<mujoco model="cart-pole">
  <include file="./common/skybox.xml"/>
  <include file="./common/visual.xml"/>
  <include file="./common/materials.xml"/>

  <option timestep="0.01" integrator="RK4">
    <flag contact="disable" energy="enable"/>
  </option>

  <default>
    <default class="pole">
      <joint type="hinge" axis="0 1 0"  damping="2e-6"/>
      <geom type="capsule" fromto="0 0 0 0 0 1" size="0.045" material="self" mass=".1"/>
    </default>
  </default>

  <worldbody>
    <light name="light" pos="0 0 6"/>
    <camera name="fixed" pos="0 -4 1" zaxis="0 -1 0"/>
    <camera name="lookatcart" mode="targetbody" target="cart" pos="0 -2 2"/>
    <geom name="floor" pos="0 0 -.05" size="4 4 .2" type="plane" material="grid"/>
    <geom name="rail1" type="capsule" pos="0  .07 1" zaxis="1 0 0" size="0.02 2" material="decoration" />
    <geom name="rail2" type="capsule" pos="0 -.07 1" zaxis="1 0 0" size="0.02 2" material="decoration" />
    <body name="cart" pos="0 0 1">
      <joint name="slider" type="slide" limited="true" axis="1 0 0" range="-1.8 1.8" solreflimit=".08 1" damping="5e-4"/>
      <geom name="cart" type="box" size="0.2 0.15 0.1" material="self"  mass="1"/>
      <body name="pole_1" childclass="pole">
        <joint name="hinge_1"/>
        <geom name="pole_1"/>
      </body>
    </body>
  </worldbody>

  <actuator>
    <motor name="slide" joint="slider" gear="10" ctrllimited="true" ctrlrange="-1 1" />
  </actuator>
</mujoco>
