| <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> | |