mujoco

<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>