<mujoco>
	<option timestep="0.0001" integrator="RK4">
		<flag sensornoise="enable" energy="enable"/>
	</option>
	<worldbody>
        <light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
		<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>

		<body pos="0 0 2.5" euler="0 0 0">
			<joint name="pin" type="hinge" axis = "0 -1 0" pos="0 0 -0.5"/>
			<geom type="cylinder" size="0.05 0.5" rgba="0 .9 0 1" mass="1"/>

			<!-- Second Link -->
			<body pos="0 0.1 1" euler="0 0 0">
				<joint name="pin2" type="hinge" axis = "0 -1 0" pos="0 0 -0.5"/>
				<geom type="cylinder" size="0.05 0.5" rgba="0 0 0.9 1" mass="1"/>
			</body>

		</body>
		
	</worldbody>
</mujoco>
