| UprightJoint |
| DampingRatio | Spring damping ratio (non-dimensional). A value of 1 is critically damped; values below 1 are springy, values above 1 are over-damped. |
| Hertz | Spring stiffness in cycles per second (Hertz). Higher values make the joint stiffer and snap back faster. |
| MaxTorque | Maximum torque the joint can apply in newton-meters. Set to 0 for unlimited torque. |