<!-- Cartpole Model

State-Space (name/joint/parameter):

- cart      slider      position (m)
- pole      hinge       angle (rad)
- cart      slider      velocity (m/s)
- pole      hinge       angular velocity (rad/s)

Actuators (name/actuator/parameter):

- cart      motor       force x (N)

Reference: https://github.com/deepmind/dm_control/blob/master/dm_control/mujoco/testing/assets/cartpole.xml

-->
<mujoco model='cartpole'>
  <compiler inertiafromgeom = "auto"/>

  <size nkey="1"/>

  <custom>
    <numeric name="control_timestep" data="0.04" />
    <numeric name="three_numbers" data="1.0 2.0 3.0" />
  </custom>

  <option timestep='0.001' integrator = 'Euler'/>

  <asset>
    <texture type="skybox" builtin="checker" rgb1="1 1 1" rgb2="1 1 1" width="200" height="200"  />
 </asset>

  <!-- <default>
    <joint damping='0.05' solreflimit='.08 1'/>
    <geom contype='0' friction='1 0.1 0.1'/>
  </default> -->

  <worldbody>
    <body name='cart' pos='0 0 0'>
      <joint name = 'slider' type = 'slide'   pos = '0 0 0' axis = '1 0 0' />
      <geom  name = 'cart'   type = 'sphere'  pos = '0 0 0' size="0.05" mass="0.03" rgba='1 0 0 1' />

        <body name='pole' pos='0 0 0'>
          <joint name='hinge' type='hinge' pos='0 0 0' axis='0 1 0'/>
          <geom type="cylinder" fromto="0 0 0 0 0 -0.6" size="0.01" mass="0" />
          <geom name="blob" type="sphere" pos="0 0 -0.6" size="0.05" mass="0.03" />
        </body>

    </body>

  </worldbody>

  <actuator>
    <motor name='slide' joint='slider' />
  </actuator>

</mujoco>
