| <mujoco> | |
| <worldbody> | |
| <body name="damping in the joints"> | |
| <joint type="slide" axis="0 0 1" damping="10"/> | |
| <geom size=".03"/> | |
| <body> | |
| <joint axis="0 1 0" damping=".1"/> | |
| <geom type="capsule" size=".01" fromto="0 0 0 .1 0 0"/> | |
| </body> | |
| </body> | |
| <body name="damping in the actuators" pos="0 0.1 0"> | |
| <joint name="slide" type="slide" axis="0 0 1"/> | |
| <geom size=".03"/> | |
| <body> | |
| <joint name="hinge" axis="0 1 0"/> | |
| <geom type="capsule" size=".01" fromto="0 0 0 .1 0 0"/> | |
| </body> | |
| </body> | |
| </worldbody> | |
| <actuator> | |
| <general joint="slide" biastype="affine" biasprm="0 0 -10"/> | |
| <general joint="hinge" biastype="affine" biasprm="0 0 -0.1"/> | |
| </actuator> | |
| </mujoco> | |