File size: 957 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 | <mujoco model="model for inertia-related tests">
<default>
<geom type="capsule" size="0.1"/>
<joint axis="0 1 0"/>
</default>
<worldbody>
<body pos="1 -.5 0" euler="10 20 30">
<geom type="box" size="0.15 .2 .25" pos=".1 .2 .3" euler="10 20 30"/>
<freejoint name="6 non-simple dofs" align="false"/>
</body>
<body pos="0 -.5 0">
<geom type="sphere" size="0.2"/>
<joint type="ball" name="3 simple dofs"/>
</body>
<body>
<geom fromto="0 0 0 0 0 1"/>
<joint/>
<body pos="0 0 1">
<geom fromto="0 0 0 1 0 1"/>
<joint/>
</body>
<body pos="0 0 1">
<geom fromto="0 0 0 -1 0 1"/>
<joint/>
<body pos="-1 0 1">
<geom fromto="0 0 0 1 0 1"/>
<joint/>
</body>
<body pos="-1 0 1">
<geom fromto="0 0 0 -1 0 1"/>
<joint/>
</body>
</body>
</body>
</worldbody>
</mujoco>
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