |
| tolerance 1e-08 | |
| noslip_tolerance 1e-06 | |
| mpr_tolerance 1e-06 | |
| density 0 | |
| viscosity 0 | |
| o_margin 0 | |
| integrator 0 | |
| collision 0 | |
| cone 0 | |
| jacobian 2 | |
| solver 2 | |
| iterations 100 | |
| noslip_iterations 0 | |
| mpr_iterations 50 | |
| disableflags 0 | |
| enableflags 0 | |
| gravity 0 0 -9.8 | |
| wind 0 0 0 | |
| magnetic 0 -0.5 0 | |
| o_solref 0.02 1 | |
| o_solimp 0.9 0.95 0.001 0.5 2 | |
| totalmass 11 | |
| meaninertia 0.86 | |
| meanmass 2.7 | |
| meansize 0.17 | |
| extent 1.1 | |
| center 0.12 0 0.52 | |
| qpos0 1 0 0 0 0 0 0 0 0.3 0 0.1 1 0 0 0 | |
| qpos_spring 1 0 0 0 0 0 0 0 0.3 0 0.1 1 0 0 0 | |
| BODY 0: | |
| name world | |
| body_parentid 0 | |
| body_rootid 0 | |
| body_weldid 0 | |
| body_mocapid -1 | |
| body_jntnum 0 | |
| body_jntadr -1 | |
| body_dofnum 0 | |
| body_dofadr -1 | |
| body_geomnum 0 | |
| body_geomadr -1 | |
| body_simple 1 | |
| body_sameframe 1 | |
| body_pos 0 0 0 | |
| body_quat 1 0 0 0 | |
| body_ipos 0 0 0 | |
| body_iquat 1 0 0 0 | |
| body_mass 0 | |
| body_subtreemass 11 | |
| body_inertia 0 0 0 | |
| body_invweight0 0 0 | |
| body_gravcomp 0 | |
| body_plugin -1 | |
| body_bvhadr -1 | |
| body_bvhnum 0 | |
| BODY 1: | |
| name | |
| body_parentid 0 | |
| body_rootid 1 | |
| body_weldid 1 | |
| body_mocapid -1 | |
| body_jntnum 1 | |
| body_jntadr 0 | |
| body_dofnum 3 | |
| body_dofadr 0 | |
| body_geomnum 1 | |
| body_geomadr 0 | |
| body_simple 0 | |
| body_sameframe 0 | |
| body_pos 0 0 1 | |
| body_quat 1 0 0 0 | |
| body_ipos 0 0 -0.2 | |
| body_iquat 1 0 0 0 | |
| body_mass 5.4 | |
| body_subtreemass 7.9 | |
| body_inertia 0.11 0.11 0.0094 | |
| body_invweight0 0.048 6.9 | |
| body_gravcomp 0 | |
| body_plugin -1 | |
| body_bvhadr 0 | |
| body_bvhnum 1 | |
| BODY 2: | |
| name | |
| body_parentid 1 | |
| body_rootid 1 | |
| body_weldid 2 | |
| body_mocapid -1 | |
| body_jntnum 2 | |
| body_jntadr 1 | |
| body_dofnum 2 | |
| body_dofadr 3 | |
| body_geomnum 1 | |
| body_geomadr 1 | |
| body_simple 0 | |
| body_sameframe 0 | |
| body_pos 0 0 -0.4 | |
| body_quat 1 0 0 0 | |
| body_ipos 0.15 0 0 | |
| body_iquat 0.71 0 -0.71 0 | |
| body_mass 1.8 | |
| body_subtreemass 2.4 | |
| body_inertia 0.019 0.019 0.0014 | |
| body_invweight0 0.29 1.6e+02 | |
| body_gravcomp 0 | |
| body_plugin -1 | |
| body_bvhadr 1 | |
| body_bvhnum 1 | |
| BODY 3: | |
| name | |
| body_parentid 2 | |
| body_rootid 1 | |
| body_weldid 3 | |
| body_mocapid -1 | |
| body_jntnum 2 | |
| body_jntadr 3 | |
| body_dofnum 2 | |
| body_dofadr 5 | |
| body_geomnum 1 | |
| body_geomadr 2 | |
| body_simple 0 | |
| body_sameframe 0 | |
| body_pos 0.3 0 0 | |
| body_quat 1 0 0 0 | |
| body_ipos 0.1 0 0 | |
| body_iquat 1 0 0 0 | |
| body_mass 0.67 | |
| body_subtreemass 0.67 | |
| body_inertia 0.00091 0.0014 0.0022 | |
| body_invweight0 0.9 2.7e+02 | |
| body_gravcomp 0 | |
| body_plugin -1 | |
| body_bvhadr 2 | |
| body_bvhnum 1 | |
| BODY 4: | |
| name | |
| body_parentid 0 | |
| body_rootid 4 | |
| body_weldid 4 | |
| body_mocapid -1 | |
| body_jntnum 1 | |
| body_jntadr 5 | |
| body_dofnum 6 | |
| body_dofadr 7 | |
| body_geomnum 1 | |
| body_geomadr 3 | |
| body_simple 1 | |
| body_sameframe 1 | |
| body_pos 0.3 0 0.1 | |
| body_quat 1 0 0 0 | |
| body_ipos 0 0 0 | |
| body_iquat 1 0 0 0 | |
| body_mass 3.1 | |
| body_subtreemass 3.1 | |
| body_inertia 0.014 0.014 0.0075 | |
| body_invweight0 0.32 92 | |
| body_gravcomp 0 | |
| body_plugin -1 | |
| body_bvhadr 3 | |
| body_bvhnum 1 | |
| JOINT 0: | |
| name | |
| jnt_type 1 | |
| jnt_qposadr 0 | |
| jnt_dofadr 0 | |
| jnt_bodyid 1 | |
| jnt_group 0 | |
| jnt_limited 0 | |
| jnt_solref 0.02 1 | |
| jnt_solimp 0.9 0.95 0.001 0.5 2 | |
| jnt_pos 0 0 0 | |
| jnt_axis 0 0 1 | |
| jnt_stiffness 0 | |
| jnt_range 0 0 | |
| jnt_margin 0 | |
| JOINT 1: | |
| name | |
| jnt_type 3 | |
| jnt_qposadr 4 | |
| jnt_dofadr 3 | |
| jnt_bodyid 2 | |
| jnt_group 0 | |
| jnt_limited 0 | |
| jnt_solref 0.02 1 | |
| jnt_solimp 0.9 0.95 0.001 0.5 2 | |
| jnt_pos 0 0 0 | |
| jnt_axis 0 1 0 | |
| jnt_stiffness 0 | |
| jnt_range 0 0 | |
| jnt_margin 0 | |
| JOINT 2: | |
| name | |
| jnt_type 3 | |
| jnt_qposadr 5 | |
| jnt_dofadr 4 | |
| jnt_bodyid 2 | |
| jnt_group 0 | |
| jnt_limited 0 | |
| jnt_solref 0.02 1 | |
| jnt_solimp 0.9 0.95 0.001 0.5 2 | |
| jnt_pos 0 0 0 | |
| jnt_axis 1 0 0 | |
| jnt_stiffness 0 | |
| jnt_range 0 0 | |
| jnt_margin 0 | |
| JOINT 3: | |
| name | |
| jnt_type 3 | |
| jnt_qposadr 6 | |
| jnt_dofadr 5 | |
| jnt_bodyid 3 | |
| jnt_group 0 | |
| jnt_limited 0 | |
| jnt_solref 0.02 1 | |
| jnt_solimp 0.9 0.95 0.001 0.5 2 | |
| jnt_pos 0 0 0 | |
| jnt_axis 0 1 0 | |
| jnt_stiffness 0 | |
| jnt_range 0 0 | |
| jnt_margin 0 | |
| JOINT 4: | |
| name | |
| jnt_type 3 | |
| jnt_qposadr 7 | |
| jnt_dofadr 6 | |
| jnt_bodyid 3 | |
| jnt_group 0 | |
| jnt_limited 0 | |
| jnt_solref 0.02 1 | |
| jnt_solimp 0.9 0.95 0.001 0.5 2 | |
| jnt_pos 0 0 0 | |
| jnt_axis 0 0 1 | |
| jnt_stiffness 0 | |
| jnt_range 0 0 | |
| jnt_margin 0 | |
| JOINT 5: | |
| name | |
| jnt_type 0 | |
| jnt_qposadr 8 | |
| jnt_dofadr 7 | |
| jnt_bodyid 4 | |
| jnt_group 0 | |
| jnt_limited 0 | |
| jnt_solref 0.02 1 | |
| jnt_solimp 0.9 0.95 0.001 0.5 2 | |
| jnt_pos 0 0 0 | |
| jnt_axis 0 0 1 | |
| jnt_stiffness 0 | |
| jnt_range 0 0 | |
| jnt_margin 0 | |
| DOF 0: | |
| dof_bodyid 1 | |
| dof_jntid 0 | |
| dof_parentid -1 | |
| dof_Madr 0 | |
| dof_simplenum 0 | |
| dof_solref 0.02 1 | |
| dof_solimp 0.9 0.95 0.001 0.5 2 | |
| dof_frictionloss 0 | |
| dof_armature 0 | |
| dof_damping 0 | |
| dof_invweight0 6.9 | |
| dof_M0 0.72 | |
| DOF 1: | |
| dof_bodyid 1 | |
| dof_jntid 0 | |
| dof_parentid 0 | |
| dof_Madr 1 | |
| dof_simplenum 0 | |
| dof_solref 0.02 1 | |
| dof_solimp 0.9 0.95 0.001 0.5 2 | |
| dof_frictionloss 0 | |
| dof_armature 0 | |
| dof_damping 0 | |
| dof_invweight0 6.9 | |
| dof_M0 0.89 | |
| DOF 2: | |
| dof_bodyid 1 | |
| dof_jntid 0 | |
| dof_parentid 1 | |
| dof_Madr 3 | |
| dof_simplenum 0 | |
| dof_solref 0.02 1 | |
| dof_solimp 0.9 0.95 0.001 0.5 2 | |
| dof_frictionloss 0 | |
| dof_armature 0 | |
| dof_damping 0 | |
| dof_invweight0 6.9 | |
| dof_M0 0.18 | |
| DOF 3: | |
| dof_bodyid 2 | |
| dof_jntid 1 | |
| dof_parentid 2 | |
| dof_Madr 6 | |
| dof_simplenum 0 | |
| dof_solref 0.02 1 | |
| dof_solimp 0.9 0.95 0.001 0.5 2 | |
| dof_frictionloss 0 | |
| dof_armature 0 | |
| dof_damping 0 | |
| dof_invweight0 16 | |
| dof_M0 0.17 | |
| DOF 4: | |
| dof_bodyid 2 | |
| dof_jntid 2 | |
| dof_parentid 3 | |
| dof_Madr 10 | |
| dof_simplenum 0 | |
| dof_solref 0.02 1 | |
| dof_solimp 0.9 0.95 0.001 0.5 2 | |
| dof_frictionloss 0 | |
| dof_armature 0 | |
| dof_damping 0 | |
| dof_invweight0 4.4e+02 | |
| dof_M0 0.0023 | |
| DOF 5: | |
| dof_bodyid 3 | |
| dof_jntid 3 | |
| dof_parentid 4 | |
| dof_Madr 15 | |
| dof_simplenum 0 | |
| dof_solref 0.02 1 | |
| dof_solimp 0.9 0.95 0.001 0.5 2 | |
| dof_frictionloss 0 | |
| dof_armature 0 | |
| dof_damping 0 | |
| dof_invweight0 3e+02 | |
| dof_M0 0.0081 | |
| DOF 6: | |
| dof_bodyid 3 | |
| dof_jntid 4 | |
| dof_parentid 5 | |
| dof_Madr 21 | |
| dof_simplenum 0 | |
| dof_solref 0.02 1 | |
| dof_solimp 0.9 0.95 0.001 0.5 2 | |
| dof_frictionloss 0 | |
| dof_armature 0 | |
| dof_damping 0 | |
| dof_invweight0 2.5e+02 | |
| dof_M0 0.0089 | |
| DOF 7: | |
| dof_bodyid 4 | |
| dof_jntid 5 | |
| dof_parentid -1 | |
| dof_Madr 28 | |
| dof_simplenum 6 | |
| dof_solref 0.02 1 | |
| dof_solimp 0.9 0.95 0.001 0.5 2 | |
| dof_frictionloss 0 | |
| dof_armature 0 | |
| dof_damping 0 | |
| dof_invweight0 0.32 | |
| dof_M0 3.1 | |
| DOF 8: | |
| dof_bodyid 4 | |
| dof_jntid 5 | |
| dof_parentid 7 | |
| dof_Madr 29 | |
| dof_simplenum 5 | |
| dof_solref 0.02 1 | |
| dof_solimp 0.9 0.95 0.001 0.5 2 | |
| dof_frictionloss 0 | |
| dof_armature 0 | |
| dof_damping 0 | |
| dof_invweight0 0.32 | |
| dof_M0 3.1 | |
| DOF 9: | |
| dof_bodyid 4 | |
| dof_jntid 5 | |
| dof_parentid 8 | |
| dof_Madr 31 | |
| dof_simplenum 4 | |
| dof_solref 0.02 1 | |
| dof_solimp 0.9 0.95 0.001 0.5 2 | |
| dof_frictionloss 0 | |
| dof_armature 0 | |
| dof_damping 0 | |
| dof_invweight0 0.32 | |
| dof_M0 3.1 | |
| DOF 10: | |
| dof_bodyid 4 | |
| dof_jntid 5 | |
| dof_parentid 9 | |
| dof_Madr 34 | |
| dof_simplenum 3 | |
| dof_solref 0.02 1 | |
| dof_solimp 0.9 0.95 0.001 0.5 2 | |
| dof_frictionloss 0 | |
| dof_armature 0 | |
| dof_damping 0 | |
| dof_invweight0 92 | |
| dof_M0 0.014 | |
| DOF 11: | |
| dof_bodyid 4 | |
| dof_jntid 5 | |
| dof_parentid 10 | |
| dof_Madr 38 | |
| dof_simplenum 2 | |
| dof_solref 0.02 1 | |
| dof_solimp 0.9 0.95 0.001 0.5 2 | |
| dof_frictionloss 0 | |
| dof_armature 0 | |
| dof_damping 0 | |
| dof_invweight0 92 | |
| dof_M0 0.014 | |
| DOF 12: | |
| dof_bodyid 4 | |
| dof_jntid 5 | |
| dof_parentid 11 | |
| dof_Madr 43 | |
| dof_simplenum 1 | |
| dof_solref 0.02 1 | |
| dof_solimp 0.9 0.95 0.001 0.5 2 | |
| dof_frictionloss 0 | |
| dof_armature 0 | |
| dof_damping 0 | |
| dof_invweight0 92 | |
| dof_M0 0.0075 | |
| GEOM 0: | |
| name | |
| geom_type 3 | |
| geom_contype 1 | |
| geom_conaffinity 1 | |
| geom_condim 3 | |
| geom_bodyid 1 | |
| geom_dataid -1 | |
| geom_matid -1 | |
| geom_group 0 | |
| geom_priority 0 | |
| geom_sameframe 2 | |
| geom_solmix 1 | |
| geom_solref 0.02 1 | |
| geom_solimp 0.9 0.95 0.001 0.5 2 | |
| geom_size 0.06 0.2 0 | |
| geom_aabb 0 0 0 0.06 0.06 0.26 | |
| geom_rbound 0.26 | |
| geom_pos 0 0 -0.2 | |
| geom_quat 1 0 0 0 | |
| geom_friction 1 0.005 0.0001 | |
| geom_margin 0 | |
| geom_gap 0 | |
| geom_fluid 0 0 0 0 0 0 0 0 0 0 0 0 | |
| geom_rgba 0.8 0.6 0.4 1 | |
| GEOM 1: | |
| name | |
| geom_type 3 | |
| geom_contype 1 | |
| geom_conaffinity 1 | |
| geom_condim 3 | |
| geom_bodyid 2 | |
| geom_dataid -1 | |
| geom_matid -1 | |
| geom_group 0 | |
| geom_priority 0 | |
| geom_sameframe 2 | |
| geom_solmix 1 | |
| geom_solref 0.02 1 | |
| geom_solimp 0.9 0.95 0.001 0.5 2 | |
| geom_size 0.04 0.15 0 | |
| geom_aabb 0 0 0 0.04 0.04 0.19 | |
| geom_rbound 0.19 | |
| geom_pos 0.15 0 0 | |
| geom_quat 0.71 0 -0.71 0 | |
| geom_friction 1 0.005 0.0001 | |
| geom_margin 0 | |
| geom_gap 0 | |
| geom_fluid 0 0 0 0 0 0 0 0 0 0 0 0 | |
| geom_rgba 0.8 0.6 0.4 1 | |
| GEOM 2: | |
| name | |
| geom_type 4 | |
| geom_contype 1 | |
| geom_conaffinity 1 | |
| geom_condim 3 | |
| geom_bodyid 3 | |
| geom_dataid -1 | |
| geom_matid -1 | |
| geom_group 0 | |
| geom_priority 0 | |
| geom_sameframe 2 | |
| geom_solmix 1 | |
| geom_solref 0.02 1 | |
| geom_solimp 0.9 0.95 0.001 0.5 2 | |
| geom_size 0.1 0.08 0.02 | |
| geom_aabb 0 0 0 0.1 0.08 0.02 | |
| geom_rbound 0.1 | |
| geom_pos 0.1 0 0 | |
| geom_quat 1 0 0 0 | |
| geom_friction 1 0.005 0.0001 | |
| geom_margin 0 | |
| geom_gap 0 | |
| geom_fluid 0 0 0 0 0 0 0 0 0 0 0 0 | |
| geom_rgba 0.8 0.6 0.4 1 | |
| GEOM 3: | |
| name | |
| geom_type 5 | |
| geom_contype 1 | |
| geom_conaffinity 1 | |
| geom_condim 3 | |
| geom_bodyid 4 | |
| geom_dataid -1 | |
| geom_matid -1 | |
| geom_group 0 | |
| geom_priority 0 | |
| geom_sameframe 1 | |
| geom_solmix 1 | |
| geom_solref 0.02 1 | |
| geom_solimp 0.9 0.95 0.001 0.5 2 | |
| geom_size 0.07 0.1 0 | |
| geom_aabb 0 0 0 0.07 0.07 0.1 | |
| geom_rbound 0.12 | |
| geom_pos 0 0 0 | |
| geom_quat 1 0 0 0 | |
| geom_friction 1 0.005 0.0001 | |
| geom_margin 0 | |
| geom_gap 0 | |
| geom_fluid 0 0 0 0 0 0 0 0 0 0 0 0 | |
| geom_rgba 0.8 0.6 0.4 1 | |
| SITE 0: | |
| name end1 | |
| site_type 2 | |
| site_bodyid 3 | |
| site_matid -1 | |
| site_group 0 | |
| site_sameframe 0 | |
| site_size 0.01 0.005 0.005 | |
| site_pos 0.2 0 0 | |
| site_quat 1 0 0 0 | |
| site_rgba 0.5 0.5 0.5 1 | |
| SITE 1: | |
| name end2 | |
| site_type 2 | |
| site_bodyid 4 | |
| site_matid -1 | |
| site_group 0 | |
| site_sameframe 0 | |
| site_size 0.01 0.005 0.005 | |
| site_pos 0 0 0.1 | |
| site_quat 1 0 0 0 | |
| site_rgba 0.5 0.5 0.5 1 | |
| LIGHT 0: | |
| name | |
| light_mode 0 | |
| light_bodyid 0 | |
| light_targetbodyid -1 | |
| light_directional 0 | |
| light_castshadow 1 | |
| light_active 1 | |
| light_pos 0 1 1 | |
| light_dir 0 -0.71 -0.71 | |
| light_poscom0 -0.13 1 0.44 | |
| light_pos0 0 1 1 | |
| light_dir0 0 -0.71 -0.71 | |
| light_attenuation 1 0 0 | |
| light_cutoff 45 | |
| light_exponent 10 | |
| light_ambient 0 0 0 | |
| light_diffuse 1 1 1 | |
| light_specular 0.3 0.3 0.3 | |
| TEXTURE 0: | |
| name | |
| tex_type 2 | |
| tex_height 1536 | |
| tex_width 256 | |
| tex_adr 0 | |
| TENDON 0: | |
| name | |
| tendon_adr 0 | |
| tendon_num 2 | |
| tendon_matid -1 | |
| tendon_group 0 | |
| tendon_limited 1 | |
| tendon_width 0.005 | |
| tendon_solref_lim 0.02 1 | |
| tendon_solimp_lim 0.9 0.95 0.001 0.5 2 | |
| tendon_solref_fri 0.02 1 | |
| tendon_solimp_fri 0.9 0.95 0.001 0.5 2 | |
| tendon_range 0 0.6 | |
| tendon_margin 0 | |
| tendon_stiffness 0 | |
| tendon_damping 0 | |
| tendon_frictionloss 0 | |
| tendon_lengthspring 0.45 0.45 | |
| tendon_length0 0.45 | |
| tendon_invweight0 4.9 | |
| tendon_rgba 0.5 0.5 0.5 1 | |
| path | |
| 3 0 0 | |
| 3 1 0 | |