<mujoco model="pendulum">
  <compiler inertiafromgeom="true"/>
  <default>
    <geom contype="0" rgba="0.7 0.7 0 1"/>
    <motor ctrlrange="-3 3"/>
  </default>
  <option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
  <worldbody>
    <body name="pendulum" pos="0 0 0">
      <joint axis="0 1 0" name="hinge" pos="0 0 0"/>
      <geom fromto="0 0 0 0.001 0 -0.6" name="pendulum" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
    </body>
  </worldbody>
  <actuator>
    <motor joint="hinge"/>
  </actuator>
</mujoco>