<mujoco model="pendulum">
    <compiler inertiafromgeom="true"/>
    <default>
        <joint armature="0" damping="1" limited="true"/>
        <geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
        <tendon/>
        <motor ctrlrange="-3 3"/>
    </default>
    <option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
    <size nstack="3000"/>
    <worldbody>
        <body name="pole" pos="0 0 0">
            <joint axis="0 1 0" name="hinge" pos="0 0 0" damping="0" limited="false" range="-90 90" type="hinge"/>
            <geom fromto="0 0 0 0.001 0 0.5" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
        </body>
    </worldbody>
    <!--	<worldbody>-->
    <!--		<body name="pole" pos="0 0 .6">-->
    <!--		  <joint axis="0 1 0" name="hinge" pos="0 0 0" limited="false" range="-90 90" type="hinge" damping="0.1"/>-->
    <!--		  <geom name="base" material="decoration" type="cylinder" fromto="0 -.03 0 0 .03 0" size="0.021" mass="0"/>-->
    <!--		  <geom name="cpole" 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>-->
    <!--	</worldbody>-->
    <actuator>
        <motor name="torque" joint="hinge" gear="1" ctrlrange="-1 1" ctrllimited="true"/>
    </actuator>
</mujoco>
