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<mujoco>
<!-- linear dynamical system with fixed, anaylticaly computable derivatives -->
<default>
<joint axis="1 0 0" damping=".01" stiffness=".1"/>
<geom type="box" size=".05 .05 .05"/>
</default>
<worldbody>
<light pos="0 0 1"/>
<body>
<joint name="joint0"/>
<geom/>
<body pos=".15 0 0">
<joint name="joint1"/>
<geom/>
<body pos=".15 0 0">
<joint/>
<geom/>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor joint="joint0" ctrllimited="true" ctrlrange="-1 1"/>
<motor joint="joint1" ctrllimited="true" ctrlrange="-1 1"/>
</actuator>
</mujoco>
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