mujoco

<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>