<mujoco model='cartpole'>
  <compiler inertiafromgeom='true' coordinate='local' />
  <default>
    <joint damping='0.05' />
    <geom contype='0' friction='1 0.1 0.1' rgba='0.7 0.7 0 1' />
  </default>
  <option timestep='0.02' gravity='1e-5 0 -9.81' />
  <size nstack='3000' />
  <worldbody>
    <geom name='floor' pos='0 0 -3.0' size='40 40 40' type='plane' rgba='0.8 0.9 0.8 1' />
    <geom name='rail' type='capsule' pos='0 0 0' quat='0.707 0 0.707 0' size='0.02 1' rgba='0.3 0.3 0.7 1' />
    <body name='cart' pos='0 0 0'>
      <joint name='slider' type='slide' limited='true' pos='0 0 0' axis='1 0 0' range='-1 1' />
      <geom name='cart' type='capsule' pos='0 0 0' quat='0.707 0 0.707 0' size='0.1 0.1' />
      <body name='pole' pos='0 0 0'>
        <joint name='hinge' type='hinge' pos='0 0 0' axis='0 1 0' ref="180"/>
        <geom name='cpole' type='capsule' fromto='0 0 0 0 0 0.6' size='0.045 0.3' rgba='0 0.7 0.7 1' />
        <site name='tip' pos='.001 0 .6' size='.01 .01 .01' />
      </body>
    </body>
    <camera name="cam" mode='fixed' pos='0 2 0' xyaxes='-1 0 0 0 0 1' />
  </worldbody>
  <actuator>
    <motor name='slide' joint='slider' gear='100' ctrlrange='-1 1' ctrllimited='true' />
  </actuator>
  <keyframe>
    <key qpos='0 -2' qvel='1 0' />
  </keyframe>
</mujoco>
