<mujoco model="Academy teaching hinge">
  <compiler angle="radian"/>
  <option timestep="0.002" gravity="0 0 -9.81" integrator="implicitfast"/>
  <visual><global azimuth="135" elevation="-20"/></visual>
  <worldbody>
    <light pos="0 -1 2"/>
    <geom type="plane" size="1 1 .1" rgba=".86 .88 .82 1"/>
    <geom type="cylinder" pos="0 0 .12" size=".06 .12" rgba=".2 .3 .3 1" contype="0" conaffinity="0"/>
    <body name="arm" pos="0 0 .3">
      <joint name="hinge" type="hinge" axis="0 1 0" range="-1.2 1.2" damping="0"/>
      <geom name="link" type="capsule" fromto="0 0 0 0 0 -.2" size=".018" mass=".2" rgba=".43 .6 .32 1"/>
      <site name="tip" pos="0 0 -.2" size=".025" rgba=".8 .3 .2 1"/>
    </body>
  </worldbody>
  <actuator><motor name="hinge_motor" joint="hinge" gear="1" ctrllimited="true" ctrlrange="-1 1"/></actuator>
</mujoco>
