<mujoco model="inverted 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>
		
		<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" 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 0.1" type="capsule" />
			<body name="pole" pos="0 0 0">
				<joint axis="0 1 0" name="hinge" pos="0 0 0" limited="false" range="-90 90" type="hinge" />
				<geom fromto="0 0 0 0.001 0 4.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule" />
				
			</body>
		</body>
	</worldbody>
	<actuator>
		<motor gear="100" joint="slider" name="slide" />
	</actuator>
</mujoco>