mujoco

<mujoco>
  <worldbody>
    <body name="motor1" pos="0 0.1 0">
      <joint name="slide1" type="slide" axis="0 0 1"/>
      <geom size=".03"/>
    </body>
    <body name="motor2" pos="0 0.2 0">
      <joint name="slide2" type="slide" axis="0 0 1"/>
      <geom size=".03"/>
    </body>
    <body name="motor3" pos="0 0.3 0">
      <joint name="slide3" type="slide" axis="0 0 1"/>
      <geom size=".03"/>
    </body>
    <body name="motor4" pos="0 0.4 0">
      <joint name="joint4"/>
      <geom size=".03"/>
    </body>
    <body name="motor5" pos="0 0.5 0">
      <joint name="slide5" type="slide" axis="0 0 1"/>
      <geom size=".03"/>
    </body>
    <body name="motor6" pos="0 0.6 0">
      <joint name="slide6" type="slide" axis="0 0 1"/>
      <geom size=".03"/>
    </body>
    <body name="motor7" pos="0 0.7 0">
      <joint name="slide7" type="slide" axis="0 0 1"/>
      <geom size=".03"/>
    </body>
  </worldbody>

  <actuator>
    <!-- DC motor back-EMF stateless damping -->
    <dcmotor name="dc_bias" joint="slide1" motorconst="2.0" resistance="0.5"/>

    <!-- DC motor velocity setpoint (kd) damping -->
    <dcmotor name="dc_vel" joint="slide2" motorconst="1.0" resistance="1.0" input="pos vel" controller="0 0 5"/>

    <!-- DC motor position controller damping -->
    <dcmotor name="dc_pos" joint="slide3" motorconst="1.0" resistance="1.0" input="pos vel" controller="10 0 5"/>

    <!-- DC motor with LuGre friction (sigma1 micro-damping) -->
    <dcmotor name="dc_lugre" joint="joint4" motorconst="0.05" resistance="2.0"
             damping="0.001" lugre="1e4 100 0.005 0.008 0.1"/>

    <!-- Stateful current, voltage mode (back-EMF only through act_dot) -->
    <dcmotor name="dc_stateful_v" joint="slide5"
             motorconst="2.0" resistance="0.5" inductance="0 0.001"/>

    <!-- Stateful current, position mode (controller + back-EMF through act_dot) -->
    <dcmotor name="dc_stateful_pos" joint="slide6"
             motorconst="1.0" resistance="1.0" inductance="0 0.001"
             input="pos vel" controller="10 0 5"/>

    <!-- Stateful current, velocity mode -->
    <dcmotor name="dc_stateful_vel" joint="slide7"
             motorconst="1.0" resistance="1.0" inductance="0 0.001"
             input="pos vel" controller="0 0 5"/>
  </actuator>
</mujoco>