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daohang/MJDATA.TXT
lovez 175ea87fed release: v0.1 initial version
2026-02-21 10:33:09 +08:00

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SIZES
narena 13631488
nbuffer 13952
nplugin 0
maxuse_stack 2388
maxuse_arena 29552
maxuse_con 1
maxuse_efc 4
solver_nisland 1
ne 0
nf 0
nl 0
nefc 0
nnzJ 0
ncon 0
nisland 0
threadpool 0
TIMER
0: duration = 0.0029 number = 1
1: duration = 0.0055 number = 2
2: duration = 0 number = 0
3: duration = 0.0039 number = 2
4: duration = 0.0009 number = 2
5: duration = 0.00017 number = 2
6: duration = 6e-05 number = 2
7: duration = 8e-05 number = 1
8: duration = 0.001 number = 2
9: duration = 0.00032 number = 2
10: duration = 0.0018 number = 2
11: duration = 0.00029 number = 2
12: duration = 6e-05 number = 2
13: duration = 0.0014 number = 2
14: duration = 0.00031 number = 2
ENERGY = 0 0
TIME = 3.7e+04
QPOS
0.6
0.51
-27
-99
-99
-7.3e+02
1
0
0
0
QVEL
-1.1e-322
-1.1e-322
-2e-323
0
0
-3.7e+05
0
0
0
QACC_WARMSTART
1.2e-321
1.2e-321
8.8e-322
0
0
-9.8
0
0
0
CTRL
0
0
0
QFRC_APPLIED
0
0
0
0
0
0
0
0
0
XFRC_APPLIED
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
QACC
1.2e-321
1.2e-321
8.8e-322
0
0
-9.8
0
0
0
XPOS
0 0 0
0.6 0.51 0.35
-99 -99 0.1
1.5 0 0.25
-1.2 1 0.2
0.8 -1 0.15
-0.5 -0.8 0.2
1 0.8 0.25
XQUAT
1 0 0 0
0.74 0 0 -0.67
1 0 0 0
1 0 0 0
1 0 0 0
1 0 0 0
1 0 0 0
1 0 0 0
XMAT
1 0 0 0 1 0 0 0 1
0.096 1 0 -1 0.096 -0 -0 0 1
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
XIPOS
0 0 0
0.61 0.48 0.36
-99 -99 0.1
1.5 0 0.25
-1.2 1 0.2
0.8 -1 0.15
-0.5 -0.8 0.2
1 0.8 0.25
XIMAT
1 0 0 0 1 0 0 0 1
0.024 -1 0.049 -0.021 -0.05 -1 1 0.023 -0.022
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
XANCHOR
0 0 0.35
0.6 0 0.35
0.6 0.51 0.35
-99 -99 0.1
XAXIS
1 0 0
0 1 0
0 0 1
0 0 1
GEOM_XPOS
0 0 0
0.6 0.51 0.35
0.62 0.32 0.35
0.73 0.52 0.35
0.6 0.51 0.45
-99 -99 0.1
1.5 0 0.25
-1.2 1 0.2
0.8 -1 0.15
-0.5 -0.8 0.2
1 0.8 0.25
GEOM_XMAT
1 0 0 0 1 0 0 0 1
0.096 1 0 -1 0.096 -0 -0 0 1
-2.8e-17 1 -0.096 -5.6e-17 0.096 1 1 5.6e-17 5.6e-17
0.096 5.6e-17 -1 -1 -5.6e-17 -0.096 -5.6e-17 1 5.6e-17
0.096 -1 -1.2e-16 -1 -0.096 -1.2e-17 0 1.2e-16 -1
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
1 0 0 0 1 0 0 0 1
SITE_XPOS
0.63 0.26 0.35
SITE_XMAT
0.096 1 0 -1 0.096 -0 -0 0 1
CAM_XPOS
0 0 5
CAM_XMAT
1 0 0 0 1 0 0 0 1
SUBTREE_COM
-1.4 -2.1 0.23
0.61 0.48 0.36
-99 -99 0.1
1.5 0 0.25
-1.2 1 0.2
0.8 -1 0.15
-0.5 -0.8 0.2
1 0.8 0.25
CDOF
0 0 0 1 0 0
0 0 0 0 1 0
0 0 1 0.037 0.012 -0
0 0 0 1 0 0
0 0 0 0 1 0
0 0 0 0 0 1
1 0 0 0 0 0
0 1 0 0 0 0
0 0 1 0 0 0
CINERT
0 0 0 0 0 0 0 0 0 0
0.15 0.1 0.17 0.0025 0.00047 -0.0014 0 0 0 7.3
0.042 0.042 0.042 0 0 0 0 0 0 7.2
9.2 9.2 11 0 0 0 0 0 0 1.8e+02
0.54 0.54 0.32 0 0 0 0 0 0 28
0.13 0.13 0.13 0 0 0 0 0 -3.9e-16 14
3.4 3.4 4.2 0 0 0 0 0 0 1e+02
0.55 0.55 0.16 0 0 0 0 0 0 23
ACTUATOR_LENGTH
0.6
0.51
-27
ACTUATOR_MOMENT
1 0 0 0 0 0 0 0 0
0 1 0 0 0 0 0 0 0
0 0 1 0 0 0 0 0 0
CRB
0 0 0 0 0 0 0 0 0 0
0.15 0.1 0.17 0.0025 0.00047 -0.0014 0 0 0 7.3
0.042 0.042 0.042 0 0 0 0 0 0 7.2
9.2 9.2 11 0 0 0 0 0 0 1.8e+02
0.54 0.54 0.32 0 0 0 0 0 0 28
0.13 0.13 0.13 0 0 0 0 0 -3.9e-16 14
3.4 3.4 4.2 0 0 0 0 0 0 1e+02
0.55 0.55 0.16 0 0 0 0 0 0 23
QM
7.3 0 0.27 0 0 0 0 0 0
0 7.3 0.088 0 0 0 0 0 0
0.27 0.088 0.18 0 0 0 0 0 0
0 0 0 7.2 0 0 0 0 0
0 0 0 0 7.2 0 0 0 0
0 0 0 0 0 7.2 0 0 0
0 0 0 0 0 0 0.042 0 0
0 0 0 0 0 0 0 0.042 0
0 0 0 0 0 0 0 0 0.042
QLD
6.9 -0.018 1.5 0 0 0 0 0 0
-0.018 7.3 0.48 0 0 0 0 0 0
1.5 0.48 0.18 0 0 0 0 0 0
0 0 0 7.2 0 0 0 0 0
0 0 0 0 7.2 0 0 0 0
0 0 0 0 0 7.2 0 0 0
0 0 0 0 0 0 0.042 0 0
0 0 0 0 0 0 0 0.042 0
0 0 0 0 0 0 0 0 0.042
QLDIAGINV
0.14
0.14
5.5
0.14
0.14
0.14
24
24
24
QLDIAGSQRTINV
0.38
0.37
2.3
0.37
0.37
0.37
4.9
4.9
4.9
B_rownnz 9 3 6 0 0 0 0 0
B_rowadr 0 9 12 18 18 18 18 18
B_colind 0 1 2 3 4 5 6 7 8 0 1 2 3 4 5 6 7 8
C_rownnz 3 3 3 1 1 1 1 1 1
C_rowadr 0 3 6 9 10 11 12 13 14
C_colind 0 1 2 0 1 2 0 1 2 3 4 5 6 7 8
mapM2C 0 2 5 2 1 4 5 4 3 6 7 9 12 16 21
D_rownnz 3 3 3 6 6 6 6 6 6
D_rowadr 0 3 6 9 15 21 27 33 39
D_colind 0 1 2 0 1 2 0 1 2 3 4 5 6 7 8 3 4 5 6 7 8 3 4 5 6 7 8 3 4 5 6 7 8 3 4 5 6 7 8 3 4 5 6 7 8
mapM2D 0 2 5 2 1 4 5 4 3 6 8 11 15 20 26 8 7 10 14 19 25 11 10 9 13 18 24 15 14 13 12 17 23 20 19 18 17 16 22 26 25 24 23 22 21
mapD2M 0 4 3 8 7 6 9 16 15 23 22 21 30 29 28 27 37 36 35 34 33 44 43 42 41 40 39
QDERIV
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
QLU
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 0 0
CONTACT
ACTUATOR_VELOCITY
-1.1e-322
-1.1e-322
-2e-323
CVEL
0 0 0 0 0 0
0 0 -2e-323 -1.1e-322 -1.1e-322 0
0 0 0 0 0 -3.7e+05
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
CDOF_DOT
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 -1.1e-322 1.1e-322 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 -3.7e+05 0
0 0 0 3.7e+05 0 0
0 0 0 0 0 0
QFRC_BIAS
0
0
0
0
0
71
0
0
0
QFRC_SPRING
0
0
0
0
0
0
0
0
0
QFRC_DAMPER
0
0
0
0
0
0
0
0
0
QFRC_GRAVCOMP
0
0
0
0
0
0
0
0
0
QFRC_FLUID
0
0
0
0
0
0
0
0
0
QFRC_PASSIVE
0
0
0
0
0
0
0
0
0
SUBTREE_LINVEL
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
SUBTREE_ANGMOM
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
0 0 0
ACTUATOR_FORCE
9.1e-321
9.1e-321
5.9e-322
QFRC_ACTUATOR
9.1e-321
9.1e-321
5.9e-322
0
0
0
0
0
0
QFRC_SMOOTH
9.1e-321
9.1e-321
5.9e-322
0
0
-71
0
0
0
QACC_SMOOTH
1.2e-321
1.2e-321
8.8e-322
0
0
-9.8
0
0
0
QFRC_CONSTRAINT
0
0
0
0
0
0
0
0
0
QFRC_INVERSE
0
0
0
0
0
0
0
0
0
CACC
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
CFRC_INT
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
CFRC_EXT
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
0 0 0 0 0 0
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