mujoco

<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" damping=".01" actuatorfrcrange="-.4 .4"/>
      <geom type="capsule" size=".01" fromto="0 0 0 .2 0 0"/>
      <geom size=".03" pos=".2 0 0"/>
    </body>
  </worldbody>

  <actuator>
    <motor name="motor" joint="hinge" ctrlrange="-1 1"/>
    <damper name="damper" joint="hinge" kv="10" ctrlrange="0 1"/>
  </actuator>

  <sensor>
    <actuatorfrc name="motor" actuator="motor"/>
    <actuatorfrc name="damper" actuator="damper"/>
    <jointactuatorfrc name="hinge" joint="hinge"/>
  </sensor>
</mujoco>