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