<mujoco model="cart_pole">
	<compiler inertiafromgeom="true"/>
	<default>
		<joint armature="0" damping="0.05" limited="false"/>
		<geom contype="0" friction="1 0.1 0.1" rgba=" .8 .8 .8 1"/>
	</default>
	<option timestep="0.033" gravity="0 0 -9.81" integrator="RK4" />
	<size nstack="3000"/>
	<worldbody>
        <light directional="true" cutoff="4" exponent="20" diffuse="1 1 1" specular="0 0 0" pos=".9 .3 2.5" dir="-.9 -.3 -2.5 "/>
		<!--geom name="ground" type="plane" pos="0 0 0" /-->
		<geom name="rail1" pos="0 0.09 0" quat="0.707 0 0.707 0" size="0.02 1" type="capsule" />
        <geom name="rail2" pos="0 -0.09 0" quat="0.707 0 0.707 0" size="0.02 1" type="capsule" />
		<body name="cart" pos="0 0 0">
			<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
			<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.2 0.2" type="box" rgba=".5 .5 .5 1"/>
			<body name="pole" pos="0 0 0">
				<joint axis="0 1 0" name="hinge" pos="0 0 0" range="-90 90" type="hinge"/>
				<geom fromto="0 0 0 0.001 0 -0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.02 0.3" type="capsule" density="100"/>
                <geom type="sphere" size="0.1" name="ball" rgba="0 0.7 0.7 1" pos="0 0 -0.6" />
			</body>
		</body>
	</worldbody>
	<actuator>
		<motor gear="1" joint="slider" name="slide"/>
	</actuator>
</mujoco>