mj print model
251 lines
MuJoCo version 3.1.6
MuJoCo version 3.2.0
model name base
model name base
nbody 2
nbody 2
nbvh 1
nbvh 1
nbvhstatic 1
nbvhstatic 1
ngeom 2
ngeom 2
nsite 1
nsite 1
nlight 1
nlight 1
ntex 2
ntex 2
ntexdata 13762560
ntexdata 13762560
nmat 1
nmat 1
nnames 121
nnames 121
npaths 42
npaths 42
nnames_map 18
nnames_map 18
njmax 5000
njmax 5000
nconmax 5000
nconmax 5000
narena 1304428544
narena 1304428544
nbuffer 13769770
nbuffer 13769770
timestep 0.002
timestep 0.002
apirate 1e+02
apirate 1e+02
impratio 20
impratio 20
tolerance 1e-08
tolerance 1e-08
ls_tolerance 0.01
ls_tolerance 0.01
noslip_tolerance 1e-06
noslip_tolerance 1e-06
mpr_tolerance 1e-06
mpr_tolerance 1e-06
density 1.2
density 1.2
viscosity 2e-05
viscosity 2e-05
o_margin 0
o_margin 0
integrator 0
integrator 0
cone 1
cone 1
jacobian 2
jacobian 2
solver 2
solver 2
iterations 100
iterations 100
ls_iterations 50
ls_iterations 50
noslip_iterations 0
noslip_iterations 0
mpr_iterations 50
mpr_iterations 50
disableflags 0
disableflags 0
enableflags 0
enableflags 0
disableactuator 0
disableactuator 0
sdf_initpoints 40
sdf_initpoints 40
sdf_iterations 10
sdf_iterations 10
gravity 0 0 -9.8
gravity 0 0 -9.8
wind 0 0 0
wind 0 0 0
magnetic 0 -0.5 0
magnetic 0 -0.5 0
o_solref 0.02 1
o_solref 0.02 1
o_solimp 0.9 0.95 0.001 0.5 2
o_solimp 0.9 0.95 0.001 0.5 2
o_friction 1 1 0.005 0.0001 0.0001
o_friction 1 1 0.005 0.0001 0.0001
totalmass 6.9e+02
totalmass 6.9e+02
meaninertia 1
meaninertia 1
meanmass 6.9e+02
meanmass 6.9e+02
meansize 3.2
meansize 3.2
extent 6.4
extent 6.4
center 2.8 -1.5 -0.02
center 2.8 -1.5 -0.02
qpos0
qpos0
qpos_spring
qpos_spring
BODY 0:
BODY 0:
name world
name world
body_parentid 0
body_parentid 0
body_rootid 0
body_rootid 0
body_weldid 0
body_weldid 0
body_mocapid -1
body_mocapid -1
body_jntnum 0
body_jntnum 0
body_jntadr -1
body_jntadr -1
body_dofnum 0
body_dofnum 0
body_dofadr -1
body_dofadr -1
body_treeid -1
body_treeid -1
body_geomnum 0
body_geomnum 0
body_geomadr -1
body_geomadr -1
body_simple 1
body_simple 1
body_sameframe 1
body_sameframe 1
body_pos 0 0 0
body_pos 0 0 0
body_quat 1 0 0 0
body_quat 1 0 0 0
body_ipos 0 0 0
body_ipos 0 0 0
body_iquat 1 0 0 0
body_iquat 1 0 0 0
body_mass 0
body_mass 0
body_subtreemass 6.9e+02
body_subtreemass 6.9e+02
body_inertia 0 0 0
body_inertia 0 0 0
body_invweight0 0 0
body_invweight0 0 0
body_gravcomp 0
body_gravcomp 0
body_margin 0
body_margin 0
body_plugin -1
body_plugin -1
body_contype 0
body_contype 0
body_conaffinity 0
body_conaffinity 0
body_bvhadr -1
body_bvhadr -1
body_bvhnum 0
body_bvhnum 0
BODY 1:
BODY 1:
name floor_room_main
name floor_room_main
body_parentid 0
body_parentid 0
body_rootid 1
body_rootid 1
body_weldid 0
body_weldid 0
body_mocapid -1
body_mocapid -1
body_jntnum 0
body_jntnum 0
body_jntadr -1
body_jntadr -1
body_dofnum 0
body_dofnum 0
body_dofadr -1
body_dofadr -1
body_treeid -1
body_treeid -1
body_geomnum 2
body_geomnum 2
body_geomadr 0
body_geomadr 0
body_simple 0
body_simple 0
body_sameframe 0
body_sameframe 0
body_pos 2.8 -1.5 -0.02
body_pos 2.8 -1.5 -0.02
body_quat 0.71 0 0 0.71
body_quat 0.71 0 0 0.71
body_ipos 0 0 0
body_ipos 0 0 0
body_iquat 0.5 0.5 -0.5 0.5
body_iquat 0.5 0.5 -0.5 0.5
body_mass 6.9e+02
body_mass 6.9e+02
body_subtreemass 6.9e+02
body_subtreemass 6.9e+02
body_inertia 2.3e+03 1.8e+03 5.4e+02
body_inertia 2.3e+03 1.8e+03 5.4e+02
body_invweight0 0 0
body_invweight0 0 0
body_gravcomp 0
body_gravcomp 0
body_margin 0
body_margin 0
body_plugin -1
body_plugin -1
body_contype 1
body_contype 1
body_conaffinity 1
body_conaffinity 1
body_bvhadr 0
body_bvhadr 0
body_bvhnum 1
body_bvhnum 1
GEOM 0:
GEOM 0:
name floor_room_g0
name floor_room_g0
geom_type 6
geom_type 6
geom_contype 1
geom_contype 1
geom_conaffinity 1
geom_conaffinity 1
geom_condim 3
geom_condim 3
geom_bodyid 1
geom_bodyid 1
geom_dataid -1
geom_dataid -1
geom_matid -1
geom_matid -1
geom_group 0
geom_group 0
geom_priority 0
geom_priority 0
geom_plugin -1
geom_plugin -1
geom_sameframe 1
geom_sameframe 1
geom_solmix 1
geom_solmix 1
geom_solref 0.02 1
geom_solref 0.02 1
geom_solimp 0.9 0.95 0.001 0.5 2
geom_solimp 0.9 0.95 0.001 0.5 2
geom_size 1.5 2.8 0.02
geom_size 1.5 2.8 0.02
geom_aabb 0 0 0 1.5 2.8 0.02
geom_aabb 0 0 0 1.5 2.8 0.02
geom_rbound 3.2
geom_rbound 3.2
geom_pos 0 0 0
geom_pos 0 0 0
geom_quat 1 0 0 0
geom_quat 1 0 0 0
geom_friction 1 0.005 0.0001
geom_friction 1 0.005 0.0001
geom_margin 0
geom_margin 0
geom_gap 0
geom_gap 0
geom_fluid 0 0 0 0 0 0 0 0 0 0 0 0
geom_fluid 0 0 0 0 0 0 0 0 0 0 0 0
geom_rgba 0.5 0 0 1
geom_rgba 0.5 0 0 1
GEOM 1:
GEOM 1:
name floor_room_g0_vis
name floor_room_g0_vis
geom_type 6
geom_type 6
geom_contype 0
geom_contype 0
geom_conaffinity 0
geom_conaffinity 0
geom_condim 3
geom_condim 3
geom_bodyid 1
geom_bodyid 1
geom_dataid -1
geom_dataid -1
geom_matid 0
geom_matid 0
geom_group 1
geom_group 1
geom_priority 0
geom_priority 0
geom_plugin -1
geom_plugin -1
geom_sameframe 1
geom_sameframe 1
geom_solmix 1
geom_solmix 1
geom_solref 0.02 1
geom_solref 0.02 1
geom_solimp 0.9 0.95 0.001 0.5 2
geom_solimp 0.9 0.95 0.001 0.5 2
geom_size 1.5 2.8 0.02
geom_size 1.5 2.8 0.02
geom_aabb 0 0 0 1.5 2.8 0.02
geom_aabb 0 0 0 1.5 2.8 0.02
geom_rbound 3.2
geom_rbound 3.2
geom_pos 0 0 0
geom_pos 0 0 0
geom_quat 1 0 0 0
geom_quat 1 0 0 0
geom_friction 1 0.005 0.0001
geom_friction 1 0.005 0.0001
geom_margin 0
geom_margin 0
geom_gap 0
geom_gap 0
geom_fluid 0 0 0 0 0 0 0 0 0 0 0 0
geom_fluid 0 0 0 0 0 0 0 0 0 0 0 0
geom_rgba 0.5 0.5 0.5 1
geom_rgba 0.5 0.5 0.5 1
SITE 0:
SITE 0:
name floor_room_default_site
name floor_room_default_site
site_type 2
site_type 2
site_bodyid 1
site_bodyid 1
site_matid -1
site_matid -1
site_group 0
site_group 0
site_sameframe 1
site_sameframe 1
site_size 0.002 0.005 0.005
site_size 0.002 0.005 0.005
site_pos 0 0 0
site_pos 0 0 0
site_quat 1 0 0 0
site_quat 1 0 0 0
site_rgba 1 0 0 -1
site_rgba 1 0 0 -1
LIGHT 0:
LIGHT 0:
name
name
light_mode 0
light_mode 0
light_bodyid 0
light_bodyid 0
light_targetbodyid -1
light_targetbodyid -1
light_directional 1
light_directional 1
light_castshadow 0
light_castshadow 0
light_bulbradius 0.02
light_bulbradius 0.02
light_active 1
light_active 1
light_pos 2 -2 2
light_pos 2 -2 2
light_dir 0.01 0.01 -1
light_dir 0.01 0.01 -1
light_poscom0 -0.75 -0.5 2
light_poscom0 -0.75 -0.5 2
light_pos0 2 -2 2
light_pos0 2 -2 2
light_dir0 0.01 0.01 -1
light_dir0 0.01 0.01 -1
light_attenuation 1 0 0
light_attenuation 1 0 0
light_cutoff 45
light_cutoff 45
light_exponent 10
light_exponent 10
light_ambient 0.3 0.3 0.3
light_ambient 0.3 0.3 0.3
light_diffuse 0.3 0.3 0.3
light_diffuse 0.3 0.3 0.3
light_specular 0.3 0.3 0.3
light_specular 0.3 0.3 0.3
TEXTURE 0:
TEXTURE 0:
name
name
tex_type 2
tex_type 2
tex_height 1536
tex_height 1536
tex_width 256
tex_width 256
tex_adr 0
tex_adr 0
tex_pathadr -1
tex_pathadr -1
TEXTURE 1:
TEXTURE 1:
name floor_room_wall
name floor_room_wall
tex_type 0
tex_type 0
tex_height 2048
tex_height 2048
tex_width 2048
tex_width 2048
tex_adr 1179648
tex_adr 1179648
tex_pathadr 0
tex_pathadr 0
MATERIAL 0:
MATERIAL 0:
name floor_room_wall_mat
name floor_room_wall_mat
mat_texid 1
mat_texid 1 -1 -1 -1 -1 -1
mat_texuniform 1
mat_texuniform 1
mat_texrepeat 0.1 0.1
mat_texrepeat 0.1 0.1
mat_emission 0
mat_emission 0
mat_specular 0.5
mat_specular 0.5
mat_shininess 0.5
mat_shininess 0.5
mat_reflectance 0
mat_reflectance 0
mat_metallic 1
mat_metallic 1
mat_roughness 1
mat_roughness 1
mat_rgba 1 1 1 1
mat_rgba 1 1 1 1
BVH:
BVH:
id depth nodeid child[0] child[1]
id depth nodeid child[0] child[1]
0 0 0 -1 -1
0 0 0 -1 -1