<mujoco model="pendulum">
  <include file="./common/visual.xml"/>
  <include file="./common/skybox.xml"/>
  <include file="./common/materials.xml"/>

  <option timestep="0.002">
    <flag contact="disable" energy="enable"/>
  </option>

  <worldbody>
    <light name="light" pos="0 0 2"/>
    <geom name="floor" size="2 2 .2" type="plane" material="grid"/>
    <camera name="fixed" pos="0 -1.5 2" xyaxes='1 0 0 0 1 1'/>
    <camera name="lookat" mode="targetbodycom" target="pole" pos="0 -2 1"/>
    <body name="pole" pos="0 0 .6">
      <joint name="hinge" type="hinge" axis="0 1 0" damping="0.1"/>
      <geom name="base" material="decoration" type="cylinder" fromto="0 -.03 0 0 .03 0" size="0.021" mass="0"/>
      <geom name="pole" material="self" type="capsule" fromto="0 0 0 0 0 0.5" size="0.02" mass="0"/>
      <geom name="mass" material="effector" type="sphere" pos="0 0 0.5" size="0.05" mass="1"/>
    </body>

    <!-- End goal and subgoal Visualizations -->

    <!-- End Goal: Yellow -->
    <body name="end_goal" pos="0 0 0" mocap="true">
        <site type="box" size="0.14 0.04 0.04" rgba="1 1 0 1" />
    </body>


    <!-- Subgoal 1: Purple -->
    <body name="subgoal_1" pos="0 0 0" mocap="true">
        <site type="box" size="0.08 0.08 0.08" rgba="1 0 1 0" />
    </body>

    <!-- Subgoal 2: Green -->
    <body name="subgoal_2" pos="0 0 0" mocap="true">
        <site type="box" size="0.075 0.075 0.075" rgba="0 1 0 0" />
    </body>

    <!-- Subgoal 3: Red -->
    <body name="subgoal_3" pos="0 0 0" mocap="true">
        <site type="box" size="0.075 0.075 0.075" rgba="1 0 0 0" />
    </body>

    <!-- Subgoal 4: Blue -->
    <body name="subgoal_4" pos="0 0 0" mocap="true">
        <site type="box" size="0.075 0.075 0.075" rgba="0 0 1 0" />
    </body>

    <!-- Subgoal 5: Cyan -->
    <body name="subgoal_5" pos="0 0 0" mocap="true">
        <site type="box" size="0.075 0.075 0.075" rgba="0 1 1 0" />
    </body>

    <!-- Subgoal 6: Orange -->
    <body name="subgoal_6" pos="0 0 0" mocap="true">
        <site type="box" size="0.075 0.075 0.075" rgba="1 0.65 0 0" />
    </body>

    <!-- Subgoal 7: Maroon -->
    <body name="subgoal_7" pos="0 0 0" mocap="true">
        <site type="box" size="0.075 0.075 0.075" rgba="0.5 0 0 0" />
    </body>

    <!-- Subgoal 8: Gray -->
    <body name="subgoal_8" pos="0 0 0" mocap="true">
        <site type="box" size="0.075 0.075 0.075" rgba="0.5 0.5 0.5 0" />
    </body>

    <!-- Subgoal 9: White -->
    <body name="subgoal_9" pos="0 0 0" mocap="true">
        <site type="box" size="0.075 0.075 0.075" rgba="1 1 1 0" />
    </body>

    <!-- Subgoal 10: Black -->
    <body name="subgoal_10" pos="0 0 0" mocap="true">
        <site type="box" size="0.075 0.075 0.075" rgba="0 0 0 0" />
    </body>

  </worldbody>

  <actuator>
    <motor name="torque" joint="hinge" gear="1" ctrlrange="-2 2" ctrllimited="true"/>
  </actuator>
</mujoco>
