File size: 456 Bytes
2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 | <mujoco>
<compiler autolimits="true"/>
<option integrator="implicitfast"/>
<worldbody>
<geom type="plane" size="1 1 .01"/>
<light pos="0 0 2"/>
<body pos="0 0 .3">
<joint name="hinge" axis="0 1 0"/>
<geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
<geom size=".03" pos=".2 0 0"/>
</body>
</worldbody>
<actuator>
<damper name="damper" joint="hinge" kv="10" ctrlrange="0 1"/>
</actuator>
</mujoco>
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