<?xml version="1.0" encoding="utf-8"?>
<mujoco model="qube">
    <compiler angle="radian"/>
    <option timestep="0.01" integrator="RK4"/>

    <worldbody>
        <light name="" pos="0.051036 -0.0321818 0.5" dir="0 0 -1" diffuse="0.8 0.8 0.8" specular="0.9 0.9 0.9"/>
        <body name="arm" pos="0 -0.019632 0">
            <inertial pos="0 -0.0425 0" quat="0.707107 -0.707107 0 0" mass="0.095"
                      diaginertia="5.7439e-05 5.7439e-05 4.82153e-07"/>
            <joint name="base_motor" pos="0 0 0" axis="0 0 1" range="-90 90" damping="0.0005"/>
            <joint name="arm_pole" pos="0 0 0" axis="0 1 0" range="-90 90" damping="3e-5"/>
            <geom name="qube0:arm" size="0.003186 0.0425" pos="0 -0.0425 0" quat="0.707107 -0.707107 0 0"
                  type="cylinder" friction="0 0 0"/>
            <body name="pole" pos="0 -0.080312 0">
                <inertial pos="0 0 0.05654" quat="0 1 0 0" mass="0.024"
                          diaginertia="3.34191e-05 3.34191e-05 2.74181e-07"/>
                <geom name="qube0:pole" size="0.00478 0.0645" pos="0 0 0.05654" quat="0 1 0 0" type="cylinder"
                      friction="0 0 0"/>
            </body>
        </body>
    </worldbody>

    <actuator>
        <general name="motor_rotation" joint="base_motor" ctrllimited="true" ctrlrange="-18 18" gear="0.005 0 0 0 0 0"/>
    </actuator>
</mujoco>

 