<mujoco model="pendulum">
    <compiler angle="radian" />
    <option timestep="0.02">
        <flag contact="disable" energy="enable" />
    </option>
    <size njmax="500" nconmax="100" />
    <visual>
        <quality shadowsize="2048" />
        <headlight ambient="0.4 0.4 0.4" diffuse="0.8 0.8 0.8" specular="0.1 0.1 0.1" />
    </visual>
    <asset>
        <texture type="skybox" name="skybox" builtin="gradient" mark="random" rgb1="0.4 0.6 0.8" rgb2="0 0 0" markrgb="1 1 1" width="800" height="4800" />
        <texture type="2d" name="grid" builtin="checker" mark="edge" rgb1="0.1 0.2 0.3" rgb2="0.2 0.3 0.4" markrgb="0.2 0.3 0.4" width="300" height="300" />
        <material name="grid" texture="grid" texuniform="true" reflectance="0.2" />
        <material name="self" rgba="0.7 0.5 0.3 1" />
        <material name="self_default" rgba="0.7 0.5 0.3 1" />
        <material name="self_highlight" rgba="0 0.5 0.3 1" />
        <material name="effector" rgba="0.7 0.4 0.2 1" />
        <material name="effector_default" rgba="0.7 0.4 0.2 1" />
        <material name="effector_highlight" rgba="0 0.5 0.3 1" />
        <material name="decoration" rgba="0.3 0.5 0.7 1" />
        <material name="eye" rgba="0 0.2 1 1" />
        <material name="target" rgba="0.6 0.3 0.3 1" />
        <material name="target_default" rgba="0.6 0.3 0.3 1" />
        <material name="target_highlight" rgba="0.6 0.3 0.3 0.4" />
        <material name="site" rgba="0.5 0.5 0.5 0.3" />
    </asset>
    <worldbody>
        <geom name="floor" size="2 2 0.2" type="plane" material="grid" />
        <camera name="fixed" pos="0 -1.5 2" quat="0.92388 0.382683 0 0" />
        <camera name="lookat" target="pole" pos="0 -2 1" mode="targetbodycom" />
        <light name="light" pos="0 0 2" dir="0 0 -1" />
        <body name="pole" pos="0 0 0.6">
            <inertial pos="0 0 0.5" mass="1" diaginertia="0.001 0.001 0.001" />
            <joint name="hinge" pos="0 0 0" axis="0 1 0" damping="0.1" />
            <geom name="base" size="0.021 0.03" quat="0.707107 0.707107 0 0" type="cylinder" material="decoration" />
            <geom name="pole" size="0.02 0.25" pos="0 0 0.25" quat="0 1 0 0" type="capsule" material="self" />
            <geom name="mass" size="0.05" pos="0 0 0.5" material="effector" />
        </body>
    </worldbody>
    <actuator>
        <general name="torque" joint="hinge" ctrllimited="true" ctrlrange="-10 10" />
    </actuator>
</mujoco>
