Yuval Tassa
7cc42ecf2a
Keeping this rarely-used setting complicates the compiler logic and is blocking future improvements. In order to convert older models which used this option, load and save them in MuJoCo 2.3.3 or older. PiperOrigin-RevId: 521739137 Change-Id: If0cb40d5db4879a4db9318cc2be258a7923e6e85
663 lines
19 KiB
Plaintext
663 lines
19 KiB
Plaintext
MuJoCo version 2.3.3
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model name example
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nq 15
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nv 13
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nbody 5
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nbvh 4
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njnt 6
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ngeom 4
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nsite 2
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nlight 1
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ntex 1
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ntexdata 1179648
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ntendon 1
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nwrap 2
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nnames 41
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nnames_map 40
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nM 49
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nD 85
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nB 40
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njmax -1
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nconmax -1
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nstack 1835008
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nbuffer 1191840
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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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density 0
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viscosity 0
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o_margin 0
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integrator 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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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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o_solref 0.02 1
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o_solimp 0.9 0.95 0.001 0.5 2
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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 0.12 0 0.52
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qpos0 1 0 0 0 0 0 0 0 0.3 0 0.1 1 0 0 0
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qpos_spring 1 0 0 0 0 0 0 0 0.3 0 0.1 1 0 0 0
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BODY 0:
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name world
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body_parentid 0
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body_rootid 0
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body_weldid 0
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body_mocapid -1
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body_jntnum 0
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body_jntadr -1
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body_dofnum 0
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body_dofadr -1
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body_geomnum 0
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body_geomadr -1
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body_simple 1
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body_sameframe 1
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body_pos 0 0 0
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body_quat 1 0 0 0
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body_ipos 0 0 0
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body_iquat 1 0 0 0
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body_mass 0
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body_subtreemass 11
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body_inertia 0 0 0
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body_invweight0 0 0
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body_gravcomp 0
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body_plugin -1
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body_bvhadr -1
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body_bvhnum 0
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BODY 1:
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name
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body_parentid 0
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body_rootid 1
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body_weldid 1
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body_mocapid -1
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body_jntnum 1
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body_jntadr 0
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body_dofnum 3
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body_dofadr 0
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body_geomnum 1
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body_geomadr 0
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body_simple 0
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body_sameframe 0
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body_pos 0 0 1
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body_quat 1 0 0 0
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body_ipos 0 0 -0.2
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body_iquat 1 0 0 0
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body_mass 5.4
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body_subtreemass 7.9
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body_inertia 0.11 0.11 0.0094
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body_invweight0 0.048 6.9
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body_gravcomp 0
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body_plugin -1
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body_bvhadr 0
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body_bvhnum 1
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BODY 2:
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name
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body_parentid 1
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body_rootid 1
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body_weldid 2
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body_mocapid -1
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body_jntnum 2
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body_jntadr 1
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body_dofnum 2
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body_dofadr 3
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body_geomnum 1
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body_geomadr 1
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body_simple 0
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body_sameframe 0
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body_pos 0 0 -0.4
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body_quat 1 0 0 0
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body_ipos 0.15 0 0
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body_iquat 0.71 0 -0.71 0
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body_mass 1.8
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body_subtreemass 2.4
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body_inertia 0.019 0.019 0.0014
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body_invweight0 0.29 1.6e+02
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body_gravcomp 0
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body_plugin -1
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body_bvhadr 1
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body_bvhnum 1
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BODY 3:
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name
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body_parentid 2
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body_rootid 1
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body_weldid 3
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body_mocapid -1
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body_jntnum 2
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body_jntadr 3
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body_dofnum 2
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body_dofadr 5
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body_geomnum 1
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body_geomadr 2
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body_simple 0
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body_sameframe 0
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body_pos 0.3 0 0
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body_quat 1 0 0 0
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body_ipos 0.1 0 0
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body_iquat 1 0 0 0
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body_mass 0.67
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body_subtreemass 0.67
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body_inertia 0.00091 0.0014 0.0022
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body_invweight0 0.9 2.7e+02
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body_gravcomp 0
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body_plugin -1
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body_bvhadr 2
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body_bvhnum 1
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BODY 4:
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name
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body_parentid 0
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body_rootid 4
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body_weldid 4
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body_mocapid -1
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body_jntnum 1
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body_jntadr 5
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body_dofnum 6
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body_dofadr 7
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body_geomnum 1
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body_geomadr 3
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body_simple 1
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body_sameframe 1
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body_pos 0.3 0 0.1
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body_quat 1 0 0 0
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body_ipos 0 0 0
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body_iquat 1 0 0 0
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body_mass 3.1
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body_subtreemass 3.1
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body_inertia 0.014 0.014 0.0075
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body_invweight0 0.32 92
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body_gravcomp 0
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body_plugin -1
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body_bvhadr 3
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body_bvhnum 1
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JOINT 0:
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name
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jnt_type 1
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jnt_qposadr 0
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jnt_dofadr 0
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jnt_bodyid 1
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jnt_group 0
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jnt_limited 0
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jnt_solref 0.02 1
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jnt_solimp 0.9 0.95 0.001 0.5 2
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jnt_pos 0 0 0
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jnt_axis 0 0 1
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jnt_stiffness 0
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jnt_range 0 0
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jnt_margin 0
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JOINT 1:
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name
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jnt_type 3
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jnt_qposadr 4
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jnt_dofadr 3
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jnt_bodyid 2
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jnt_group 0
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jnt_limited 0
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jnt_solref 0.02 1
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jnt_solimp 0.9 0.95 0.001 0.5 2
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jnt_pos 0 0 0
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jnt_axis 0 1 0
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jnt_stiffness 0
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jnt_range 0 0
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jnt_margin 0
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JOINT 2:
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name
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jnt_type 3
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jnt_qposadr 5
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jnt_dofadr 4
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jnt_bodyid 2
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jnt_group 0
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jnt_limited 0
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jnt_solref 0.02 1
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jnt_solimp 0.9 0.95 0.001 0.5 2
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jnt_pos 0 0 0
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jnt_axis 1 0 0
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jnt_stiffness 0
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jnt_range 0 0
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jnt_margin 0
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JOINT 3:
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name
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jnt_type 3
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jnt_qposadr 6
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jnt_dofadr 5
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jnt_bodyid 3
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jnt_group 0
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jnt_limited 0
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jnt_solref 0.02 1
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jnt_solimp 0.9 0.95 0.001 0.5 2
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jnt_pos 0 0 0
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jnt_axis 0 1 0
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jnt_stiffness 0
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jnt_range 0 0
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jnt_margin 0
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JOINT 4:
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name
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jnt_type 3
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jnt_qposadr 7
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jnt_dofadr 6
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jnt_bodyid 3
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jnt_group 0
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jnt_limited 0
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jnt_solref 0.02 1
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jnt_solimp 0.9 0.95 0.001 0.5 2
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jnt_pos 0 0 0
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jnt_axis 0 0 1
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jnt_stiffness 0
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jnt_range 0 0
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jnt_margin 0
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JOINT 5:
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name
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jnt_type 0
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jnt_qposadr 8
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jnt_dofadr 7
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jnt_bodyid 4
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jnt_group 0
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jnt_limited 0
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jnt_solref 0.02 1
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jnt_solimp 0.9 0.95 0.001 0.5 2
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jnt_pos 0 0 0
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jnt_axis 0 0 1
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jnt_stiffness 0
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jnt_range 0 0
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jnt_margin 0
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DOF 0:
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dof_bodyid 1
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dof_jntid 0
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dof_parentid -1
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dof_Madr 0
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dof_simplenum 0
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dof_solref 0.02 1
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dof_solimp 0.9 0.95 0.001 0.5 2
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dof_frictionloss 0
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dof_armature 0
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dof_damping 0
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dof_invweight0 6.9
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dof_M0 0.72
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DOF 1:
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dof_bodyid 1
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dof_jntid 0
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dof_parentid 0
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dof_Madr 1
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dof_simplenum 0
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dof_solref 0.02 1
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dof_solimp 0.9 0.95 0.001 0.5 2
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dof_frictionloss 0
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dof_armature 0
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dof_damping 0
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dof_invweight0 6.9
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dof_M0 0.89
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DOF 2:
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dof_bodyid 1
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dof_jntid 0
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dof_parentid 1
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dof_Madr 3
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dof_simplenum 0
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dof_solref 0.02 1
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dof_solimp 0.9 0.95 0.001 0.5 2
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dof_frictionloss 0
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dof_armature 0
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dof_damping 0
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dof_invweight0 6.9
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dof_M0 0.18
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DOF 3:
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dof_bodyid 2
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dof_jntid 1
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dof_parentid 2
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dof_Madr 6
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dof_simplenum 0
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dof_solref 0.02 1
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dof_solimp 0.9 0.95 0.001 0.5 2
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dof_frictionloss 0
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dof_armature 0
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dof_damping 0
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dof_invweight0 16
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dof_M0 0.17
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DOF 4:
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dof_bodyid 2
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dof_jntid 2
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dof_parentid 3
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dof_Madr 10
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dof_simplenum 0
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dof_solref 0.02 1
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dof_solimp 0.9 0.95 0.001 0.5 2
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dof_frictionloss 0
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dof_armature 0
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dof_damping 0
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dof_invweight0 4.4e+02
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dof_M0 0.0023
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DOF 5:
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dof_bodyid 3
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dof_jntid 3
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dof_parentid 4
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dof_Madr 15
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dof_simplenum 0
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dof_solref 0.02 1
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dof_solimp 0.9 0.95 0.001 0.5 2
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dof_frictionloss 0
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dof_armature 0
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dof_damping 0
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dof_invweight0 3e+02
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dof_M0 0.0081
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DOF 6:
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dof_bodyid 3
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dof_jntid 4
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dof_parentid 5
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dof_Madr 21
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dof_simplenum 0
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dof_solref 0.02 1
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dof_solimp 0.9 0.95 0.001 0.5 2
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dof_frictionloss 0
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dof_armature 0
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dof_damping 0
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dof_invweight0 2.5e+02
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dof_M0 0.0089
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DOF 7:
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dof_bodyid 4
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dof_jntid 5
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dof_parentid -1
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dof_Madr 28
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dof_simplenum 6
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dof_solref 0.02 1
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dof_solimp 0.9 0.95 0.001 0.5 2
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dof_frictionloss 0
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dof_armature 0
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dof_damping 0
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dof_invweight0 0.32
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dof_M0 3.1
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DOF 8:
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dof_bodyid 4
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dof_jntid 5
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dof_parentid 7
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dof_Madr 29
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dof_simplenum 5
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dof_solref 0.02 1
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dof_solimp 0.9 0.95 0.001 0.5 2
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dof_frictionloss 0
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dof_armature 0
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dof_damping 0
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dof_invweight0 0.32
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dof_M0 3.1
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DOF 9:
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dof_bodyid 4
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dof_jntid 5
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dof_parentid 8
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dof_Madr 31
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dof_simplenum 4
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dof_solref 0.02 1
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dof_solimp 0.9 0.95 0.001 0.5 2
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dof_frictionloss 0
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dof_armature 0
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dof_damping 0
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dof_invweight0 0.32
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dof_M0 3.1
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DOF 10:
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dof_bodyid 4
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dof_jntid 5
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dof_parentid 9
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dof_Madr 34
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dof_simplenum 3
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dof_solref 0.02 1
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dof_solimp 0.9 0.95 0.001 0.5 2
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dof_frictionloss 0
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dof_armature 0
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dof_damping 0
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dof_invweight0 92
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dof_M0 0.014
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DOF 11:
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dof_bodyid 4
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dof_jntid 5
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dof_parentid 10
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dof_Madr 38
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dof_simplenum 2
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dof_solref 0.02 1
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dof_solimp 0.9 0.95 0.001 0.5 2
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dof_frictionloss 0
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dof_armature 0
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dof_damping 0
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dof_invweight0 92
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dof_M0 0.014
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DOF 12:
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dof_bodyid 4
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dof_jntid 5
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dof_parentid 11
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dof_Madr 43
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dof_simplenum 1
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dof_solref 0.02 1
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dof_solimp 0.9 0.95 0.001 0.5 2
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dof_frictionloss 0
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dof_armature 0
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dof_damping 0
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dof_invweight0 92
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dof_M0 0.0075
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GEOM 0:
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name
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geom_type 3
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geom_contype 1
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geom_conaffinity 1
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geom_condim 3
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geom_bodyid 1
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geom_dataid -1
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geom_matid -1
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geom_group 0
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geom_priority 0
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geom_sameframe 2
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geom_solmix 1
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geom_solref 0.02 1
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geom_solimp 0.9 0.95 0.001 0.5 2
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geom_size 0.06 0.2 0
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geom_aabb 0 0 0 0.06 0.06 0.26
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geom_rbound 0.26
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geom_pos 0 0 -0.2
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geom_quat 1 0 0 0
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geom_friction 1 0.005 0.0001
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geom_margin 0
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geom_gap 0
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geom_fluid 0 0 0 0 0 0 0 0 0 0 0 0
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geom_rgba 0.8 0.6 0.4 1
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GEOM 1:
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name
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geom_type 3
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geom_contype 1
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geom_conaffinity 1
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geom_condim 3
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geom_bodyid 2
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geom_dataid -1
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geom_matid -1
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geom_group 0
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geom_priority 0
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geom_sameframe 2
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geom_solmix 1
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geom_solref 0.02 1
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geom_solimp 0.9 0.95 0.001 0.5 2
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geom_size 0.04 0.15 0
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geom_aabb 0 0 0 0.04 0.04 0.19
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geom_rbound 0.19
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geom_pos 0.15 0 0
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geom_quat 0.71 0 -0.71 0
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geom_friction 1 0.005 0.0001
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geom_margin 0
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geom_gap 0
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geom_fluid 0 0 0 0 0 0 0 0 0 0 0 0
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geom_rgba 0.8 0.6 0.4 1
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GEOM 2:
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name
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geom_type 4
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geom_contype 1
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geom_conaffinity 1
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geom_condim 3
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geom_bodyid 3
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geom_dataid -1
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geom_matid -1
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geom_group 0
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geom_priority 0
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geom_sameframe 2
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geom_solmix 1
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geom_solref 0.02 1
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geom_solimp 0.9 0.95 0.001 0.5 2
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geom_size 0.1 0.08 0.02
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geom_aabb 0 0 0 0.1 0.08 0.02
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geom_rbound 0.1
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geom_pos 0.1 0 0
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geom_quat 1 0 0 0
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geom_friction 1 0.005 0.0001
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geom_margin 0
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geom_gap 0
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geom_fluid 0 0 0 0 0 0 0 0 0 0 0 0
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geom_rgba 0.8 0.6 0.4 1
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GEOM 3:
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name
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geom_type 5
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geom_contype 1
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|
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
|