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<!-- This file is a playground for understanding different rotations.
Currently, two examples are given:
- A rotation in the xy plane about a ball joint located in the corner of a box.
- A rotation in the xy plane about a free joing located in the center of a box.
-->
<mujoco>
<option density="1000">
<flag gravity="disable"/>
</option>
<worldbody>
<geom type="plane" size="10 10 .1" rgba="1 1 1 1"/>
<light pos="0 0 20"/>
<body name="body_ball" pos="0 0 .5">
<geom type="box" size=".5 .5 .1" pos="0 0 0"/>
<joint name="ball" pos=".5 .5 0" axis="0 0 1" type="ball"/>
</body>
<body name="body_free" pos="3 0 .5">
<freejoint name="free"/>
<geom type="box" size=".5 .5 .1" pos="0 0 0"/>
</body>
</worldbody>
<actuator>
<general name="ball" joint="ball" dyntype="integrator" gear="0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
<general name="free" joint="free" dyntype="integrator" gear="0 0 0 0 0 1" ctrllimited="true" ctrlrange="-100 100"/>
</actuator>
</mujoco>
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