| <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> |
|
|
