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MJMODEL.TXT
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MuJoCo version 2.3.7
model name aliengo
nq 19
nv 18
nu 12
nbody 14
nbvh 140099
njnt 13
ngeom 37
nsite 5
ncam 1
nlight 1
nmesh 5
nmeshvert 35093
nmeshnormal 35093
nmeshface 70036
nhfield 1
nhfielddata 36000
ntex 2
ntexdata 5505024
nmat 1
nsensor 31
nnames 972
nnames_map 246
nM 117
nD 216
nB 144
njmax 5000
nconmax 10000
nstack 164495360
nsensordata 38
nbuffer 18018328
timestep 0.0005
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 21
meaninertia 3.6
meanmass 1.6
meansize 0.2
extent 2
center 0 0 0
qpos0 0 0 0.6 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
qpos_spring 0 0 0.6 1 0 0 0 0 0 0 0 0 0 0 0 0 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 1
body_geomadr 0
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 21
body_inertia 0 0 0
body_invweight0 0 0
body_gravcomp 0
body_plugin -1
body_bvhadr 0
body_bvhnum 1
BODY 1:
name trunk
body_parentid 0
body_rootid 1
body_weldid 1
body_mocapid -1
body_jntnum 1
body_jntadr 0
body_dofnum 6
body_dofadr 0
body_geomnum 4
body_geomadr 1
body_simple 0
body_sameframe 0
body_pos 0 0 0.6
body_quat 1 0 0 0
body_ipos 0.0085 0.004 -0.00076
body_iquat -3.1e-05 0.71 0.0025 0.71
body_mass 9
body_subtreemass 21
body_inertia 0.17 0.16 0.033
body_invweight0 0.051 3.8
body_gravcomp 0
body_plugin -1
body_bvhadr 1
body_bvhnum 3
BODY 2:
name FL_hip
body_parentid 1
body_rootid 1
body_weldid 2
body_mocapid -1
body_jntnum 1
body_jntadr 1
body_dofnum 1
body_dofadr 6
body_geomnum 2
body_geomadr 5
body_simple 0
body_sameframe 0
body_pos 0.24 0.051 0
body_quat 1 0 0 0
body_ipos -0.022 0.015 -1.5e-05
body_iquat -0.014 0.71 0.012 0.71
body_mass 2
body_subtreemass 2.9
body_inertia 0.0056 0.0049 0.0029
body_invweight0 0.098 5.2
body_gravcomp 0
body_plugin -1
body_bvhadr 4
body_bvhnum 2
BODY 3:
name FL_thigh
body_parentid 2
body_rootid 1
body_weldid 3
body_mocapid -1
body_jntnum 1
body_jntadr 2
body_dofnum 1
body_dofadr 7
body_geomnum 2
body_geomadr 7
body_simple 0
body_sameframe 0
body_pos 0 0.083 0
body_quat 1 0 0 0
body_ipos -0.0056 -0.0039 -0.048
body_iquat 0.72 -0.031 -0.034 0.69
body_mass 0.64
body_subtreemass 0.91
body_inertia 0.0058 0.0057 0.00032
body_invweight0 0.15 13
body_gravcomp 0
body_plugin -1
body_bvhadr 6
body_bvhnum 2
BODY 4:
name FL_calf
body_parentid 3
body_rootid 1
body_weldid 4
body_mocapid -1
body_jntnum 1
body_jntadr 3
body_dofnum 1
body_dofadr 8
body_geomnum 4
body_geomadr 9
body_simple 0
body_sameframe 0
body_pos 0 0 -0.25
body_quat 1 0 0 0
body_ipos 0.0022 4.9e-05 -0.17
body_iquat 0.71 0.0052 0.0054 0.71
body_mass 0.27
body_subtreemass 0.27
body_inertia 0.0069 0.0069 5.5e-05
body_invweight0 1.6 19
body_gravcomp 0
body_plugin -1
body_bvhadr 8
body_bvhnum 3
BODY 5:
name FR_hip
body_parentid 1
body_rootid 1
body_weldid 5
body_mocapid -1
body_jntnum 1
body_jntadr 4
body_dofnum 1
body_dofadr 9
body_geomnum 2
body_geomadr 13
body_simple 0
body_sameframe 0
body_pos 0.24 -0.051 0
body_quat 1 0 0 0
body_ipos -0.022 -0.015 -1.5e-05
body_iquat 0.014 0.71 -0.012 0.71
body_mass 2
body_subtreemass 2.9
body_inertia 0.0056 0.0049 0.0029
body_invweight0 0.099 5.2
body_gravcomp 0
body_plugin -1
body_bvhadr 11
body_bvhnum 2
BODY 6:
name FR_thigh
body_parentid 5
body_rootid 1
body_weldid 6
body_mocapid -1
body_jntnum 1
body_jntadr 5
body_dofnum 1
body_dofadr 10
body_geomnum 2
body_geomadr 15
body_simple 0
body_sameframe 0
body_pos 0 -0.083 0
body_quat 1 0 0 0
body_ipos -0.0056 0.0039 -0.048
body_iquat 0.69 -0.034 -0.031 0.72
body_mass 0.64
body_subtreemass 0.91
body_inertia 0.0058 0.0057 0.00032
body_invweight0 0.15 13
body_gravcomp 0
body_plugin -1
body_bvhadr 13
body_bvhnum 2
BODY 7:
name FR_calf
body_parentid 6
body_rootid 1
body_weldid 7
body_mocapid -1
body_jntnum 1
body_jntadr 6
body_dofnum 1
body_dofadr 11
body_geomnum 4
body_geomadr 17
body_simple 0
body_sameframe 0
body_pos 0 0 -0.25
body_quat 1 0 0 0
body_ipos 0.0022 4.9e-05 -0.17
body_iquat 0.71 0.0052 0.0054 0.71
body_mass 0.27
body_subtreemass 0.27
body_inertia 0.0069 0.0069 5.5e-05
body_invweight0 1.6 19
body_gravcomp 0
body_plugin -1
body_bvhadr 15
body_bvhnum 3
BODY 8:
name RL_hip
body_parentid 1
body_rootid 1
body_weldid 8
body_mocapid -1
body_jntnum 1
body_jntadr 7
body_dofnum 1
body_dofadr 12
body_geomnum 2
body_geomadr 21
body_simple 0
body_sameframe 0
body_pos -0.24 0.051 0
body_quat 1 0 0 0
body_ipos 0.022 0.015 -1.5e-05
body_iquat 0.012 0.71 -0.014 0.71
body_mass 2
body_subtreemass 2.9
body_inertia 0.0056 0.0049 0.0029
body_invweight0 0.1 5.2
body_gravcomp 0
body_plugin -1
body_bvhadr 18
body_bvhnum 2
BODY 9:
name RL_thigh
body_parentid 8
body_rootid 1
body_weldid 9
body_mocapid -1
body_jntnum 1
body_jntadr 8
body_dofnum 1
body_dofadr 13
body_geomnum 2
body_geomadr 23
body_simple 0
body_sameframe 0
body_pos 0 0.083 0
body_quat 1 0 0 0
body_ipos -0.0056 -0.0039 -0.048
body_iquat 0.72 -0.031 -0.034 0.69
body_mass 0.64
body_subtreemass 0.91
body_inertia 0.0058 0.0057 0.00032
body_invweight0 0.15 13
body_gravcomp 0
body_plugin -1
body_bvhadr 20
body_bvhnum 2
BODY 10:
name RL_calf
body_parentid 9
body_rootid 1
body_weldid 10
body_mocapid -1
body_jntnum 1
body_jntadr 9
body_dofnum 1
body_dofadr 14
body_geomnum 4
body_geomadr 25
body_simple 0
body_sameframe 0
body_pos 0 0 -0.25
body_quat 1 0 0 0
body_ipos 0.0022 4.9e-05 -0.17
body_iquat 0.71 0.0052 0.0054 0.71
body_mass 0.27
body_subtreemass 0.27
body_inertia 0.0069 0.0069 5.5e-05
body_invweight0 1.6 19
body_gravcomp 0
body_plugin -1
body_bvhadr 22
body_bvhnum 3
BODY 11:
name RR_hip
body_parentid 1
body_rootid 1
body_weldid 11
body_mocapid -1
body_jntnum 1
body_jntadr 10
body_dofnum 1
body_dofadr 15
body_geomnum 2
body_geomadr 29
body_simple 0
body_sameframe 0
body_pos -0.24 -0.051 0
body_quat 1 0 0 0
body_ipos 0.022 -0.015 -1.5e-05
body_iquat -0.012 0.71 0.014 0.71
body_mass 2
body_subtreemass 2.9
body_inertia 0.0056 0.0049 0.0029
body_invweight0 0.1 5.2
body_gravcomp 0
body_plugin -1
body_bvhadr 25
body_bvhnum 2
BODY 12:
name RR_thigh
body_parentid 11
body_rootid 1
body_weldid 12
body_mocapid -1
body_jntnum 1
body_jntadr 11
body_dofnum 1
body_dofadr 16
body_geomnum 2
body_geomadr 31
body_simple 0
body_sameframe 0
body_pos 0 -0.083 0
body_quat 1 0 0 0
body_ipos -0.0056 0.0039 -0.048
body_iquat 0.69 -0.034 -0.031 0.72
body_mass 0.64
body_subtreemass 0.91
body_inertia 0.0058 0.0057 0.00032
body_invweight0 0.15 13
body_gravcomp 0
body_plugin -1
body_bvhadr 27
body_bvhnum 2
BODY 13:
name RR_calf
body_parentid 12
body_rootid 1
body_weldid 13
body_mocapid -1
body_jntnum 1
body_jntadr 12
body_dofnum 1
body_dofadr 17
body_geomnum 4
body_geomadr 33
body_simple 0
body_sameframe 0
body_pos 0 0 -0.25
body_quat 1 0 0 0
body_ipos 0.0022 4.9e-05 -0.17
body_iquat 0.71 0.0052 0.0054 0.71
body_mass 0.27
body_subtreemass 0.27
body_inertia 0.0069 0.0069 5.5e-05
body_invweight0 1.6 19
body_gravcomp 0
body_plugin -1
body_bvhadr 29
body_bvhnum 3
JOINT 0:
name
jnt_type 0
jnt_qposadr 0
jnt_dofadr 0
jnt_bodyid 1
jnt_group 0
jnt_limited 0
jnt_actfrclimited 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_actfrcrange 0 0
jnt_margin 0
JOINT 1:
name FL_hip_joint
jnt_type 3
jnt_qposadr 7
jnt_dofadr 6
jnt_bodyid 2
jnt_group 0
jnt_limited 1
jnt_actfrclimited 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 -1.2 1.2
jnt_actfrcrange 0 0
jnt_margin 0
JOINT 2:
name FL_thigh_joint
jnt_type 3
jnt_qposadr 8
jnt_dofadr 7
jnt_bodyid 3
jnt_group 0
jnt_limited 0
jnt_actfrclimited 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_actfrcrange 0 0
jnt_margin 0
JOINT 3:
name FL_calf_joint
jnt_type 3
jnt_qposadr 9
jnt_dofadr 8
jnt_bodyid 4
jnt_group 0
jnt_limited 1
jnt_actfrclimited 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 -2.8 -0.65
jnt_actfrcrange 0 0
jnt_margin 0
JOINT 4:
name FR_hip_joint
jnt_type 3
jnt_qposadr 10
jnt_dofadr 9
jnt_bodyid 5
jnt_group 0
jnt_limited 1
jnt_actfrclimited 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 -1.2 1.2
jnt_actfrcrange 0 0
jnt_margin 0
JOINT 5:
name FR_thigh_joint
jnt_type 3
jnt_qposadr 11
jnt_dofadr 10
jnt_bodyid 6
jnt_group 0
jnt_limited 0
jnt_actfrclimited 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_actfrcrange 0 0
jnt_margin 0
JOINT 6:
name FR_calf_joint
jnt_type 3
jnt_qposadr 12
jnt_dofadr 11
jnt_bodyid 7
jnt_group 0
jnt_limited 1
jnt_actfrclimited 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 -2.8 -0.65
jnt_actfrcrange 0 0
jnt_margin 0
JOINT 7:
name RL_hip_joint
jnt_type 3
jnt_qposadr 13
jnt_dofadr 12
jnt_bodyid 8
jnt_group 0
jnt_limited 1
jnt_actfrclimited 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 -1.2 1.2
jnt_actfrcrange 0 0
jnt_margin 0
JOINT 8:
name RL_thigh_joint
jnt_type 3
jnt_qposadr 14
jnt_dofadr 13
jnt_bodyid 9
jnt_group 0
jnt_limited 0
jnt_actfrclimited 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_actfrcrange 0 0
jnt_margin 0
JOINT 9:
name RL_calf_joint
jnt_type 3
jnt_qposadr 15
jnt_dofadr 14
jnt_bodyid 10
jnt_group 0
jnt_limited 1
jnt_actfrclimited 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 -2.8 -0.65
jnt_actfrcrange 0 0
jnt_margin 0
JOINT 10:
name RR_hip_joint
jnt_type 3
jnt_qposadr 16
jnt_dofadr 15
jnt_bodyid 11
jnt_group 0
jnt_limited 1
jnt_actfrclimited 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 -1.2 1.2
jnt_actfrcrange 0 0
jnt_margin 0
JOINT 11:
name RR_thigh_joint
jnt_type 3
jnt_qposadr 17
jnt_dofadr 16
jnt_bodyid 12
jnt_group 0
jnt_limited 0
jnt_actfrclimited 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_actfrcrange 0 0
jnt_margin 0
JOINT 12:
name RR_calf_joint
jnt_type 3
jnt_qposadr 18
jnt_dofadr 17
jnt_bodyid 13
jnt_group 0
jnt_limited 1
jnt_actfrclimited 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 -2.8 -0.65
jnt_actfrcrange 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 0.1
dof_armature 0.01
dof_damping 0
dof_invweight0 0.051
dof_M0 21
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 0.1
dof_armature 0.01
dof_damping 0
dof_invweight0 0.051
dof_M0 21
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 0.1
dof_armature 0.01
dof_damping 0
dof_invweight0 0.051
dof_M0 21
DOF 3:
dof_bodyid 1
dof_jntid 0
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 0.1
dof_armature 0.01
dof_damping 0
dof_invweight0 3.8
dof_M0 0.39
DOF 4:
dof_bodyid 1
dof_jntid 0
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 0.1
dof_armature 0.01
dof_damping 0
dof_invweight0 3.8
dof_M0 1
DOF 5:
dof_bodyid 1
dof_jntid 0
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 0.1
dof_armature 0.01
dof_damping 0
dof_invweight0 3.8
dof_M0 0.89
DOF 6:
dof_bodyid 2
dof_jntid 1
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 0.1
dof_armature 0.01
dof_damping 0.1
dof_invweight0 21
dof_M0 0.08
DOF 7:
dof_bodyid 3
dof_jntid 2
dof_parentid 6
dof_Madr 28
dof_simplenum 0
dof_solref 0.02 1
dof_solimp 0.9 0.95 0.001 0.5 2
dof_frictionloss 0.1
dof_armature 0.01
dof_damping 0.1
dof_invweight0 24
dof_M0 0.071
DOF 8:
dof_bodyid 4
dof_jntid 3
dof_parentid 7
dof_Madr 36
dof_simplenum 0
dof_solref 0.02 1
dof_solimp 0.9 0.95 0.001 0.5 2
dof_frictionloss 0.1
dof_armature 0.01
dof_damping 0.1
dof_invweight0 66
dof_M0 0.024
DOF 9:
dof_bodyid 5
dof_jntid 4
dof_parentid 5
dof_Madr 45
dof_simplenum 0
dof_solref 0.02 1
dof_solimp 0.9 0.95 0.001 0.5 2
dof_frictionloss 0.1
dof_armature 0.01
dof_damping 0.1
dof_invweight0 21
dof_M0 0.08
DOF 10:
dof_bodyid 6
dof_jntid 5
dof_parentid 9
dof_Madr 52
dof_simplenum 0
dof_solref 0.02 1
dof_solimp 0.9 0.95 0.001 0.5 2
dof_frictionloss 0.1
dof_armature 0.01
dof_damping 0.1
dof_invweight0 24
dof_M0 0.071
DOF 11:
dof_bodyid 7
dof_jntid 6
dof_parentid 10
dof_Madr 60
dof_simplenum 0
dof_solref 0.02 1
dof_solimp 0.9 0.95 0.001 0.5 2
dof_frictionloss 0.1
dof_armature 0.01
dof_damping 0.1
dof_invweight0 66
dof_M0 0.024
DOF 12:
dof_bodyid 8
dof_jntid 7
dof_parentid 5
dof_Madr 69
dof_simplenum 0
dof_solref 0.02 1
dof_solimp 0.9 0.95 0.001 0.5 2
dof_frictionloss 0.1
dof_armature 0.01
dof_damping 0.1
dof_invweight0 21
dof_M0 0.08
DOF 13:
dof_bodyid 9
dof_jntid 8
dof_parentid 12
dof_Madr 76
dof_simplenum 0
dof_solref 0.02 1
dof_solimp 0.9 0.95 0.001 0.5 2
dof_frictionloss 0.1
dof_armature 0.01
dof_damping 0.1
dof_invweight0 24
dof_M0 0.071
DOF 14:
dof_bodyid 10
dof_jntid 9
dof_parentid 13
dof_Madr 84
dof_simplenum 0
dof_solref 0.02 1
dof_solimp 0.9 0.95 0.001 0.5 2
dof_frictionloss 0.1
dof_armature 0.01
dof_damping 0.1
dof_invweight0 66
dof_M0 0.024
DOF 15:
dof_bodyid 11
dof_jntid 10
dof_parentid 5
dof_Madr 93
dof_simplenum 0
dof_solref 0.02 1
dof_solimp 0.9 0.95 0.001 0.5 2
dof_frictionloss 0.1
dof_armature 0.01
dof_damping 0.1
dof_invweight0 21
dof_M0 0.08
DOF 16:
dof_bodyid 12
dof_jntid 11
dof_parentid 15
dof_Madr 100
dof_simplenum 0
dof_solref 0.02 1
dof_solimp 0.9 0.95 0.001 0.5 2
dof_frictionloss 0.1
dof_armature 0.01
dof_damping 0.1
dof_invweight0 24
dof_M0 0.071
DOF 17:
dof_bodyid 13
dof_jntid 12
dof_parentid 16
dof_Madr 108
dof_simplenum 0
dof_solref 0.02 1
dof_solimp 0.9 0.95 0.001 0.5 2
dof_frictionloss 0.1
dof_armature 0.01
dof_damping 0.1
dof_invweight0 66
dof_M0 0.024
GEOM 0:
name floor
geom_type 0
geom_contype 1
geom_conaffinity 1
geom_condim 3
geom_bodyid 0
geom_dataid -1
geom_matid 0
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 0 1
geom_aabb 0 0 -5e+09 1e+10 1e+10 5e+09
geom_rbound 0
geom_pos 0 0 0
geom_quat 1 0 0 0
geom_friction 1 0.8 0.8
geom_margin 0.001
geom_gap 0
geom_fluid 0 0 0 0 0 0 0 0 0 0 0 0
geom_rgba 1 1 1 1
GEOM 1:
name
geom_type 7
geom_contype 0
geom_conaffinity 0
geom_condim 3
geom_bodyid 1
geom_dataid 0
geom_matid -1
geom_group 1
geom_priority 0
geom_sameframe 0
geom_solmix 1
geom_solref 0.02 1
geom_solimp 0.9 0.95 0.001 0.5 2
geom_size 0.058 0.11 0.36
geom_aabb -0.00092 -1.8e-06 -0.036 0.058 0.11 0.33
geom_rbound 0.38
geom_pos 0.05 -1.8e-06 0.00079
geom_quat 1.3e-05 0.71 5e-05 0.71
geom_friction 1 0.8 0.8
geom_margin 0.001
geom_gap 0
geom_fluid 0 0 0 0 0 0 0 0 0 0 0 0
geom_rgba 0.9 0.9 0.9 1
GEOM 2:
name
geom_type 6
geom_contype 1
geom_conaffinity 1
geom_condim 3
geom_bodyid 1
geom_dataid -1
geom_matid -1