| <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> |
|
|
