mujoco

<mujoco model="Benchmark inertia test model">
  <option timestep="0.005"/>

  <visual>
    <map force="0.1" zfar="30"/>
    <rgba haze="0.15 0.25 0.35 1"/>
    <global offwidth="2560" offheight="1440" elevation="-20" azimuth="120"/>
  </visual>

  <statistic center="0 0 0.7"/>

  <asset>
    <texture type="skybox" builtin="gradient" rgb1=".3 .5 .7" rgb2="0 0 0" width="32" height="512"/>
    <texture name="body" type="cube" builtin="flat" mark="cross" width="128" height="128" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1"/>
    <material name="body" texture="body" texuniform="true" rgba="0.8 0.6 .4 1"/>
    <texture name="grid" type="2d" builtin="checker" width="512" height="512" rgb1=".1 .2 .3" rgb2=".2 .3 .4"/>
    <material name="grid" texture="grid" texrepeat="1 1" texuniform="true" reflectance=".2"/>
  </asset>

  <default>
    <motor ctrlrange="-1 1" ctrllimited="true"/>
    <default class="body">

      <!-- geoms -->
      <geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body" group="1"/>
      <default class="thigh">
        <geom size=".06"/>
      </default>
      <default class="shin">
        <geom fromto="0 0 0 0 0 -.3"  size=".049"/>
      </default>
      <default class="foot">
        <geom size=".027"/>
        <default class="foot1">
          <geom fromto="-.07 -.01 0 .14 -.03 0"/>
        </default>
        <default class="foot2">
          <geom fromto="-.07 .01 0 .14  .03 0"/>
        </default>
      </default>
      <default class="arm_upper">
        <geom size=".04"/>
      </default>
      <default class="arm_lower">
        <geom size=".031"/>
      </default>
      <default class="hand">
        <geom type="sphere" size=".04"/>
      </default>

      <!-- joints -->
      <joint type="hinge" damping=".2" stiffness="1" armature=".01" limited="true" solimplimit="0 .99 .01"/>
      <default class="joint_big">
        <joint damping="5" stiffness="10"/>
        <default class="hip_x">
          <joint range="-30 10"/>
        </default>
        <default class="hip_z">
          <joint range="-60 35"/>
        </default>
        <default class="hip_y">
          <joint axis="0 1 0" range="-150 20"/>
        </default>
        <default class="joint_big_stiff">
          <joint stiffness="20"/>
        </default>
      </default>
      <default class="knee">
        <joint pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
      </default>
      <default class="ankle">
        <joint range="-50 50"/>
        <default class="ankle_y">
          <joint pos="0 0 .08" axis="0 1 0" stiffness="6"/>
        </default>
        <default class="ankle_x">
          <joint pos="0 0 .04" stiffness="3"/>
        </default>
      </default>
      <default class="shoulder">
        <joint range="-85 60"/>
      </default>
      <default class="elbow">
        <joint range="-100 50" stiffness="0"/>
      </default>
    </default>

    <default class="capsule">
      <geom type="capsule" size="0.1 0.05"/>
    </default>
    <default class="ellipsoid">
      <geom type="ellipsoid" size="0.15 0.1 0.07" pos=".01 .02 .03"/>
    </default>
  </default>

  <worldbody>
    <geom name="floor" size="0 0 .05" type="plane" material="grid" condim="3"/>
    <light name="top" pos="0 0 10" mode="trackcom"/>

    <frame pos="-2 -2 2.5">
      <replicate count="5" offset="0 1 0" euler="0 180 0">
        <frame pos="0 0 -1.5">
          <body euler="30 40 0">
            <freejoint/>
            <geom class="capsule"/>
          </body>
        </frame>
      </replicate>
    </frame>

    <replicate count="3" offset="1.5 0 0" sep="-">
      <body name="torso" pos="0 0 1.282" childclass="body">
        <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
        <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
        <freejoint name="root"/>
        <geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
        <geom name="waist_upper" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
        <body name="head" pos="0 0 .19">
          <geom name="head" type="sphere" size=".09"/>
          <camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
        </body>
        <body name="waist_lower" pos="-.01 0 -.26">
          <geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
          <joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="joint_big_stiff"/>
          <joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="joint_big"/>
          <body name="pelvis" pos="0 0 -.165">
            <joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="joint_big"/>
            <geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
            <body name="thigh_right" pos="0 -.1 -.04">
              <joint name="hip_right" type="ball"/>
              <geom name="thigh_right" fromto="0 0 0 0 .01 -.34" class="thigh"/>
              <body name="shin_right" pos="0 .01 -.4">
                <joint name="knee_right" class="knee"/>
                <geom name="shin_right" class="shin"/>
                <body name="foot_right" pos="0 0 -.39">
                  <joint name="ankle_y_right" class="ankle_y"/>
                  <joint name="ankle_x_right" class="ankle_x" axis="1 0 .5"/>
                  <geom name="foot1_right" class="foot1"/>
                  <geom name="foot2_right" class="foot2"/>
                </body>
              </body>
            </body>
            <body name="thigh_left" pos="0 .1 -.04">
              <joint name="hip_x_left" axis="-1 0 0" class="hip_x"/>
              <joint name="hip_z_left" axis="0 0 -1" class="hip_z"/>
              <joint name="hip_y_left" class="hip_y"/>
              <geom name="thigh_left" fromto="0 0 0 0 -.01 -.34" class="thigh"/>
              <body name="shin_left" pos="0 -.01 -.4">
                <joint name="knee_left" class="knee"/>
                <geom name="shin_left" fromto="0 0 0 0 0 -.3" class="shin"/>
                <body name="foot_left" pos="0 0 -.39">
                  <joint name="ankle_y_left" class="ankle_y"/>
                  <joint name="ankle_x_left" class="ankle_x" axis="-1 0 -.5"/>
                  <geom name="foot1_left" class="foot1"/>
                  <geom name="foot2_left" class="foot2"/>
                </body>
              </body>
            </body>
          </body>
        </body>
        <body name="upper_arm_right" pos="0 -.17 .06">
          <joint name="shoulder1_right" axis="2 1 1"  class="shoulder"/>
          <joint name="shoulder2_right" axis="0 -1 1" class="shoulder"/>
          <geom name="upper_arm_right" fromto="0 0 0 .16 -.16 -.16" class="arm_upper"/>
          <body name="lower_arm_right" pos=".18 -.18 -.18">
            <joint name="elbow_right" axis="0 -1 1" class="elbow"/>
            <geom name="lower_arm_right" fromto=".01 .01 .01 .17 .17 .17" class="arm_lower"/>
            <body name="hand_right" pos=".18 .18 .18">
              <geom name="hand_right" zaxis="1 1 1" class="hand"/>
            </body>
          </body>
        </body>
        <body name="upper_arm_left" pos="0 .17 .06">
          <joint name="shoulder1_left" axis="-2 1 -1" class="shoulder"/>
          <joint name="shoulder2_left" axis="0 -1 -1"  class="shoulder"/>
          <geom name="upper_arm_left" fromto="0 0 0 .16 .16 -.16" class="arm_upper"/>
          <body name="lower_arm_left" pos=".18 .18 -.18">
            <joint name="elbow_left" axis="0 -1 -1" class="elbow"/>
            <geom name="lower_arm_left" fromto=".01 -.01 .01 .17 -.17 .17" class="arm_lower"/>
            <body name="hand_left" pos=".18 -.18 .18">
              <geom name="hand_left" zaxis="1 -1 1" class="hand"/>
            </body>
          </body>
        </body>
      </body>
    </replicate>

    <frame pos="-1 -2 2.5">
      <replicate count="5" offset="0 1 0" euler="0 180 0">
        <frame pos="0 0 -1.5">
          <body euler="20 40 60">
            <freejoint align="false"/>
            <geom class="ellipsoid"/>
          </body>
        </frame>
      </replicate>
    </frame>
  </worldbody>
</mujoco>