model.addTest(new CollisionProcessing());
model.addTest(new SensorTest());
// joints
model.addCategory("Joints");
model.addTest(new PrismaticTest());
model.addTest(new RevoluteTest());
model.addTest(new FixedPendulumTest(true));
model.addTest(new FreePendulumTest(true));
model.addTest(new MotorTest());
model.addTest(new Chain());