<mujoco>
	<option timestep="0.001" integrator="RK4">
		<flag sensornoise="enable" contact="disable" 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="0 180 0">
			<joint name="shoulder" type="hinge" pos="0 0 0.5" axis="0 -1 0" />
			<geom type="cylinder" size=".05 .5" rgba="0 .9 0 1" />
			<inertial mass="1" pos="0 0 0" diaginertia="0.1 0.1 0.1"/>
			
            <body pos="0 0 -1" euler="0 0 0">
				<joint name="elbow" type="hinge" pos="0 0 0.5" axis="0 -1 0" />
				<geom type="cylinder" size=".05 .5" rgba="0 0 0.9 1" />
				<inertial mass="1" pos="0 0 0" diaginertia="0.1 0.1 0.1"/>
			</body>

		</body>
	</worldbody>

	<actuator>
		<motor name="torque_elbow" joint="elbow" gear="1" ctrlrange="-1000 1000" ctrllimited="true"/>
	</actuator>
</mujoco>
