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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