<mujoco model="cartpole">
	<compiler inertiafromgeom="true" />
	<option gravity="0 0 -9.81" integrator="RK4" timestep="0.01" />
	<default>
		<joint armature="0" damping="1" limited="true" solimplimit="0 0 0.001 0.5 1.0" />
		<geom contype="0" conaffinity="0" friction="1 0.1 0.1" />
		<motor ctrlrange="-3 3" />
	</default>
	<asset>
		<texture name="skybox" type="skybox" builtin="gradient" rgb1="0.4 0.4 0.4" rgb2="0 0 0"
			width="512"
			height="512" />
		<texture name="motphys-ground" type="2d" file="../../common/motphys-ground.png" />
		<material name="motphys-ground" texture="motphys-ground" texuniform="true"
			texrepeat="0.4 0.4" />
	</asset>


	<worldbody>
		<light pos="0 0 1.5" dir="0 1 -1" directional="true" />
		<geom name="floor" size="0 0 0.01" type="plane" material="motphys-ground" pos="0 0 -1" />
	</worldbody>
	<worldbody>
		<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1"
			type="capsule" />
		<body name="cart" pos="0 0 0">
			<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide" />
			<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule" />
			<body name="pole" pos="0 0 0">
				<joint axis="0 1 0" name="hinge" pos="0 0 0" range="-90 90" type="hinge" />
				<geom pos="0 0 0.3" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule" />
			</body>
		</body>
	</worldbody>
	<actuator>
		<motor ctrllimited="true" ctrlrange="-3 3" gear="100" joint="slider" name="slide" />
	</actuator>
</mujoco>