If an object was to be 'thrown' in a way that it is given an angle velocity, would it be possible to have is simulate free rotation, so it would rotate in the air according to its moments of inertia and angular velocities? Right now in my simulation does not seem to be doing that, but I want to make sure there isn't something I need to explicitly turn on. Thanks in advance. Alex
Yes, it should work. The body needs to be "connected" to the world body with a joint of type "free". See discussion of floating objects in the documentation: http://www.mujoco.org/book/index.html#Floating