Yuval Tassa
ec322641b7
PiperOrigin-RevId: 710756899 Change-Id: I30c0725859ba0f1a59750dc89eebb9eba84fa71b
40 lines
957 B
XML
40 lines
957 B
XML
<mujoco model="model for inertia-related tests">
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<default>
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<geom type="capsule" size="0.1"/>
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<joint axis="0 1 0"/>
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</default>
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<worldbody>
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<body pos="1 -.5 0" euler="10 20 30">
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<geom type="box" size="0.15 .2 .25" pos=".1 .2 .3" euler="10 20 30"/>
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<freejoint name="6 non-simple dofs" align="false"/>
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</body>
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<body pos="0 -.5 0">
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<geom type="sphere" size="0.2"/>
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<joint type="ball" name="3 simple dofs"/>
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</body>
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<body>
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<geom fromto="0 0 0 0 0 1"/>
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<joint/>
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<body pos="0 0 1">
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<geom fromto="0 0 0 1 0 1"/>
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<joint/>
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</body>
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<body pos="0 0 1">
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<geom fromto="0 0 0 -1 0 1"/>
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<joint/>
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<body pos="-1 0 1">
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<geom fromto="0 0 0 1 0 1"/>
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<joint/>
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</body>
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<body pos="-1 0 1">
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<geom fromto="0 0 0 -1 0 1"/>
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<joint/>
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</body>
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</body>
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</body>
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</worldbody>
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</mujoco>
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