<mujoco model="cart-pole">
	<compiler inertiafromgeom="true"/>
	<default>
    <joint limited='true' damping='1' armature='0'  />
		<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1" />
		<tendon />
		<motor ctrlrange="-3 3"/>
	</default>
	<option	timestep="0.02" gravity="0 0 -9.81" />
	<size nstack="3000"/>
	<worldbody>
		<!--geom name="ground" type="plane" pos="0 0 0" /-->
		<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" range='-90 90'/>
				<geom name="cpole" type="capsule" fromto="0 0 0 0.001 0 0.6" size="0.049 0.3" rgba="0 0.7 0.7 1" />
<!--                 <body name="pole2" pos="0.001 0 0.6">
					<joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/>
					<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"/>
					<site name="tip2" pos="0 0 .6"/>
				</body>    -->
			</body>
		</body>
	</worldbody>

	<actuator>
		<motor name="slide" joint="slider" gear="100"/>
		<!-- <general name="slide" 	dyntype="filter" dynprm="0.1" trnprm="100 0 0 0 0" target="slider" /> -->
	</actuator>

	<tendon>
		<fixed name="dummy0">
			<joint joint="slider"  coef="1"/>
		</fixed>
		<fixed name="dummy1">
			<joint joint="hinge"  coef="1"/>
		</fixed>
	</tendon>


	</mujoco>
