Create MATLAB Environments for Reinforcement Learning

Hello.
I want to make an environment for reinforcement learning . But I don't understand how to create the environment. For example the pendulum, the drawing does not know how it is generated. For example a level that rises and falls. How could I do this?
Thanks

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Thank you
But how can I draw the environment like the pendulum I can't find any example this way.
I don't know if there is any module to make the graphics?
Thanks..

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