MuJoCo version 1.22 model name example nq 15 nv 13 nu 0 na 0 nbody 5 njnt 6 ngeom 4 nsite 2 ncam 0 nlight 1 nmesh 0 nmeshvert 0 nmeshface 0 nmeshgraph 0 nhfield 0 nhfielddata 0 ntex 1 ntexdata 1179648 nmat 0 npair 0 nexclude 0 neq 0 ntendon 1 nwrap 2 nsensor 0 nnumeric 0 nnumericdata 0 ntext 0 ntextdata 0 nkey 0 nuser_body 0 nuser_jnt 0 nuser_geom 0 nuser_site 0 nuser_tendon 0 nuser_actuator 0 nuser_sensor 0 nnames 41 nM 49 nemax 0 njmax 500 nconmax 100 nstack 1316805 nuserdata 0 nmocap 0 nsensordata 0 nbuffer 1184465 timestep 0.002 gravity 0 0 -9.8 wind 0 0 0 density 0 viscosity 0 o_margin 0 o_solref 0.02 1 o_solimp 0.9 0.95 0.001 integrator 0 collision 0 impedance 1 reference 0 collision 0 solver 2 iterations 50 disableflags 0 enableflags 0 meanmass 2.7 meansize 0.17 extent 1.1 center 0.18 0 0.52 qpos0 1 0 0 0 0 0 0 0 0.5 0 0.1 1 0 0 0 qpos_spring 1 0 0 0 0 0 0 0 0.5 0 0.1 1 0 0 0 BODY 0: name world parentid 0 rootid 0 weldid 0 mocapid -1 jntnum 0 jntadr -1 dofnum 0 dofadr -1 geomnum 0 geomadr -1 pos 0 0 0 quat 1 0 0 0 ipos 0 0 0 iquat 1 0 0 0 mass 0 inertia 0 0 0 invweight0 0 0 BODY 1: name parentid 0 rootid 1 weldid 1 mocapid -1 jntnum 1 jntadr 0 dofnum 3 dofadr 0 geomnum 1 geomadr 0 pos 0 0 0.8 quat 1 0 0 0 ipos 0 0 0 iquat 1 0 0 0 mass 5.2 inertia 0.096 0.096 0.0094 invweight0 0.051 7.3 BODY 2: name parentid 1 rootid 1 weldid 2 mocapid -1 jntnum 2 jntadr 1 dofnum 2 dofadr 3 geomnum 1 geomadr 1 pos 0.15 0 -0.2 quat 0.71 0 -0.71 0 ipos 0 0 0 iquat 1 0 0 0 mass 1.7 inertia 0.017 0.017 0.0014 invweight0 0.31 1.6e+02 BODY 3: name parentid 2 rootid 1 weldid 3 mocapid -1 jntnum 2 jntadr 3 dofnum 2 dofadr 5 geomnum 1 geomadr 2 pos 0 0 -0.25 quat 0.71 0 0.71 0 ipos 0 0 0 iquat 1 0 0 0 mass 0.67 inertia 0.00091 0.0014 0.0022 invweight0 0.9 2.8e+02 BODY 4: name parentid 0 rootid 4 weldid 4 mocapid -1 jntnum 1 jntadr 5 dofnum 6 dofadr 7 geomnum 1 geomadr 3 pos 0.5 0 0.1 quat 1 0 0 0 ipos 0 0 0 iquat 1 0 0 0 mass 3.1 inertia 0.014 0.014 0.0075 invweight0 0.32 92 JOINT 0: name type 1 qposadr 0 dofadr 0 bodyid 1 limited 0 pos 0 0 0.2 axis 0 0 1 stiffness 0 range 0 0 solref 0.02 1 solimp 0.9 0.95 0.001 margin 0 JOINT 1: name type 3 qposadr 4 dofadr 3 bodyid 2 limited 0 pos 0 0 0.15 axis 0 1 0 stiffness 0 range 0 0 solref 0.02 1 solimp 0.9 0.95 0.001 margin 0 JOINT 2: name type 3 qposadr 5 dofadr 4 bodyid 2 limited 0 pos 0 0 0.15 axis 0 0 -1 stiffness 0 range 0 0 solref 0.02 1 solimp 0.9 0.95 0.001 margin 0 JOINT 3: name type 3 qposadr 6 dofadr 5 bodyid 3 limited 0 pos -0.1 0 0 axis 0 1 0 stiffness 0 range 0 0 solref 0.02 1 solimp 0.9 0.95 0.001 margin 0 JOINT 4: name type 3 qposadr 7 dofadr 6 bodyid 3 limited 0 pos -0.1 0 0 axis 0 0 1 stiffness 0 range 0 0 solref 0.02 1 solimp 0.9 0.95 0.001 margin 0 JOINT 5: name type 0 qposadr 8 dofadr 7 bodyid 4 limited 0 pos 0 0 0 axis 0 0 1 stiffness 0 range 0 0 solref 0.02 1 solimp 0.9 0.95 0.001 margin 0 DOF 0: bodyid 1 jntid 0 parentid -1 Madr 0 frictional 0 solref 0.02 1 solimp 0.9 0.95 0.001 frictionloss 0 armature 0 damping 0 invweight0 7.3 DOF 1: bodyid 1 jntid 0 parentid 0 Madr 1 frictional 0 solref 0.02 1 solimp 0.9 0.95 0.001 frictionloss 0 armature 0 damping 0 invweight0 7.3 DOF 2: bodyid 1 jntid 0 parentid 1 Madr 3 frictional 0 solref 0.02 1 solimp 0.9 0.95 0.001 frictionloss 0 armature 0 damping 0 invweight0 7.3 DOF 3: bodyid 2 jntid 1 parentid 2 Madr 6 frictional 0 solref 0.02 1 solimp 0.9 0.95 0.001 frictionloss 0 armature 0 damping 0 invweight0 17 DOF 4: bodyid 2 jntid 2 parentid 3 Madr 10 frictional 0 solref 0.02 1 solimp 0.9 0.95 0.001 frictionloss 0 armature 0 damping 0 invweight0 4.4e+02 DOF 5: bodyid 3 jntid 3 parentid 4 Madr 15 frictional 0 solref 0.02 1 solimp 0.9 0.95 0.001 frictionloss 0 armature 0 damping 0 invweight0 3.1e+02 DOF 6: bodyid 3 jntid 4 parentid 5 Madr 21 frictional 0 solref 0.02 1 solimp 0.9 0.95 0.001 frictionloss 0 armature 0 damping 0 invweight0 2.5e+02 DOF 7: bodyid 4 jntid 5 parentid -1 Madr 28 frictional 0 solref 0.02 1 solimp 0.9 0.95 0.001 frictionloss 0 armature 0 damping 0 invweight0 0.32 DOF 8: bodyid 4 jntid 5 parentid 7 Madr 29 frictional 0 solref 0.02 1 solimp 0.9 0.95 0.001 frictionloss 0 armature 0 damping 0 invweight0 0.32 DOF 9: bodyid 4 jntid 5 parentid 8 Madr 31 frictional 0 solref 0.02 1 solimp 0.9 0.95 0.001 frictionloss 0 armature 0 damping 0 invweight0 0.32 DOF 10: bodyid 4 jntid 5 parentid 9 Madr 34 frictional 0 solref 0.02 1 solimp 0.9 0.95 0.001 frictionloss 0 armature 0 damping 0 invweight0 92 DOF 11: bodyid 4 jntid 5 parentid 10 Madr 38 frictional 0 solref 0.02 1 solimp 0.9 0.95 0.001 frictionloss 0 armature 0 damping 0 invweight0 92 DOF 12: bodyid 4 jntid 5 parentid 11 Madr 43 frictional 0 solref 0.02 1 solimp 0.9 0.95 0.001 frictionloss 0 armature 0 damping 0 invweight0 92 GEOM 0: name type 3 contype 1 conaffinity 1 condim 3 bodyid 1 dataid -1 matid -1 group 0 solmix 1 solref 0.02 1 solimp 0.9 0.95 0.001 size 0.06 0.2 0 rbound 0.26 pos 0 0 0 quat 1 0 0 0 friction 1 0.005 0.0001 margin 0 gap 0 rgba 0.8 0.6 0.4 1 GEOM 1: name type 3 contype 1 conaffinity 1 condim 3 bodyid 2 dataid -1 matid -1 group 0 solmix 1 solref 0.02 1 solimp 0.9 0.95 0.001 size 0.04 0.15 0 rbound 0.19 pos 0 0 0 quat 1 0 0 0 friction 1 0.005 0.0001 margin 0 gap 0 rgba 0.8 0.6 0.4 1 GEOM 2: name type 4 contype 1 conaffinity 1 condim 3 bodyid 3 dataid -1 matid -1 group 0 solmix 1 solref 0.02 1 solimp 0.9 0.95 0.001 size 0.1 0.08 0.02 rbound 0.1 pos 0 0 0 quat 1 0 0 0 friction 1 0.005 0.0001 margin 0 gap 0 rgba 0.8 0.6 0.4 1 GEOM 3: name type 5 contype 1 conaffinity 1 condim 3 bodyid 4 dataid -1 matid -1 group 0 solmix 1 solref 0.02 1 solimp 0.9 0.95 0.001 size 0.07 0.1 0 rbound 0.12 pos 0 0 0 quat 1 0 0 0 friction 1 0.005 0.0001 margin 0 gap 0 rgba 0.8 0.6 0.4 1 SITE 0: name end1 type 2 bodyid 3 matid -1 group 0 size 0.01 0 0 pos 0.1 0 0 quat 1 0 0 0 rgba 0.5 0.5 0.5 1 SITE 1: name end2 type 2 bodyid 4 matid -1 group 0 size 0.01 0 0 pos 0 0 0.1 quat 1 0 0 0 rgba 0.5 0.5 0.5 1 LIGHT 0: name bodyid 0 directional 0 castshadow 1 active 1 pos 0 1 1 dir 0 -0.71 -0.71 attenuation 1 0 0 cutoff 45 exponent 10 ambient 0 0 0 diffuse 1 1 1 specular 0.3 0.3 0.3 TEXTURE 0: name type 2 height 1536 width 256 adr 0 TENDON 0: name num 2 limited 1 frictional 0 matid -1 width 0.005 solreflimit 0.02 1 solimplimit 0.9 0.95 0.001 solreffrctn 0.02 1 solimpfrctn 0.9 0.95 0.001 range 0 0.6 margin 0 stiffness 0 damping 0 frictionloss 0 lengthspring 0.4 length0 0.4 invweight0 5.9 rgba 0.5 0.5 0.5 1 path 3 0 0 3 1 0