<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /home/lucas/utfpr/ic/repo/bkp_ic_2022/model/furuta.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<mujoco model="furuta_pendulum">
  <compiler angle="degree"/>
  <asset>
    <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
    <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="2 2" texture="texplane"/>
  </asset>
  <option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
    <!-- <flags solverstat="enable" energy="enable"/>-->
  </option>
  <worldbody>
    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
    <geom condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="1 1 0.125" type="plane"/>
    <body name="suport" pos="0 0 3">
      <geom mass="100" rgba="1 0 0 1" size="1 .5" type="cylinder"/>
      <body axisangle="0 1 0 90" name="haste_horizontal" pos="1.5 0 .75">
        <geom mass="10" name="haste_horizontal_geom" rgba="0 1 0 1" size=".2 1.5" type="cylinder"/>
        <inertial diaginertia="1.9749999999999999 1.9749999999999999 0.20000000000000004" mass="10" pos="0 0 0"/>
        <joint axis="1 0 0" name="motor" pos="0 0 -1.5" type="hinge"/>
        <body axisangle="0 1 0 90" name="haste_vertical" pos="-1.5 0 1.71">
          <geom mass="10" name="haste_vertical_geom" rgba="0 0 1 1" size=".2 1.5" type="cylinder"/>
          <inertial diaginertia="1.9749999999999999 1.9749999999999999 0.20000000000000004" mass="10" pos="0 0 0"/>
          <!-- <joint name="conector" pos="0 0 1.5" limited="false" type="hinge" axis="1 0 0"/> -->
          <joint axis="1 0 0" name="motor_vertical" pos="0 0 1.5" type="hinge"/>
        </body>
      </body>
    </body>
  </worldbody>
  <actuator>
    <motor joint="motor" name="motor"/>
    <motor joint="motor_vertical" name="motor_vertical"/>
    <!-- <motor name="conector"  joint="conector"/> -->
  </actuator>
</mujoco>

