Balancing-Robot

<mujoco model="balancing robot">
    <option integrator="RK4" timestep="0.001"/>

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

    <asset>
        <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"/>

        <texture name="wheel" type="2d" builtin="checker" rgb1=".1 .1 .1"
            rgb2=".5 .5 .5" width="300" height="300"/>
        <material name="wheel" texture="wheel" texrepeat="2 2" reflectance=".2"/>
    </asset>

    <worldbody>
        <geom size="1 1 .01" type="plane" material="grid"/>
        <light pos="0 0 1"/>
        <camera name="closeup" pos=".3 -.4 .25" xyaxes="1 .8 0 0 1 2"/>
        <body name="top" pos="0 0 0">
            <joint name="top" type="free"/>
            <site name="IMU" pos="0 0 .04"/>
            <geom name="body" type="box" size=".0275 .080 .075" pos="0 0 .095" mass=".46" rgba="1 0 0 1" contype="2" conaffinity="2"/>
            <body name="right wheel" pos="0 0 .02">
                <joint name="right wheel" type="hinge" axis="0 1 0" pos="0 0 .02" damping="0.0001"/>
                <geom name="right wheel" type="cylinder" pos="0 -0.1 .02" size="0.04 .0175" mass=".04" zaxis="0 1 0" material="wheel"/>
            </body>
            <body name="left wheel" pos="0 0 .02">
                <joint name="left wheel" type="hinge" axis="0 1 0" pos="0 0 .02" damping="0.0001"/>
                <geom name="left wheel" type="cylinder" pos="0 0.1 .02" size="0.04 .0175" mass=".04" zaxis="0 1 0" material="wheel"/>
            </body>
        </body>
    </worldbody>

    <actuator>
        <motor name="motor right" joint="right wheel" gear="1"/>
        <motor name="motor left" joint="left wheel" gear="1"/>
    </actuator>

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