Alessio Quaglino
9756ed0d80
PiperOrigin-RevId: 510461549 Change-Id: I19245d691e722a8371e61153383f275f599353d6
679 lines
14 KiB
Plaintext
679 lines
14 KiB
Plaintext
MuJoCo version 2.10
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model name example
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nq 15
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nv 13
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nu 0
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na 0
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nbody 5
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njnt 6
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ngeom 4
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nsite 2
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ncam 0
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nlight 1
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nmesh 0
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nmeshvert 0
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nmeshface 0
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nmeshtexcoord 0
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nmeshgraph 0
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nskin 0
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nskinvert 0
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nskintexvert 0
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nskinface 0
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nskinbone 0
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nskinbonevert 0
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nhfield 0
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nhfielddata 0
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ntex 1
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ntexdata 1179648
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nmat 0
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npair 0
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nexclude 0
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neq 0
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ntendon 1
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nwrap 2
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nsensor 0
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nnumeric 0
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nnumericdata 0
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ntext 0
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ntextdata 0
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ntuple 0
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ntupledata 0
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nkey 0
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nuser_body 0
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nuser_jnt 0
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nuser_geom 0
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nuser_site 0
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nuser_cam 0
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nuser_tendon 0
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nuser_actuator 0
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nuser_sensor 0
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nnames 41
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nM 49
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nemax 0
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njmax 500
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nconmax 100
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nstack 1316805
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nuserdata 0
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nmocap 0
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nsensordata 0
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nbuffer 1185209
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timestep 0.002
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apirate 1e+02
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impratio 1
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tolerance 1e-08
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noslip_tolerance 1e-06
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mpr_tolerance 1e-06
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gravity 0 0 -9.8
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wind 0 0 0
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magnetic 0 -0.5 0
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density 0
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viscosity 0
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o_margin 0
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o_solref 0.02 1
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o_solimp 0.9 0.95 0.001 0.5 2
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integrator 0
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collision 0
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collision 0
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cone 0
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jacobian 2
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solver 2
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iterations 100
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noslip_iterations 0
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mpr_iterations 50
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disableflags 0
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enableflags 0
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totalmass 11
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meaninertia 0.86
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meanmass 2.7
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meansize 0.17
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extent 1.1
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center 0.18 0 0.52
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qpos0 1 0 0 0 0 0 0 0 0.5 0 0.1 1 0 0 0
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qpos_spring 1 0 0 0 0 0 0 0 0.5 0 0.1 1 0 0 0
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BODY 0:
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name world
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parentid 0
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rootid 0
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weldid 0
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mocapid -1
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jntnum 0
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jntadr -1
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dofnum 0
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dofadr -1
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geomnum 0
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geomadr -1
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simple 1
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sameframe 1
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pos 0 0 0
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quat 1 0 0 0
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ipos 0 0 0
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iquat 1 0 0 0
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mass 0
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subtreemass 11
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inertia 0 0 0
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invweight0 0 0
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BODY 1:
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name
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parentid 0
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rootid 1
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weldid 1
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mocapid -1
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jntnum 1
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jntadr 0
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dofnum 3
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dofadr 0
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geomnum 1
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geomadr 0
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simple 0
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sameframe 1
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pos 0 0 0.8
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quat 1 0 0 0
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ipos 0 0 0
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iquat 1 0 0 0
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mass 5.2
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subtreemass 7.6
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inertia 0.096 0.096 0.0094
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invweight0 0.051 7.3
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BODY 2:
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name
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parentid 1
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rootid 1
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weldid 2
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mocapid -1
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jntnum 2
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jntadr 1
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dofnum 2
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dofadr 3
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geomnum 1
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geomadr 1
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simple 0
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sameframe 1
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pos 0.15 0 -0.2
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quat 0.71 0 -0.71 0
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ipos 0 0 0
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iquat 1 0 0 0
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mass 1.7
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subtreemass 2.4
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inertia 0.017 0.017 0.0014
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invweight0 0.31 1.6e+02
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BODY 3:
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name
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parentid 2
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rootid 1
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weldid 3
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mocapid -1
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jntnum 2
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jntadr 3
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dofnum 2
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dofadr 5
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geomnum 1
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geomadr 2
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simple 0
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sameframe 1
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pos 5.6e-17 0 -0.25
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quat 0.71 0 0.71 0
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ipos 0 0 0
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iquat 1 0 0 0
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mass 0.67
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subtreemass 0.67
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inertia 0.00091 0.0014 0.0022
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invweight0 0.9 2.8e+02
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BODY 4:
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name
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parentid 0
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rootid 4
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weldid 4
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mocapid -1
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jntnum 1
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jntadr 5
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dofnum 6
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dofadr 7
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geomnum 1
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geomadr 3
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simple 1
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sameframe 1
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pos 0.5 0 0.1
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quat 1 0 0 0
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ipos 0 0 0
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iquat 1 0 0 0
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mass 3.1
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subtreemass 3.1
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inertia 0.014 0.014 0.0075
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invweight0 0.32 92
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JOINT 0:
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name
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type 1
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qposadr 0
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dofadr 0
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bodyid 1
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group 0
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limited 0
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pos 0 0 0.2
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axis 0 0 1
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stiffness 0
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range 0 0
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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margin 0
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JOINT 1:
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name
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type 3
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qposadr 4
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dofadr 3
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bodyid 2
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group 0
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limited 0
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pos -3.3e-17 0 0.15
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axis 0 1 0
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stiffness 0
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range 0 0
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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margin 0
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JOINT 2:
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name
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type 3
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qposadr 5
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dofadr 4
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bodyid 2
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group 0
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limited 0
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pos -3.3e-17 0 0.15
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axis 2.2e-16 0 -1
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stiffness 0
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range 0 0
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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margin 0
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JOINT 3:
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name
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type 3
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qposadr 6
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dofadr 5
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bodyid 3
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group 0
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limited 0
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pos -0.1 0 0
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axis 0 1 0
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stiffness 0
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range 0 0
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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margin 0
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JOINT 4:
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name
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type 3
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qposadr 7
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dofadr 6
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bodyid 3
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group 0
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limited 0
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pos -0.1 0 0
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axis 0 0 1
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stiffness 0
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range 0 0
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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margin 0
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JOINT 5:
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name
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type 0
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qposadr 8
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dofadr 7
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bodyid 4
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group 0
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limited 0
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pos 0 0 0
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axis 0 0 1
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stiffness 0
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range 0 0
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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margin 0
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DOF 0:
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bodyid 1
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jntid 0
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parentid -1
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Madr 0
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simplenum 0
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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frictionloss 0
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armature 0
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damping 0
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invweight0 7.3
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M0 0.69
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DOF 1:
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bodyid 1
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jntid 0
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parentid 0
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Madr 1
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simplenum 0
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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frictionloss 0
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armature 0
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damping 0
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invweight0 7.3
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M0 0.85
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DOF 2:
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bodyid 1
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jntid 0
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parentid 1
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Madr 3
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simplenum 0
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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frictionloss 0
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armature 0
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damping 0
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invweight0 7.3
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M0 0.17
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DOF 3:
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bodyid 2
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jntid 1
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parentid 2
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Madr 6
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simplenum 0
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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frictionloss 0
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armature 0
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damping 0
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invweight0 17
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M0 0.16
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DOF 4:
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bodyid 2
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jntid 2
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parentid 3
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Madr 10
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simplenum 0
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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frictionloss 0
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armature 0
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damping 0
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invweight0 4.4e+02
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M0 0.0023
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DOF 5:
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bodyid 3
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jntid 3
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parentid 4
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Madr 15
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simplenum 0
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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frictionloss 0
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armature 0
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damping 0
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invweight0 3.1e+02
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M0 0.0081
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DOF 6:
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bodyid 3
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jntid 4
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parentid 5
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Madr 21
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simplenum 0
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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frictionloss 0
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armature 0
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damping 0
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invweight0 2.5e+02
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M0 0.0089
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DOF 7:
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bodyid 4
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jntid 5
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parentid -1
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Madr 28
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simplenum 6
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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frictionloss 0
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armature 0
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damping 0
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invweight0 0.32
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M0 3.1
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DOF 8:
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bodyid 4
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jntid 5
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parentid 7
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Madr 29
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simplenum 5
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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frictionloss 0
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armature 0
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damping 0
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invweight0 0.32
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M0 3.1
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DOF 9:
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bodyid 4
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jntid 5
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parentid 8
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Madr 31
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simplenum 4
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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frictionloss 0
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armature 0
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damping 0
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invweight0 0.32
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M0 3.1
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DOF 10:
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bodyid 4
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jntid 5
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parentid 9
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Madr 34
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simplenum 3
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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frictionloss 0
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armature 0
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damping 0
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invweight0 92
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M0 0.014
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DOF 11:
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bodyid 4
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jntid 5
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parentid 10
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Madr 38
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simplenum 2
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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frictionloss 0
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armature 0
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damping 0
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invweight0 92
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M0 0.014
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DOF 12:
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bodyid 4
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jntid 5
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parentid 11
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Madr 43
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simplenum 1
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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frictionloss 0
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armature 0
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damping 0
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invweight0 92
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M0 0.0075
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GEOM 0:
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name
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type 3
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contype 1
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conaffinity 1
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condim 3
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bodyid 1
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dataid -1
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matid -1
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group 0
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priority 0
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sameframe 1
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solmix 1
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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size 0.06 0.2 0
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rbound 0.26
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pos 0 0 0
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quat 1 0 0 0
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friction 1 0.005 0.0001
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margin 0
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gap 0
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rgba 0.8 0.6 0.4 1
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GEOM 1:
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name
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type 3
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contype 1
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conaffinity 1
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condim 3
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bodyid 2
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dataid -1
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matid -1
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group 0
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priority 0
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sameframe 1
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solmix 1
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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size 0.04 0.15 0
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rbound 0.19
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pos 0 0 0
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quat 1 0 0 0
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friction 1 0.005 0.0001
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margin 0
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gap 0
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rgba 0.8 0.6 0.4 1
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GEOM 2:
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name
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type 4
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contype 1
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conaffinity 1
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condim 3
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bodyid 3
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dataid -1
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matid -1
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group 0
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priority 0
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sameframe 1
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solmix 1
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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size 0.1 0.08 0.02
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rbound 0.1
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pos 0 0 0
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quat 1 0 0 0
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friction 1 0.005 0.0001
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margin 0
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gap 0
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rgba 0.8 0.6 0.4 1
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GEOM 3:
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name
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type 5
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contype 1
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conaffinity 1
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condim 3
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bodyid 4
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dataid -1
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matid -1
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group 0
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priority 0
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sameframe 1
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solmix 1
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solref 0.02 1
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solimp 0.9 0.95 0.001 0.5 2
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size 0.07 0.1 0
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rbound 0.12
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pos 0 0 0
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quat 1 0 0 0
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friction 1 0.005 0.0001
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margin 0
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gap 0
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rgba 0.8 0.6 0.4 1
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SITE 0:
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name end1
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type 2
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bodyid 3
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matid -1
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group 0
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sameframe 0
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size 0.01 0.005 0.005
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pos 0.1 0 0
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quat 1 0 0 0
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rgba 0.5 0.5 0.5 1
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SITE 1:
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name end2
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type 2
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bodyid 4
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matid -1
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group 0
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sameframe 0
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size 0.01 0.005 0.005
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pos 0 0 0.1
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quat 1 0 0 0
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rgba 0.5 0.5 0.5 1
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LIGHT 0:
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name
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mode 0
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bodyid 0
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targetbodyid -1
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directional 0
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castshadow 1
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active 1
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pos 0 1 1
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dir 0 -0.71 -0.71
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poscom0 -0.19 1 0.45
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pos0 0 1 1
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dir0 0 -0.71 -0.71
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attenuation 1 0 0
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cutoff 45
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exponent 10
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ambient 0 0 0
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diffuse 1 1 1
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specular 0.3 0.3 0.3
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TEXTURE 0:
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name
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type 2
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height 1536
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width 256
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adr 0
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TENDON 0:
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name
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num 2
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limited 1
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matid -1
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group 0
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width 0.005
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solreflimit 0.02 1
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solimplimit 0.9 0.95 0.001 0.5 2
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solreffrctn 0.02 1
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solimpfrctn 0.9 0.95 0.001 0.5 2
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range 0 0.6
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margin 0
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stiffness 0
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damping 0
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frictionloss 0
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lengthspring 0.4
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length0 0.4
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invweight0 5.9
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rgba 0.5 0.5 0.5 1
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path
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3 0 0
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3 1 0
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