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

  <option timestep="0.002">
    <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="0 -1.5 2" xyaxes='1 0 0 0 1 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>

    <body name="end_goal" pos="0 0 0" mocap="true">
        <site type="sphere" size="0.05" rgba="1 1 0 1" />
    </body>
    <!--<body name="sub_goal" pos="0 0 0" mocap="true">-->
        <!--<site type="sphere" size="0.05" rgba="1 0 1 1" />-->
    <!--</body>-->
    <body name="current_velo" pos="0.0 0 0.0" mocap="true">
        <site type="box" size="0.01 0.01 0.1" rgba="1 1 1 1" />
    </body>
    <body name="subgoal_velo" pos="0.0 0 0.0" mocap="true">
        <site type="box" size="0.01 0.01 0.1" rgba="1 0 1 1" />
    </body>
    <body name="zero_velo" pos="1.0 0 0.75" mocap="true">
        <site type="box" size="0.3 0.01 0.01" rgba="1 0 0 1" />
    </body>
  </worldbody>

  <actuator>
    <motor name="torque" joint="hinge" gear="1" ctrlrange="-2 2" ctrllimited="true"/>
  </actuator>
</mujoco>
