<mujoco model="acrobot">
  <compiler inertiafromgeom="true"/>
  <default>
    <joint armature="0" damping="0.1" limited="true"/>
    <geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
    <tendon/>
    <!-- TODO: check control range-->
    <motor ctrlrange="-3 3"/> 
  </default>
  <option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
  <size nstack="3000"/>
  <worldbody>
    <!--geom name="ground" type="plane" pos="0 0 0" /-->
    <!-- <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"/> /-->
    <geom name="base" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
    <body name="pole1" pos="0 0 0">
      <joint axis="0 1 0" name="hinge1" pos="0 0 0" range="-359 359" type="hinge"/>
      <!--  <joint axis="0 1 0" name="hinge" pos="0 0 0" limited="false" type="hinge"/> -->
      <geom fromto="0 0 0 0.001 0 0.6" name="cpole1" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
      <body name="pole2" pos="0.001 0 0.6">
        <!-- <joint axis="0 1 0" name="hinge2" pos="0 0 0" limited="false" type="hinge"  /> -->
        <joint axis="0 1 0" name="hinge2" pos="0 0 0" range="-200 200" type="hinge"  />
        <geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/>
      </body>
    </body>
  </worldbody>
  <actuator>
    <motor gear="50" joint="hinge2" name="slide"/>
  </actuator>
</mujoco>
