Balancing-Robot

<mujoco model="plane">
    <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/piper_pa18/obj/piper_pa18.obj"/>
        <texture name="piper_diffuse" type="2d" colorspace="linear"
            file="../3D Models/piper_pa18/obj/textures/piper_diffuse.png"/>
        <texture name="piper_bump" type="2d" colorspace="linear"
            file="../3D Models/piper_pa18/obj/textures/piper_bump.png"/>
        <texture name="piper_refl" type="2d" colorspace="linear"
            file="../3D Models/piper_pa18/obj/textures/piper_refl.png"/>


        <material name="material_plane">
            <layer texture="piper_diffuse" role="rgb"/>
            <layer texture="piper_bump" role="normal"/>
            <layer texture="piper_refl" role="metallic"/>
        </material>

        <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"/>
    </asset>

    <worldbody>
        <geom size="10 10 .01" type="plane" material="grid"/>
        <light pos="0 0 20"/>
        <camera name="closeup" pos="6 -8 5" xyaxes="1 .8 0 0 1 2"/>
        <body name="plane" pos="0 0 1.5" euler="90 0 0">
            <joint name="center" type="ball" pos="0 0 0"/>
            <site name="IMU" pos="0 0 0"/>
            <geom type="mesh" mesh="piper_pa18" material="material_plane" contype="2" conaffinity="2"/>
        </body>
    </worldbody>

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