Hello, Thanks for the wonderful software. I am quite new to MuJoCo I am trying to model a space environment. Gravity =0. Assume a satellite is revolving around the earth(for the time being static). I would like to have something like if I run ./simulate model.xml, then I expect to get a body revolving around another static body. Can I set a constant value for rotation in the xml file or I will have to modify the mjData via some program? Or any other elegant want to do this? Any code examples would be really helpful Thanks Ash