<mujoco model="pendulum">
  <include file="./common/visual.xml"/>
  <include file="./common/skybox.xml"/>
  <include file="./common/materials.xml"/>

  <option timestep="0.02">
    <flag contact="disable" energy="enable"/>
  </option>

  <worldbody>
    <light name="light" pos="0 0 2"/>
    <geom name="floor" size="2 2 .2" type="plane" material="grid"/>
    <camera name="fixed" pos=".1 -1. 1.5" xyaxes='1 0 0 0 .5 1'/>
    <camera name="lookat" mode="targetbodycom" target="pole" pos="0 -2 1"/>
    <body name="pole" pos="0 0 .6">
      <joint name="hinge" type="hinge" axis="0 1 0" damping="0.1"/>
      <geom name="base" material="decoration" type="cylinder" fromto="0 -.03 0 0 .03 0" size="0.021" mass="0"/>
      <geom name="pole" 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>
