Balancing-Robot

<mujoco model="3D Gizmos">
    <option integrator="RK4" timestep="0.001" gravity="0 0 -9.81"/>

    <visual>
        <global offheight="2160" offwidth="3840"/>
        <quality offsamples="8"/>
    </visual>

    <asset>
        <mesh file="../3D Models/3D Gizmo/3D Gizmo.obj"/>
        <texture name="gizmo" type="2d" colorspace="linear"
            file="../3D Models/3D Gizmo/Gizmo.png"/>
        <texture name="grid" type="2d" builtin="checker" rgb1=".1 .2 .3"
            rgb2=".2 .3 .4" width="300" height="300"/>
        <material name="grid" texture="grid" texrepeat="8 8" reflectance=".2"/>
        <material name="gizmo" texture="gizmo"/>
        <material name="master" rgba="1.0 1.0 0.0 1.0"/>
        <material name="slave" rgba="0.0 1.0 1.0 1.0"/>
    </asset>

    <worldbody>
        <geom size="10 10 .01" type="plane" material="grid"/>
        <light pos="0 0 20"/>
        <camera name="closeup" pos="3 -3 3" xyaxes="1 .8 0 0 1 2"/>
        <body name="master" pos="-1.5 0 1.5">
            <joint name="master_center" type="ball" pos="0 0 0"/>
            <site name="IMU" pos="0 0 0"/>
            <geom type="mesh" mesh="3D Gizmo" material="gizmo" euler="90 0 0" mass=".001"/>
            <geom type="sphere" size=".2" material="master" mass="1000"/>
        </body>
        <body name="slave" pos="1.5 0 1.5">
            <joint name="slave_center" type="ball" pos="0 0 0"/>
            <geom type="mesh" mesh="3D Gizmo" material="gizmo" euler="90 0 0" mass=".001"/>
            <geom type="sphere" size=".2" material="slave" mass="1000"/>
        </body>
    </worldbody>

    <sensor>
        <accelerometer name="accelerometer" site="IMU"/>
        <accelerometer name="gyro" site="IMU"/>
        <framezaxis name="top z axis" objtype="body" objname="master"/>
        <frameyaxis name="top y axis" objtype="body" objname="master"/>
    </sensor>
    
</mujoco>