File size: 1,176 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>
<visual>
<scale constraint="0.02"/>
</visual>
<worldbody>
<light pos="0 0 3"/>
<geom type="plane" size="1 1 .01"/>
<body name="non-diag inertia" pos="0 0 1" quat="0 0.534522 0.801784 0.267261">
<freejoint/>
<geom type="box" size="0.15 0.1 0.05" pos="0.15 0.1 0.05" euler="30 30 30" rgba="1 0 0 1"/>
</body>
<body name="diagonal inertia" pos="0 0 2" quat="0 0.534522 0.801784 0.267261">
<freejoint/>
<geom type="box" size="0.15 0.1 0.05" rgba="0 0 1 1"/>
</body>
<body name="mocap body" pos="-.5 -.5 .5" mocap="true" quat=".1 .2 .3 .4">
<geom type="box" size="0.15 0.1 0.05" pos="0.15 0.1 0.05" euler="30 30 30" rgba="0 .7 0 1"/>
</body>
<body name="small sphere" pos="-0.4 0.4 0.2">
<freejoint/>
<geom type="sphere" size="0.01" rgba="1 1 1 1"/>
</body>
<body name="heavy sphere" pos="-0.5 0.4 0.2">
<freejoint/>
<geom type="sphere" size="0.02" rgba="1 1 1 1" mass="1000"/>
</body>
<body name="ball joint" pos=".5 -.5 .5" >
<joint type="ball" damping="10"/>
<geom type="box" size="0.1 0.1 0.1"/>
</body>
</worldbody>
</mujoco>
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