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|
MuJoCo version 2.10
model name example
nq 15
nv 13
nu 0
na 0
nbody 5
njnt 6
ngeom 4
nsite 2
ncam 0
nlight 1
nmesh 0
nmeshvert 0
nmeshface 0
nmeshtexvert 0
nmeshgraph 0
nskin 0
nskinvert 0
nskintexvert 0
nskinface 0
nskinbone 0
nskinbonevert 0
nhfield 0
nhfielddata 0
ntex 1
ntexdata 1179648
nmat 0
npair 0
nexclude 0
neq 0
ntendon 1
nwrap 2
nsensor 0
nnumeric 0
nnumericdata 0
ntext 0
ntextdata 0
ntuple 0
ntupledata 0
nkey 0
nuser_body 0
nuser_jnt 0
nuser_geom 0
nuser_site 0
nuser_cam 0
nuser_tendon 0
nuser_actuator 0
nuser_sensor 0
nnames 41
nM 49
nemax 0
njmax 500
nconmax 100
nstack 1316805
nuserdata 0
nmocap 0
nsensordata 0
nbuffer 1185209
timestep 0.002
apirate 1e+02
impratio 1
tolerance 1e-08
noslip_tolerance 1e-06
mpr_tolerance 1e-06
gravity 0 0 -9.8
wind 0 0 0
magnetic 0 -0.5 0
density 0
viscosity 0
o_margin 0
o_solref 0.02 1
o_solimp 0.9 0.95 0.001 0.5 2
integrator 0
collision 0
collision 0
cone 0
jacobian 2
solver 2
iterations 100
noslip_iterations 0
mpr_iterations 50
disableflags 0
enableflags 0
totalmass 11
meaninertia 0.86
meanmass 2.7
meansize 0.17
extent 1.1
center 0.18 0 0.52
qpos0 1 0 0 0 0 0 0 0 0.5 0 0.1 1 0 0 0
qpos_spring 1 0 0 0 0 0 0 0 0.5 0 0.1 1 0 0 0
BODY 0:
name world
parentid 0
rootid 0
weldid 0
mocapid -1
jntnum 0
jntadr -1
dofnum 0
dofadr -1
geomnum 0
geomadr -1
simple 1
sameframe 1
pos 0 0 0
quat 1 0 0 0
ipos 0 0 0
iquat 1 0 0 0
mass 0
subtreemass 11
inertia 0 0 0
invweight0 0 0
BODY 1:
name
parentid 0
rootid 1
weldid 1
mocapid -1
jntnum 1
jntadr 0
dofnum 3
dofadr 0
geomnum 1
geomadr 0
simple 0
sameframe 1
pos 0 0 0.8
quat 1 0 0 0
ipos 0 0 0
iquat 1 0 0 0
mass 5.2
subtreemass 7.6
inertia 0.096 0.096 0.0094
invweight0 0.051 7.3
BODY 2:
name
parentid 1
rootid 1
weldid 2
mocapid -1
jntnum 2
jntadr 1
dofnum 2
dofadr 3
geomnum 1
geomadr 1
simple 0
sameframe 1
pos 0.15 0 -0.2
quat 0.71 0 -0.71 0
ipos 0 0 0
iquat 1 0 0 0
mass 1.7
subtreemass 2.4
inertia 0.017 0.017 0.0014
invweight0 0.31 1.6e+02
BODY 3:
name
parentid 2
rootid 1
weldid 3
mocapid -1
jntnum 2
jntadr 3
dofnum 2
dofadr 5
geomnum 1
geomadr 2
simple 0
sameframe 1
pos 5.6e-17 0 -0.25
quat 0.71 0 0.71 0
ipos 0 0 0
iquat 1 0 0 0
mass 0.67
subtreemass 0.67
inertia 0.00091 0.0014 0.0022
invweight0 0.9 2.8e+02
BODY 4:
name
parentid 0
rootid 4
weldid 4
mocapid -1
jntnum 1
jntadr 5
dofnum 6
dofadr 7
geomnum 1
geomadr 3
simple 1
sameframe 1
pos 0.5 0 0.1
quat 1 0 0 0
ipos 0 0 0
iquat 1 0 0 0
mass 3.1
subtreemass 3.1
inertia 0.014 0.014 0.0075
invweight0 0.32 92
JOINT 0:
name
type 1
qposadr 0
dofadr 0
bodyid 1
group 0
limited 0
pos 0 0 0.2
axis 0 0 1
stiffness 0
range 0 0
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
margin 0
JOINT 1:
name
type 3
qposadr 4
dofadr 3
bodyid 2
group 0
limited 0
pos -3.3e-17 0 0.15
axis 0 1 0
stiffness 0
range 0 0
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
margin 0
JOINT 2:
name
type 3
qposadr 5
dofadr 4
bodyid 2
group 0
limited 0
pos -3.3e-17 0 0.15
axis 2.2e-16 0 -1
stiffness 0
range 0 0
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
margin 0
JOINT 3:
name
type 3
qposadr 6
dofadr 5
bodyid 3
group 0
limited 0
pos -0.1 0 0
axis 0 1 0
stiffness 0
range 0 0
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
margin 0
JOINT 4:
name
type 3
qposadr 7
dofadr 6
bodyid 3
group 0
limited 0
pos -0.1 0 0
axis 0 0 1
stiffness 0
range 0 0
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
margin 0
JOINT 5:
name
type 0
qposadr 8
dofadr 7
bodyid 4
group 0
limited 0
pos 0 0 0
axis 0 0 1
stiffness 0
range 0 0
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
margin 0
DOF 0:
bodyid 1
jntid 0
parentid -1
Madr 0
simplenum 0
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
frictionloss 0
armature 0
damping 0
invweight0 7.3
M0 0.69
DOF 1:
bodyid 1
jntid 0
parentid 0
Madr 1
simplenum 0
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
frictionloss 0
armature 0
damping 0
invweight0 7.3
M0 0.85
DOF 2:
bodyid 1
jntid 0
parentid 1
Madr 3
simplenum 0
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
frictionloss 0
armature 0
damping 0
invweight0 7.3
M0 0.17
DOF 3:
bodyid 2
jntid 1
parentid 2
Madr 6
simplenum 0
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
frictionloss 0
armature 0
damping 0
invweight0 17
M0 0.16
DOF 4:
bodyid 2
jntid 2
parentid 3
Madr 10
simplenum 0
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
frictionloss 0
armature 0
damping 0
invweight0 4.4e+02
M0 0.0023
DOF 5:
bodyid 3
jntid 3
parentid 4
Madr 15
simplenum 0
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
frictionloss 0
armature 0
damping 0
invweight0 3.1e+02
M0 0.0081
DOF 6:
bodyid 3
jntid 4
parentid 5
Madr 21
simplenum 0
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
frictionloss 0
armature 0
damping 0
invweight0 2.5e+02
M0 0.0089
DOF 7:
bodyid 4
jntid 5
parentid -1
Madr 28
simplenum 6
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
frictionloss 0
armature 0
damping 0
invweight0 0.32
M0 3.1
DOF 8:
bodyid 4
jntid 5
parentid 7
Madr 29
simplenum 5
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
frictionloss 0
armature 0
damping 0
invweight0 0.32
M0 3.1
DOF 9:
bodyid 4
jntid 5
parentid 8
Madr 31
simplenum 4
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
frictionloss 0
armature 0
damping 0
invweight0 0.32
M0 3.1
DOF 10:
bodyid 4
jntid 5
parentid 9
Madr 34
simplenum 3
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
frictionloss 0
armature 0
damping 0
invweight0 92
M0 0.014
DOF 11:
bodyid 4
jntid 5
parentid 10
Madr 38
simplenum 2
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
frictionloss 0
armature 0
damping 0
invweight0 92
M0 0.014
DOF 12:
bodyid 4
jntid 5
parentid 11
Madr 43
simplenum 1
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
frictionloss 0
armature 0
damping 0
invweight0 92
M0 0.0075
GEOM 0:
name
type 3
contype 1
conaffinity 1
condim 3
bodyid 1
dataid -1
matid -1
group 0
priority 0
sameframe 1
solmix 1
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
size 0.06 0.2 0
rbound 0.26
pos 0 0 0
quat 1 0 0 0
friction 1 0.005 0.0001
margin 0
gap 0
rgba 0.8 0.6 0.4 1
GEOM 1:
name
type 3
contype 1
conaffinity 1
condim 3
bodyid 2
dataid -1
matid -1
group 0
priority 0
sameframe 1
solmix 1
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
size 0.04 0.15 0
rbound 0.19
pos 0 0 0
quat 1 0 0 0
friction 1 0.005 0.0001
margin 0
gap 0
rgba 0.8 0.6 0.4 1
GEOM 2:
name
type 4
contype 1
conaffinity 1
condim 3
bodyid 3
dataid -1
matid -1
group 0
priority 0
sameframe 1
solmix 1
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
size 0.1 0.08 0.02
rbound 0.1
pos 0 0 0
quat 1 0 0 0
friction 1 0.005 0.0001
margin 0
gap 0
rgba 0.8 0.6 0.4 1
GEOM 3:
name
type 5
contype 1
conaffinity 1
condim 3
bodyid 4
dataid -1
matid -1
group 0
priority 0
sameframe 1
solmix 1
solref 0.02 1
solimp 0.9 0.95 0.001 0.5 2
size 0.07 0.1 0
rbound 0.12
pos 0 0 0
quat 1 0 0 0
friction 1 0.005 0.0001
margin 0
gap 0
rgba 0.8 0.6 0.4 1
SITE 0:
name end1
type 2
bodyid 3
matid -1
group 0
sameframe 0
size 0.01 0.005 0.005
pos 0.1 0 0
quat 1 0 0 0
rgba 0.5 0.5 0.5 1
SITE 1:
name end2
type 2
bodyid 4
matid -1
group 0
sameframe 0
size 0.01 0.005 0.005
pos 0 0 0.1
quat 1 0 0 0
rgba 0.5 0.5 0.5 1
LIGHT 0:
name
mode 0
bodyid 0
targetbodyid -1
directional 0
castshadow 1
active 1
pos 0 1 1
dir 0 -0.71 -0.71
poscom0 -0.19 1 0.45
pos0 0 1 1
dir0 0 -0.71 -0.71
attenuation 1 0 0
cutoff 45
exponent 10
ambient 0 0 0
diffuse 1 1 1
specular 0.3 0.3 0.3
TEXTURE 0:
name
type 2
height 1536
width 256
adr 0
TENDON 0:
name
num 2
limited 1
matid -1
group 0
width 0.005
solreflimit 0.02 1
solimplimit 0.9 0.95 0.001 0.5 2
solreffrctn 0.02 1
solimpfrctn 0.9 0.95 0.001 0.5 2
range 0 0.6
margin 0
stiffness 0
damping 0
frictionloss 0
lengthspring 0.4
length0 0.4
invweight0 5.9
rgba 0.5 0.5 0.5 1
path
3 0 0
3 1 0
|
